Chassis structure and robot

Abstract

The utility model relates to the technical field of mobile robots, in particular to a chassis structure and a robot. The chassis structure comprises a chassis frame, a mounting frame, a main control box, a power supply control board and a driving control box; a driving assembly is mounted on the chassis frame and is used for supporting the chassis structure; the mounting frame comprises a plurality of mounting columns and a first mounting plate, the mounting columns are arranged on the chassis frame at intervals, and the two ends of the first mounting plate are connected to the middles of the mounting columns respectively; the main control box is arranged on the side, away from the chassis frame, of the first mounting plate. And the power supply control board and the driving control box are respectively arranged on the outer sides of the plurality of mounting columns. Through the mode, maintenance and heat dissipation of the chassis structure are facilitated, the available space in the chassis structure is increased, arrangement and wire arrangement of electronic components are facilitated, the assembly difficulty is reduced, and the installable number of the electronic components is increased; the mounting positions of the main control box, the power control board and the driving control box are beneficial to reasonable distribution of the space area of the chassis structure.

Description

Technical Field

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

[0002] A mobile robot is a device that moves under intelligent control to perform various tasks. Mobile robots are gradually being applied in the service field. For example, they perform delivery services in restaurants, hotels, and office buildings, and perform parcel delivery services between buildings, etc.

[0003] A mobile robot generally includes a housing and electronic components such as a main board and a control board disposed inside the housing. During maintenance, it is necessary to disassemble the entire housing, which is very inconvenient. At the same time, the enclosed housing makes it difficult for the mobile robot to dissipate heat, affecting the performance of the electronic components. In addition, the complex housing structure will reduce the available space inside the mobile robot, making it difficult to arrange the electronic components, difficult to route the wires, and also reducing the number of electronic components that can be installed. Utility Model Content

[0004] The embodiments of this application aim to provide a chassis structure and a robot to improve the problems of difficult robot maintenance, poor heat dissipation effect, and high assembly difficulty.

[0005] The embodiments of this application solve the above technical problems by adopting the following technical solutions:

[0006] In a first aspect, the embodiments of this application provide a chassis structure, which includes a chassis frame, a mounting frame, a main control box, a power control board, and a drive control box. The chassis frame is installed with a traveling component, and the traveling component is used to support the chassis structure. The mounting frame includes a plurality of mounting columns and a first mounting plate. The plurality of mounting columns are spaced apart on the chassis frame, and both ends of the first mounting plate are respectively connected to the middle parts of the plurality of mounting columns. The main control box is disposed on a side of the first mounting plate facing away from the chassis frame. The power control board and the drive control box are respectively disposed outside the plurality of mounting columns.

[0007] In some embodiments, the chassis structure further includes a battery, and the battery is disposed between the chassis frame and the first mounting plate.

[0008] In some embodiments, the mounting frame further includes a second mounting plate, the second mounting plate is disposed on the chassis frame, and one end of the mounting column is connected to the second mounting plate. The battery is disposed on the mounting plate.

[0009] In some embodiments, the chassis structure further includes a support member, which includes a support plate and a support column. The support plate is disposed on a side of the mounting frame facing away from the chassis frame. One end of the support column is connected to the chassis frame, and the other end of the support column is connected to the support plate.

[0010] In some embodiments, one end of the mounting column facing away from the chassis frame is connected to the support plate.

[0011] In some embodiments, the traveling assembly includes a swing member, a driving wheel, a first auxiliary wheel, and a first elastic member. The middle of the swing member is rotatably connected to the chassis frame. The driving wheel and the first auxiliary wheel are respectively disposed at two ends of the swing member. One end of the first elastic member is connected to the chassis frame, and the other end of the first elastic member is connected to the swing member. The first elastic member applies an elastic force to the swing member to cause the swing member to apply a downward pressure to the driving wheel.

[0012] In some embodiments, the traveling assembly further includes a connection seat and a second elastic member. The connection seat is disposed on the chassis frame and above the first auxiliary wheel. One end of the second elastic member is connected to the connection seat, and the other end of the second elastic member extends toward the swing member. The second elastic member is configured to apply an elastic force to the swing member when the swing member contacts the second elastic member to cause the swing member to apply a downward pressure to the first auxiliary wheel.

