Chassis structure of mobile robot and mobile robot

Abstract

The embodiment of the utility model provides a chassis structure of a mobile robot and the mobile robot. The chassis structure of the mobile robot comprises a supporting frame; the power supply assembly is arranged on the supporting frame; the first steering assembly comprises a first driving part, a first driving wheel, a second driving part and a second driving wheel, the first driving part and the second driving part are in current conduction with the power supply assembly, and the first driving wheel and the second driving wheel are connected with the supporting frame; the damping assembly is connected with the first driving wheel, the second driving wheel and the supporting frame; and the second steering assembly is detachably installed on the supporting frame, and the second steering assembly is used for being matched with the first steering assembly to adjust steering of the mobile robot. According to the chassis structure of the mobile robot and the mobile robot provided by the embodiment of the invention, fine steering is carried out through cooperation of the first steering assembly and the second steering assembly, and selection of multiple moving modes is also provided for the mobile robot through detachable installation of the second steering assembly, so that the applicability is improved.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a chassis structure of a mobile robot and the mobile robot. Background Art

[0002] Mobile robots are machines that can move autonomously and perform specific tasks in diverse environments. Due to their autonomous navigation and positioning capabilities, mobile robots can automatically complete tasks such as handling, stacking, and transportation, reducing manual operations and manpower input, and improving operational efficiency. This makes mobile robots increasingly important in industries such as industry, military, agriculture, education, and the service industry. Wheeled intelligent mobile robots, with their high efficiency, speed, adaptability, and low noise, have a wider range of applications in the market.

[0003] The core of a wheeled intelligent mobile robot lies in its body, which carries out essential functions such as mobility, positioning and mapping, path planning, and autonomous obstacle avoidance. The wheeled Ackerman mobile robot body, with its high load capacity, high control precision, and excellent obstacle-crossing capabilities, is well-suited for long, intensive work scenarios. It holds great promise for low-speed, unmanned driving applications such as inspection, detection, transportation, and teaching.

[0004] Existing wheeled intelligent mobile robots have a single mobility mode and cannot fully adapt to complex application scenarios. Utility Model Content

[0005] In view of this, an embodiment of the present application provides a chassis structure of a mobile robot and a mobile robot to solve the technical problem that the existing mobile robot has a single movement mode and cannot adapt to complex application scenarios.

[0006] In a first aspect, an embodiment of the present application provides a chassis structure of a mobile robot, comprising:

[0007] Support frame;

[0008] A power supply assembly is provided on the support frame;

[0009] a first steering assembly, comprising a first driving member, a first driving wheel, a second driving member, and a second driving wheel, wherein the first driving member and the second driving member are electrically connected to the power supply assembly, the first driving wheel and the second driving wheel are connected to the support frame, the first driving member is configured to drive the first driving wheel to rotate, and the second driving member is configured to drive the second driving wheel to rotate;

[0010] a shock absorbing assembly, connected to the first drive wheel, the second drive wheel and the support frame, respectively, the shock absorbing assembly being used to reduce vibration and impact caused by uneven road surface during the rotation of the first drive wheel and the second drive wheel; and

[0011] The second steering assembly is detachably mounted on the support frame, and the second steering assembly is used to cooperate with the first steering assembly to adjust the steering of the mobile robot.

[0012] In some embodiments, the second steering assembly comprises:

[0013] A steering servo, provided on a side of the support frame away from the first driving wheel, the steering servo having a rotation transmission shaft;

[0014] a first roller, located on a side of the support frame away from the steering servo; and

[0015] A connecting frame has one end rotatably connected to the transmission shaft, and the first roller is rotatably connected to the other end of the connecting frame.

[0016] In some embodiments, the second steering assembly comprises:

[0017] A fixing frame, provided on one side of the supporting frame;

[0018] The universal wheel module is arranged on the fixing frame.

[0019] In some embodiments, the shock absorbing assembly is provided in multiple groups, which are respectively provided on both sides of the first driving wheel and the second driving wheel, wherein the group of shock absorbing assemblies provided on both sides of the first driving wheel includes:

[0020] a linear bearing, one end of which is fixed to a side of the support frame away from the first driving wheel, and the other end of which passes through the support frame and extends toward the direction where the first driving wheel is located;

[0021] a guide shaft, one end of which is slidably inserted into the linear bearing, and the other end of which is connected to the rotating shaft of the first driving wheel; and

[0022] A shock-absorbing spring is sleeved on the linear bearing and the guide shaft, and one end of the shock-absorbing spring abuts against the support frame, and the other end abuts against the rotating shaft of the first driving wheel.