[0013] In some embodiments, the swing member includes a swing arm and a first connecting arm. The middle of the swing arm is rotatably connected to the chassis frame. The driving wheel is disposed at one end of the swing arm. Two ends of the first connecting arm are respectively connected to the other ends of the two swing arms. The first auxiliary wheel is disposed on the first connecting arm.

[0014] In some embodiments, the swing member further includes a mounting seat and a first connecting ear. The mounting seat is disposed on the swing arm. The driving wheel is detachably mounted on the mounting seat. The first connecting ear is disposed on the mounting seat. The other end of the first elastic member is connected to the first connecting ear. Wherein, the distance between the rotation axis of the swing arm and the first connecting ear is greater than the distance from the mounting seat.

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

[0016] For the chassis structure and the robot according to the embodiments of the present application, the space areas inside and outside the multiple mounting posts can be used to mount electronic components, and the space areas are relatively open, which is conducive to the maintenance and heat dissipation of the chassis structure; the open space areas can also increase the available space inside the chassis structure, facilitate the layout and wiring of electronic components, reduce the assembly difficulty, and increase the number of electronic components that can be installed. The main control box with a larger volume is arranged on the first mounting plate, and the power control board and the drive control box with smaller volumes are arranged outside the multiple mounting posts, reasonably distributing the space areas of the chassis structure.

[0017] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically given below. Brief Description of the Drawings

[0018] One or more embodiments are exemplarily illustrated by the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the drawings do not constitute a proportional limitation.

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

[0020] Figure 2 is Figure 1 a partial structural schematic diagram of the chassis structure in

[0021] Figure 3 is Figure 2 an exploded view of a part of the structure of the chassis structure in

[0022] Figure 4 is Figure 3 a partial structural schematic diagram of the traveling component in

[0023] The reference numerals in the specific embodiments are as follows:

[0024] 100, chassis structure;

[0025] 1, chassis frame; 11, second connecting ear.

[0026] 2, mounting frame; 21, mounting post; 22, first mounting plate; 23, second mounting plate;

[0027] 3, main control box; 4, power control board; 5, drive control box;

[0028] 6. Traveling assembly; 61. Swing member; 611. Swing arm; 612. First connecting arm; 613. Second connecting arm; 614. Mounting seat; 615. First connecting ear; 62. Driving wheel; 63. First auxiliary wheel; 64. First elastic member; 65. Connecting seat; 66. Second elastic member; 67. Second auxiliary wheel; 68. Third auxiliary wheel;

[0029] 7. Battery;

[0030] 8. Support member; 81. Support plate; 82. Support column. Detailed implementation manners

[0031] To facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above accompanying drawings are intended to cover non-exclusive inclusion.

[0033] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the present application.

[0034] In the description of the embodiments of the present application, the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Without otherwise stating, the above words have no special meaning, and therefore cannot be understood as a limitation to the protection scope of this application. In the description of the embodiments of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0035] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the related listed items.

[0036] In addition, the technical features involved in different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0037] In a first aspect, please refer to Figure 1 and Figure 2 , an embodiment of this application provides a chassis structure 100. The chassis structure 100 includes a chassis frame 1, a mounting frame 2, a main control box 3, a power control board 4, and a drive control box 5. The mounting frame 2 is mounted on the chassis frame 1, and the main control box 3, the power control board 4, and the drive control box 5 are all mounted on the mounting frame 2.

[0038] Regarding the above-mentioned chassis frame 1, please refer to Figure 1 and Figure 2 , the chassis frame 1 can be in the shape of a circular plate, the chassis frame 1 is horizontally arranged, and the chassis frame 1 is used for mounting and supporting the mounting frame 2. Among them, a traveling assembly 6 is mounted on the chassis frame 1, and the traveling assembly 6 is used to support the chassis frame 1 on the ground, that is, the traveling assembly 6 is used to support the chassis structure 100.

[0039] Regarding the above-mentioned mounting frame 2, please refer to Figure 1 and Figure 2 , the mounting frame 2 includes a plurality of mounting columns 21 and a first mounting plate 22. The plurality of mounting columns 21 are arranged on the chassis frame 1 at intervals, and both ends of the first mounting plate 22 are respectively connected to the middle parts of the plurality of mounting columns 21. The mounting frame 2 can be arranged above or below the chassis frame 1. In the embodiment of this application, the mounting frame 2 is arranged above the chassis frame 1. Optionally, the mounting frame 2 includes two mounting columns 21.

[0040] In the embodiment of this application, the up-down direction is based on the orientation shown in the drawings.

[0041] In the embodiment of the present application, an example is given where the number of mounting posts 21 is two. The inner side of the two mounting posts 21 refers to the space area between the two mounting posts 21, and the outer side of the two mounting posts 21 refers to the space area on one side of one mounting post 21 away from the other mounting post 21. Thus, there are three space areas on the inner and outer sides of the two mounting posts 21. The space areas on the inner and outer sides of the two mounting posts 21 can both be used to mount electronic components. These three space areas are relatively open, which facilitates the disassembly and assembly of the electronic components in these three space areas and is beneficial to the heat dissipation of the electronic components, that is, it is beneficial to the maintenance and heat dissipation of the chassis structure 100. And the open space areas can also increase the available space inside the chassis structure 100, facilitate the layout and wiring of the electronic components, reduce the assembly difficulty, and increase the number of electronic components that can be installed.

[0042] Among them, the middle part of the mounting post 21 refers to the part between the two ends of the mounting post 21. Thus, two space areas are formed on the inner sides of the two mounting posts 21 on both sides of the first mounting plate 22. The two space areas on both sides of the first mounting plate 22 can be used to mount different types of electronic components. For example, the lower space area is used to mount electronic components with a higher density, which is beneficial to reducing the center of gravity of the chassis structure 100.

[0043] When the number of mounting posts 21 is three or more, multiple mounting posts 21 can be respectively arranged at both ends of the first mounting plate 22. Then, at least one end of the first mounting plate 22 can be connected to at least two mounting posts 21, which is beneficial to enhancing the connection strength between the first mounting plate 22 and the chassis frame 1.

[0044] The mounting post 21 can be perpendicular to the chassis frame 1, and the first mounting plate 22 can be parallel to the chassis frame 1. Thus, a standard space area, such as a square space area, is formed by enclosing both sides of the first mounting plate 22, which is convenient for mounting square electronic components.

[0045] There is a gap between the mounting post 21 and the edge of the chassis frame 1. Thus, the space areas outside the two mounting posts 21 can be located directly above the chassis frame 1, reducing the problem that the electronic components in these two space areas extend horizontally beyond the chassis frame 1, which is beneficial to reducing the damage rate of the electronic components in these two space areas.

[0046] Please refer to Figure 1 and Figure 2, the main control box 3 is arranged on the side of the first mounting plate 22 away from the chassis frame 1; the power control board 4 and the drive control box 5 are respectively arranged outside the plurality of mounting posts 21. The main control box 3 generally has a larger volume than the power control board 4 and the drive control box 5. By arranging the main control box 3 with a larger volume on the first mounting plate 22 and arranging the power control board 4 and the drive control box 5 with smaller volumes outside the two mounting posts 21, the space area of the chassis structure 100 is reasonably allocated. The main control box 3 serves as the total control center of the chassis structure 100, coordinating and controlling each functional module, such as map construction, positioning and navigation, perception, and communication interaction, etc. The power control board 4 is used for charging and discharging management of the battery 7. The drive control box 5 is used for controlling the operation of the driving assembly 6. Further, please refer to Figure 2 , the top of the main control box 3 is open.

[0047] In some embodiments, please refer to Figure 1 and Figure 2 , the chassis structure 100 further includes a battery 7, and the battery 7 is arranged between the chassis frame 1 and the first mounting plate 22. The mass of the battery 7 is generally much larger than that of the main control box 3. Arranging the battery 7 below the main control box 3 is beneficial to reducing the center of gravity of the chassis structure 100. The battery 7 is surrounded by the chassis frame 1, the first mounting plate 22, and the two mounting posts 21, which is beneficial to reducing the risk of the battery 7 catching fire due to being hit and squeezed, and improving the problem that secondary accidents are likely to occur due to the battery 7 catching fire and exploding after a traffic accident of the chassis structure 100.