[0023] In some embodiments, a mounting hole is opened in the middle of the support frame, the power supply component is installed in the mounting hole, and part of the power supply component is located on the side of the support frame close to the first driving wheel, and part of the power supply component is located on the side of the support frame away from the first driving wheel.

[0024] In some embodiments, the chassis structure of the mobile robot also includes a baffle, which is arranged on the side of the support frame close to the first driving wheel. A connecting column is provided between the baffle and the support frame. The baffle is provided with a plurality of clearance holes, and the plurality of clearance holes are respectively used for the first driving wheel, the second driving wheel and the first steering assembly to pass through.

[0025] In some embodiments, a first installation space is formed between the support frame and the baffle, and a second installation space is formed on the side of the support frame away from the baffle.

[0026] In some embodiments, a fixing bar is further provided on a side of the support frame away from the baffle, two ends of the connecting column are respectively connected to the baffle and the fixing bar, and the middle part of the connecting column is connected to the support frame;

[0027] The chassis structure of the mobile robot further includes a shell, which is connected to the fixing bar, the supporting frame and the baffle, and the shell encloses the first installation space and the second installation space.

[0028] In some embodiments, the mobile robot further comprises a sensor assembly and an expansion interface assembly, wherein the sensor assembly and the expansion interface assembly are distributed at the front end and the rear end of the chassis structure of the mobile robot;

[0029] The sensor assembly includes a distance measuring sensor and an anti-collision sensor distributed along the circumference of the chassis structure of the mobile robot, and the anti-fall sensor is arranged at the bottom of the chassis structure of the mobile robot.

[0030] In some embodiments, the second steering assembly includes a third roller, which is located on the center line of the first drive wheel and the second drive wheel, and the third roller is located at the front end of the mobile robot, and the first drive wheel and the second drive wheel are located at the rear end of the mobile robot.

[0031] In the second aspect, an embodiment of the present application provides a mobile robot, comprising a control module, an electrical board and the chassis structure of the mobile robot described in the first aspect, wherein the electrical board is arranged at intervals on the support frame, the control module is arranged on the electrical board, and the chassis structure of the mobile robot and the control module are distributed on both sides of the electrical board.

[0032] The chassis structure of the mobile robot and the mobile robot provided in the embodiment of the present application cooperate with the first steering assembly and the second steering assembly to jointly adjust the moving direction of the mobile robot, and the detachable installation of the second steering assembly also provides the mobile robot with a variety of movement mode options, thereby improving applicability. Specifically, when the first steering assembly adopts a universal wheel, the second steering assembly mainly plays the role of steering, and achieves steering through the speed difference between the first drive wheel and the second drive wheel, thereby driving the universal wheel to rotate and move in the intended direction; when the first steering assembly adopts a fixed wheel, the first steering assembly mainly plays the role of steering, and achieves steering by controlling the direction of the fixed wheel, while the first drive wheel and the second drive wheel of the second steering assembly provide power, and can also cooperate with the first steering assembly for fine adjustment, so that the steering is more precise, the front and rear linkage is stronger, and the agility is more real-time, thereby effectively improving the applicability of the mobile robot in complex application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 This is a schematic diagram of the chassis structure of the mobile robot provided in the first embodiment of the present application. Figure 1 ;

[0035] Figure 2 This is a schematic diagram of the chassis structure of the mobile robot provided in the first embodiment of the present application. Figure 2 ;

[0036] Figure 3 This is a schematic diagram of the chassis structure of the mobile robot provided in the second embodiment of the present application. Figure 1 ;

[0037] Figure 4 This is a schematic diagram of the chassis structure of the mobile robot provided in the second embodiment of the present application. Figure 2 ;

[0038] Figure 5 This is a schematic diagram of the chassis structure of the mobile robot provided in the third embodiment of the present application. Figure 1 ;

[0039] Figure 6 This is a schematic diagram of the chassis structure of the mobile robot provided in the third embodiment of the present application. Figure 2 ;

[0040] Figure 7 This is a schematic diagram of the chassis structure of the mobile robot provided in the third embodiment of the present application. Figure 3 ;

[0041] Figure 8 This is a schematic diagram of the chassis structure of the mobile robot provided in the third embodiment of the present application. Figure 4 ;

[0042] Figure 9 This is a schematic diagram of the structure of the mobile robot provided in the embodiment of the present application. Figure 1 ;

[0043] Figure 10 This is a schematic diagram of the structure of the mobile robot provided in the embodiment of the present application. Figure 2 .