[0048] Wherein, the mounting posts 21 can be in the shape of flat plates, and the two mounting posts 21 are parallel to each other to increase the protection area of the space area between the two mounting posts 21 and enhance the protection effect on the battery 7 and the main control box 3; it is also convenient to increase the mounting area of the mounting posts 21 for mounting electronic components, so that the mounting posts 21 can mount more electronic components, and there are more connection points between the electronic components and the mounting posts 21, making the connection of the electronic components more stable.

[0049] In some embodiments, please refer to Figure 1 and Figure 2 , the mounting frame 2 further includes a second mounting plate 23, the second mounting plate 23 is arranged on the chassis frame 1, and one end of the mounting post 21 is connected to the second mounting plate 23; the battery 7 is arranged on the mounting plate. By mounting the battery 7 on the second mounting plate 23, it is beneficial to enhance the protection effect below the battery 7 and improve the problem that the battery 7 is damaged due to the ground obstacle hitting the chassis frame 1. The second mounting plate 23 connects the mounting post 21 to the chassis frame 1, and the area of the second mounting plate 23 is smaller than that of the chassis frame 1, which is beneficial to reducing the problem of the force being transmitted to the mounting post 21 when the chassis frame 1 deforms and reducing the probability of damage to the electronic components on the mounting frame 2.

[0050] In some embodiments, please refer to Figure 1 andFigure 2 , the chassis structure 100 further includes a support member 8. The support member 8 includes a support plate 81 and a support column 82. The support plate 81 is disposed on the side of the mounting frame 2 away from the chassis frame 1. One end of the support column 82 is connected to the chassis frame 1, and the other end of the support column 82 is connected to the support plate 81. The support plate 81 is used to support the functional structure installed above the chassis structure 100, such as supporting a storage structure, a distribution structure, a guiding structure, a food delivery mechanism, a transportation mechanism, etc., so that the gravity of the functional structure directly acts on the chassis frame 1, improving the problem that the functional structure presses the mounting frame 2, causing deformation of the mounting frame 2 and damage to the electronic components on the mounting frame 2.

[0051] Wherein, one end of the mounting column 21 away from the chassis frame 1 is connected to the support plate 81, and the mounting column 21 is connected to the support portion, which is beneficial to enhancing the connection strength between the mounting column 21 and the chassis frame 1, making the mounting column 21 not easy to shake. Since the support plate 81 is supported by the support column 82, most of the pressure is shared by the support column 82, and the mounting column 21 only needs to bear a small part of the pressure and is not easy to deform under the pressure of the support plate 81.

[0052] For the above-mentioned traveling assembly 6, please refer to Figure 3 and Figure 4, the traveling assembly 6 includes a swing member 61, a drive wheel 62, a first auxiliary wheel 63, and a first elastic member 64; the middle of the swing member 61 is rotatably connected to the chassis frame 1, and the drive wheel 62 and the first auxiliary wheel 63 are respectively arranged at both ends of the swing member 61; one end of the first elastic member 64 is connected to the chassis frame 1, and the other end of the first elastic member 64 is connected to the swing member 61. The first elastic member 64 applies an elastic force to the swing member 61 so that the swing member 61 applies a downward pressure to the drive wheel 62. In this embodiment, the rotation axis of the swing member 61 is perpendicular to the connection line of both ends of the swing member 61. Therefore, when the swing member 61 rotates, the movement directions of both ends of the swing member 61 are opposite, that is, one of the drive wheel 62 and the first auxiliary wheel 63 rises and the other descends. The elastic force applied by the first elastic member 64 to the swing member 61 drives the swing member 61 to rotate in the direction in which the drive wheel 62 descends, thereby increasing the grip of the drive wheel 62. When the drive wheel 62 is impacted vertically by an obstacle, the impact force is transmitted to the swing member 61 and causes the first elastic member 64 to deform. The first elastic member 64 absorbs part of the impact force to reduce the impact force transmitted to the chassis frame 1, thereby reducing the bumps and vibrations of the chassis structure 100 and reducing noise; and the drive wheel 62 moves upward relative to the chassis frame 1, making it easier for the drive wheel 62 to cross the obstacle, and at the same time, the first auxiliary wheel 63 descends relative to the bottom plate, so that the first auxiliary wheel 63 can still support on the ground, which is beneficial to the advancement of the chassis structure 100 and enhances the traveling performance. Optionally, the first elastic member 64 is a tension spring, the drive wheel 62 has a hub motor, the number of drive wheels 62 is two, and the first auxiliary wheel 63 is a universal wheel. Based on the same principle, when the first auxiliary wheel 63 is impacted by an obstacle, it also has the above beneficial effects, and the drive wheel 62 descends relative to the bottom plate, increasing the grip of the drive wheel 62.

[0053] Please refer to Figure 3 and Figure 4, the traveling assembly 6 further includes a connecting seat 65 and a second elastic member 66. The connecting seat 65 is disposed on the chassis frame 1 and above the first auxiliary wheel 63; one end of the second elastic member 66 is connected to the connecting seat 65, and the other end of the second elastic member 66 extends toward the swing member 61. The second elastic member 66 is configured to apply an elastic force to the swing member 61 when the swing member 61 contacts the second elastic member 66, so as to apply a downward pressure from the swing member 61 to the first auxiliary wheel 63. It can be understood that the elastic force applied by the first elastic member 64 to the swing member 61 drives the swing member 61 to rotate in the direction of the driving wheel 62 descending. If the driving wheel 62 does not contact the ground, or the first auxiliary wheel 63 is violently impacted upward, it may cause the swing member 61 to continuously rotate in the direction of the driving wheel 62 descending, and then cause problems such as the swing member 61 being unable to reset or even hitting the electronic components on the mounting bracket 2. By applying an elastic force to the swing member 61 in the direction of the swing member 61 descending toward the first auxiliary wheel 63 through the second elastic member 66, the swing member 61 can be prevented from continuously rotating in the direction of the driving wheel 62 descending, so as to improve the problem that the swing member 61 cannot be reset and improve the problem that the swing member 61 hits the electronic components on the mounting bracket 2. Optionally, the second elastic member 66 is a spring.

[0054] Wherein, the connecting seat 65 is in an arch shape. The two ends of the connecting seat 65 are connected to the chassis frame 1, and the middle part of the connecting seat 65 is above the first auxiliary wheel 63. Thus, when the swing member 61 contacts the second elastic member 66, the second elastic member 66 applies an elastic force to the swing member 61 in the direction of the swing member 61 descending toward the first auxiliary wheel 63.

[0055] For the above swing member 61, please refer to Figure 3 and Figure 4 , the swing member 61 includes a swing arm 611 and a first connecting arm 612. The middle part of the swing arm 611 is rotatably connected to the chassis frame 1. The driving wheel 62 is disposed at one end of the swing arm 611. The two ends of the first connecting arm 612 are respectively connected to the other ends of the two swing arms 611. The first auxiliary wheel 63 is disposed on the first connecting arm 612. In this embodiment, the rotation axis of the swing arm 611 is perpendicular to the connection line of the two ends of the swing arm 611. Therefore, when the swing arm 611 rotates, the movement directions of the two ends of the swing arm 611 are opposite, that is, one end of the swing arm 611 rises and the other end descends. The number of swing arms 611 is two, and the two swing arms 611 are connected by the first connecting arm 612, so that the two swing arms 611 rotate synchronously. Since the first auxiliary wheel 63 is disposed on the first connecting arm 612, the number of the first auxiliary wheels 63 can be one, and it is not necessary to provide a first auxiliary wheel 63 for each swing arm 611, which is beneficial to reducing the number of the first auxiliary wheels 63, simplifying the structure of the traveling assembly 6, and improving the reliability of the traveling assembly 6.

[0056] It is understandable that the number of the swing arms 611 may be three or more, and the first connecting arm 612 connects three or more swing arms 611 .

[0057] See also Figure 3 and Figure 4 The swing member 61 further includes a second connecting arm 613, the second connecting arm 613 and the first connecting arm 612 are respectively connected to the two ends of the swing arm 611, and the two ends of the second connecting arm 613 are respectively connected to the two swing arms 611. The two swing arms 611 are connected by the first connecting arm 612 and the second connecting arm 613, so as to further enhance the strength of the connection between the two swing arms 611. When the number of the swing arms 611 is three or more, the second connecting arm 613 connects the three or more swing arms 611.