[0044] Among them, the figure numbers are:

[0045] 10. Support frame; 100. Mounting hole; 11. Baffle; 110. Clearance hole; 111. Anti-collision strip; 12. Connecting column; 13. Fixing strip; 101. First installation space; 102. Second installation space;

[0046] 20. Power supply components;

[0047] 30. First steering assembly; 31. First driving member; 32. First driving wheel; 33. Second driving member; 34. Second driving wheel;

[0048] 40. Shock-absorbing assembly; 41. Linear bearing; 42. Guide shaft; 43. Shock-absorbing spring;

[0049] 50. Second steering assembly; 51. Steering servo; 52. First roller; 53. Connecting frame; 54. Fixed frame; 55. Rotating shaft; 56. Second roller;

[0050] 60. Outer shell; 61. Front shell; 62. Back shell; 63. Top shell;

[0051] 70. Sensor assembly; 71. Distance sensor; 72. Anti-collision sensor; 73. Anti-fall sensor;

[0052] 80. Extension interface component;

[0053] 90. Control module; 91. Electrical board. DETAILED DESCRIPTION

[0054] In the following description, specific details such as specific system structures and technologies are provided for illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the embodiments of the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the embodiments of the present application.

[0055] It should also be understood that the term "and / or" used in the description of the embodiments of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0056] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0057] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0058] In addition, in the description of the embodiments of the present application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0059] References to "some embodiments" or "some embodiments" described in the specification of the embodiments of the present application mean that one or more embodiments of the embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" refers to two or more.

[0060] The first aspect of the embodiment of the present application provides a chassis structure of a mobile robot, such as Figures 1 to 4 As shown, the chassis structure of the mobile robot includes a support frame 10, a power supply assembly 20, a first steering assembly 30, a shock absorbing assembly 40 and a second steering assembly 50;

[0061] The power supply assembly 20 is mounted on the support frame 10;

[0062] The first steering assembly 30 includes a first driving member 31, a first driving wheel 32, a second driving member 33, and a second driving wheel 34. The first driving member 31 and the second driving member 33 are electrically connected to the power supply assembly 20. The first driving wheel 32 and the second driving wheel 34 are connected to the support frame 10. The first driving member 31 is used to drive the first driving wheel 32 to rotate, and the second driving member 33 is used to drive the second driving wheel 34 to rotate.

[0063] The shock absorbing assembly 40 is connected to the first driving wheel 32, the second driving wheel 34 and the support frame 10 respectively. The shock absorbing assembly 40 is used to reduce the vibration and impact caused by the uneven road surface during the rotation of the first driving wheel 32 and the second driving wheel 34;

[0064] The second steering assembly 50 is detachably mounted on the support frame 10 , and is used to cooperate with the first steering assembly 30 to adjust the steering of the mobile robot.

[0065] The chassis structure of the mobile robot provided in the embodiment of the present application is coordinated by the first steering assembly 30 and the second steering assembly 50 to jointly adjust the moving direction of the mobile robot. In addition, the detachable installation of the second steering assembly 50 also provides the mobile robot with a variety of movement modes, thereby improving its applicability. Specifically, when the first steering assembly 30 adopts a universal wheel, the second steering assembly 50 mainly plays the role of steering, and achieves steering through the speed difference between the first drive wheel 32 and the second drive wheel 34, thereby driving the universal wheel to rotate and move in the intended direction; when the first steering assembly 30 adopts a fixed wheel, the first steering assembly 30 mainly plays the role of steering, and achieves steering by controlling the direction of the fixed wheel, while the first drive wheel 32 and the second drive wheel 34 of the second steering assembly 50 provide power. In addition, it can also cooperate with the first steering assembly 30 for fine adjustment. This makes the steering more precise, the front-to-back linkage stronger, and the agility and real-time more effective, thereby effectively improving the applicability of the mobile robot in complex application scenarios.

[0066] In application, the overall shape of the support frame 10 is circular, square, oval, etc. In a preferred embodiment, the support frame 10 is circular as a whole, which can make the overall appearance of the entire mobile robot more beautiful, and without sharp corners, which can effectively reduce collision and wear with the outside world.

[0067] In use, the battery assembly includes a battery box and a power supply, which is installed in the battery box. The power supply is used to provide a power source for the first driving member 31 and the second driving member 33. It can also provide a power source for other electrical structures of the mobile robot to ensure the normal operation of the mobile robot.

[0068] In use, the first drive member 31 and the second drive member 33 in the first steering assembly 30 are connected to the first drive wheel 32 and the second drive wheel 34, respectively. After the current is conducted to the power supply assembly 20, the first drive wheel 32 and the second drive wheel 34 are driven to rotate. The first drive member 31 and the second drive member 33 can be servo motors or other drive devices. In some embodiments, the first drive member 31 is connected to the first drive wheel 32 via a double-output shaft, thereby driving the first drive wheel 32 to rotate. Similarly, the second drive member 33 is connected to the second drive wheel 34 via a double-output shaft, thereby driving the second drive wheel 34 to rotate. In some embodiments, the first drive member 31 can be arranged inside the first drive wheel 32, and the second drive member 33 can be arranged inside the second drive wheel 34. The steering principle of the second steering assembly 50 is to control the steering by the speed difference between the first drive wheel 32 and the second drive wheel 34.

[0069] like Figure 1 and Figure 2 As shown, the second steering assembly 50 adopts a directional wheel steering mode. Specifically, the second steering assembly 50 includes a steering servo 51, a first roller 52 and a connecting frame 53;

[0070] The steering servo 51 is provided on a side of the support frame 10 away from the first driving wheel 32 , and the steering servo 51 has a transmission shaft;

[0071] The first roller 52 is located on the side of the support frame 10 away from the steering servo 51;

[0072] One end of the connecting frame 53 is rotatably connected to the transmission shaft, and the first roller 52 is rotatably connected to the other end of the connecting frame 53 .

[0073] The steering of the first roller 52, also known as the directional wheel, is adjusted by the steering servo 51, thereby playing the main steering role. The first drive wheel 32 and the second drive wheel 34 in the first steering assembly 30 can maintain the same speed under the drive of the first drive member 31 and the second drive member 33. At this time, the steering function is only controlled by the steering servo 51 in the second steering assembly 50. On the other hand, the first drive wheel 32 and the second drive wheel 34 can rotate at a differential speed, with one side moving faster and the other side moving slower, and fine adjustment can be made in conjunction with the steering of the first roller 52, so that the movement and steering of the mobile robot can be more precise. The first drive member 31 and the second drive member 33 can be motor drivers, the first drive member 31 and the first drive wheel 32 can be a whole, and the second drive member 33 and the second drive wheel 34 can be a whole.

[0074] In application, the steering servo contains a small motor, a reduction gear set, a position feedback sensor (usually a potentiometer), and a control circuit. These components work together to enable the servo to accurately adjust the position of the output shaft according to the external input signal. The steering servo receives a PWM (pulse width modulation) signal. The characteristic of this signal is that the action of the servo is controlled by changing the width of the pulse. Different PWM values ​​correspond to different angular positions of the servo output shaft. For example, in a standard servo, a pulse width of 1.5 milliseconds usually represents the middle position, while 1.0 milliseconds and 2.0 milliseconds correspond to the maximum left and maximum right positions of the servo, respectively. The workflow of the steering servo to control the steering of the directional wheel includes:

[0075] Receiving instructions: When the control system (such as a microcontroller or computer) sends a PWM signal to the servo, the control circuit inside the servo receives the signal and parses the required rotation angle.

[0076] Position adjustment: The control circuit drives the motor to rotate according to the analyzed angle information and transmits power to the output shaft (i.e., the transmission shaft) through the reduction gear set, so that the output shaft rotates to the specified position.

[0077] Position feedback: At the same time, the position feedback sensor detects the actual position of the output shaft and feeds this information back to the control circuit. If the actual position deviates from the target position, the control circuit will continue to adjust the motor movement until the output shaft reaches the target position accurately.

[0078] Stable Hold: Once the target position is reached, the servo maintains that position unless a new PWM signal instructs it to move to another position. In practice, the directional wheel is fixed in one direction and cannot rotate freely. This means greater stability because the directional wheel always rolls in the same direction, reducing the shaking or instability that may occur due to wheel rotation. The directional wheel is suitable for linear motion or when frequent changes of direction are not required.