[0058] See also Figure 3 and Figure 4 The swing member 61 includes a mounting seat 614 and a first connecting ear 615. The mounting seat 614 is arranged on the swing arm 611. The driving wheel 62 is detachably mounted on the mounting seat 614. The first connecting ear 615 is arranged on the mounting seat 614. The other end of the first elastic member 64 is connected to the first connecting ear 615. The swing arm 611 is usually a thin plate structure, and its thickness direction is parallel to the rotation direction of the swing arm 611. If the driving wheel 62 is directly connected to the swing arm 611, the connection between the driving wheel 62 and the swing arm 611 is not firm enough, and the driving wheel 62 is easily separated from the swing arm 611. By detachably mounting the driving wheel 62 on the swing arm 611 through the mounting seat 614, the reliability of the connection between the driving wheel 62 and the swing arm 611 can be improved. The first connecting ear 615 is arranged on the mounting seat 614 so that the elastic force of the first elastic member 64 directly acts on the mounting seat 614 , which is beneficial to reduce the stress on other parts of the swing component 61 and reduce the loss in the process of transmitting the elastic force to the driving wheel 62 .

[0059] The distance between the rotation axis of the swing arm 611 and the first connecting ear 615 is greater than the distance between the swing arm 611 and the mounting seat 614. When the swing arm 611 rotates, the displacement distance of the first connecting ear 615 is greater than the displacement distance of the mounting seat 614, so that the distance that the driving wheel 62 rises or falls is less than the length of the first elastic member 64 that is extended and retracted. Therefore, the length of the force arm of the first elastic member 64 that applies torque to the swing arm 611 is greater than the length of the force arm of the driving wheel 62 that applies torque to the swing arm 611, and the downward pressure applied by the first elastic member 64 to the driving wheel 62 is increased, so that the first elastic member 64 with a smaller elastic coefficient can be used to reduce costs.

[0060] In some embodiments, see Figure 3 and Figure 4, the mounting base 614 is at both ends of the second connecting arm 613, that is, the driving wheels 62 are directly mounted on the second connecting arm 613, which is beneficial to increasing the connection strength between the two driving wheels 62.

[0061] In some embodiments, please refer to Figure 3 and Figure 4 , the chassis frame 1 is provided with a second connecting ear 11, and one end of the first elastic member 64 is connected to the second connecting ear 11. Among them, the height of the second connecting ear 11 is lower than the height of the first connecting ear 615.

[0062] In some embodiments, please refer to Figure 1 and Figure 2 , the traveling assembly 6 further includes a second auxiliary wheel 67, the second auxiliary wheel 67 is arranged on the chassis frame 1, and the second auxiliary wheel 67 and the first auxiliary wheel 63 are respectively arranged on opposite sides of the driving wheel 62, enhancing the stability of the chassis structure 100 supported on the ground. Optionally, the second auxiliary wheel 67 is a universal wheel and the number is one.

[0063] In some embodiments, please refer to Figure 1 and Figure 2 , the traveling assembly 6 further includes a third auxiliary wheel 68, the third auxiliary wheel 68 is arranged on the chassis frame 1, and the third auxiliary wheel 68 has a preset gap from the ground. The preset ground clearance means that when the chassis structure 100 is stably supported on the flat ground by the driving wheels 62 and the first auxiliary wheels 63, the third auxiliary wheel 68 is spaced from the flat ground, and this spaced distance is the preset ground clearance. By setting the preset ground clearance, the height of the third auxiliary wheel 68 can be increased, which is beneficial for the third auxiliary wheel 68 to climb over higher obstacles and enhances the passability of the chassis structure 100. Optionally, the third auxiliary wheel 68 is a roller and the number is two.

[0064] In a second aspect, an embodiment of the present application provides a robot (not shown), and the robot includes the chassis structure 100 as described in any one of the above. The robot has the structural features and beneficial effects of the chassis structure 100, which will not be elaborated here. The robot may include functional structures (not shown), such as a storage structure, a distribution structure, a leading structure, a food delivery mechanism, and a transportation mechanism, etc. The functional structures are arranged on the chassis structure 100, and the chassis structure 100 is used to travel on the ground to carry the functional structures to move.

[0065] The chassis structure 100 and the robot according to the embodiments of the present application. The space areas inside and outside the multiple mounting posts 21 can be used to mount electronic components, and the space areas are relatively open, which is beneficial to the maintenance and heat dissipation of the chassis structure 100; the open space areas can also increase the available space inside the chassis structure 100, facilitate the arrangement and wiring of electronic components, reduce the assembly difficulty, and increase the number of electronic components that can be installed. The main control box 3 with a larger volume is arranged on the first mounting plate 22, and the power control board 4 and the drive control box 5 with smaller volumes are arranged outside the multiple mounting posts 21, reasonably distributing the space areas of the chassis structure 100. The battery 7 is arranged below the main control box 3 and mounted on the second mounting plate 23, which is beneficial to reducing the center of gravity of the chassis structure 100 and reducing the risk of the battery 7 catching fire due to being hit or squeezed. The drive wheel 62 and the first auxiliary wheel 63 are respectively arranged at both ends of the swing member 61, and the first elastic member 64 and the second elastic member 66 respectively apply downward pressures to the drive wheel 62 and the first auxiliary wheel 63, which is beneficial to reducing the bumps and vibrations of the chassis structure 100, reducing noise, and enhancing the driving performance.

[0066] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above. For the sake of brevity, they are not provided in detail; 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 recorded in the foregoing embodiments, or perform equivalent replacements on some 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, Comprising: A chassis frame, on which a traveling assembly is mounted, and the traveling assembly is used to support the chassis structure; A mounting frame, including a plurality of mounting columns and a first mounting plate. The plurality of mounting columns are arranged on the chassis frame at intervals, and two ends of the first mounting plate are respectively connected to the middle parts of the plurality of mounting columns; A main control box, which is arranged on a side of the first mounting plate away from the chassis frame; A power control board and a drive control box, and the power control board and the drive control box are respectively arranged outside the plurality of mounting columns.

2. The chassis structure according to claim 1, characterized in that, The chassis structure further includes a battery, and the battery is arranged between the chassis frame and the first mounting plate.

3. The chassis structure according to claim 2, characterized in that, The mounting frame further includes a second mounting plate, the second mounting plate is arranged on the chassis frame, and one end of the mounting column is connected to the second mounting plate; The battery is arranged on the mounting plate.

4. The chassis structure according to claim 1, characterized in that, The chassis structure further includes a support member, and the support member includes a support plate and a support column. The support plate is arranged on a side of the mounting frame away from the chassis frame, one end of the support column is connected to the chassis frame, and the other end of the support column is connected to the support plate.

5. The chassis structure according to claim 4, characterized in that, One end of the mounting column away from the chassis frame is connected to the support plate.

6. The chassis structure according to claim 1, characterized in that, The traveling assembly includes a swing member, a drive wheel, a first auxiliary wheel and a first elastic member; The middle part of the swing member is rotatably connected to the chassis frame, and the drive wheel and the first auxiliary wheel are respectively arranged at two ends of the swing member; One end of the first elastic member is connected to the chassis frame, and the other end of the first elastic member is connected to the swing member. The first elastic member applies an elastic force to the swing member, so that the swing member applies a downward pressure to the drive wheel.

7. The chassis structure according to claim 6, characterized in that, The traveling assembly further includes a connection seat and a second elastic member. The connection seat is arranged on the chassis frame and above the first auxiliary wheel; One end of the second elastic member is connected to the connection seat, and the other end of the second elastic member extends towards the swing member. The second elastic member is used to apply an elastic force to the swing member when the swing member contacts the second elastic member, so that the swing member applies a downward pressure to the first auxiliary wheel.

8. The chassis structure according to claim 6, characterized in that, The swing member includes a swing arm and a first connecting arm. The middle part of the swing arm is rotatably connected to the chassis frame, the drive wheel is arranged at one end of the swing arm, two ends of the first connecting arm are respectively connected to the other ends of the two swing arms, and the first auxiliary wheel is arranged on the first connecting arm.

9. The chassis structure according to claim 8, characterized in that, The swing member further includes a mounting seat and a first connecting ear. The mounting seat is arranged on the swing arm, the drive wheel is detachably mounted on the mounting seat, the first connecting ear is arranged on the mounting seat, and the other end of the first elastic member is connected to the first connecting ear; Wherein, the distance between the rotation axis of the swing arm and the first connecting ear is greater than the distance from the mounting seat.

10. A robot, characterized in that, Including the chassis structure according to any one of claims 1 to 9.

Images