[0079] like Figure 3 and Figure 4 As shown, the second steering assembly 50 includes a universal wheel rotation mode. Specifically, the second steering assembly 50 includes a fixed frame 54 and a universal wheel module; wherein the universal wheel module includes a rotating shaft 55 and a second roller 56;

[0080] The fixing frame 54 is provided on one side of the supporting frame 10;

[0081] One end of the rotating shaft 55 is rotatably connected to the fixing frame 54;

[0082] The second roller 56 is rotatably disposed on the other end of the rotating shaft 55 .

[0083] The connection structure described above is typical of universal wheels. Universal wheels are characterized by their 360-degree rotation, meaning they can be moved in any direction. This flexibility makes it easier to position and move items on the floor. They typically have a swivel mechanism that allows the wheel to rotate freely around a central point, enabling a full range of motion. Universal wheels are ideal for applications requiring frequent changes of direction or for maneuvering in confined spaces.

[0084] In application, the first drive wheel 32 and the second drive wheel 34 are rear wheels, and the first roller 52 or the second roller 56 in the second steering assembly 50 is a front wheel. The front wheel is located on the center line of the connection line of the two rear wheels, thus forming a tricycle. In some embodiments, as Figure 8 As shown, the second steering assembly 50 includes a third roller, which is located on the midline of the first drive wheel 32 and the second drive wheel 34. The third roller is located at the front end of the mobile robot, and the first drive wheel 32 and the second drive wheel 34 are located at the rear end of the mobile robot. This can effectively improve the mobile stability of the mobile robot. The spacing between the three wheels (the first drive wheel, the second drive wheel, and the fixed wheel or universal wheel) in the embodiment of the present application adopts an equilateral triangle layout, which makes the movement more stable. The use of a circular support frame further increases the stability and reliability of the movement.

[0085] It should be noted that the front end of the mobile robot refers to the end where the front wheels are located, that is, the forward end, and the rear end refers to the side where the rear wheels are located (that is, the side where the first drive wheel 32 and the second drive wheel 34 are located).

[0086] In use, the second steering assembly 50 is detachably mounted on the support frame 10. This detachable mounting method includes, but is not limited to, riveting, snap-fitting, magnetic connection, and threaded connection. As long as the second steering assembly 50 can be easily installed and removed, the two modes can be switched to suit different application scenarios. Based on this, the two steering modes of fixed and universal wheels effectively enhance the flexibility of the mobile robot's chassis structure, allowing it to adapt to different application scenarios and improve its applicability.

[0087] In some embodiments, as Figures 1 to 4 As shown, multiple shock-absorbing assemblies 40 are provided, one on each side of the first drive wheel 32 and the other on each side of the second drive wheel 34. In use, the first and second drive wheels 32 and 34 utilize dual spring damping, with a shock-absorbing spring 43 positioned on each left and right side of each drive wheel. Each spring is topped with a guide shaft 42 to direct the spring's direction of movement. This allows for left-right wheel shock balancing under heavy loads. This eliminates the risk of wheel roll under heavy loads associated with conventional robots with shock-absorbing springs 43 positioned on one side, resulting in a more robust chassis with improved shock absorption and smoother vibration reduction.

[0088] In some embodiments, as Figures 1 to 4 As shown, a set of shock absorbing components 40 provided on both sides of the first driving wheel 32 includes a linear bearing 41, a guide shaft 42 and a shock absorbing spring 43;

[0089] One end of the linear bearing 41 is fixed to the side of the support frame 10 away from the first driving wheel 32, and the other end of the linear bearing 41 passes through the support frame 10 and extends toward the direction where the first driving wheel 32 is located;

[0090] One end of the guide shaft 42 is slidably inserted into the linear bearing 41 , and the other end of the guide shaft 42 is connected to the rotating shaft 55 of the first driving wheel 32 ;

[0091] A shock-absorbing spring 43 is mounted on the linear bearing 41 and the guide shaft 42, with one end of the shock-absorbing spring 43 contacting the support frame 10 and the other end contacting the rotating shaft 55 of the first drive wheel 32. When the road surface is uneven, the wheel is subjected to pressure that rebounds to the shock-absorbing spring 43. The shock-absorbing spring 43 and the linear bearing 41 move and compress, absorbing vibrations and preventing the entire mobile robot from vibrating, thus achieving a shock-absorbing effect.

[0092] In some embodiments, as Figure 1 and Figure 2As shown, a mounting hole 100 is provided in the middle of the support frame 10, and the power supply assembly 20 is installed in the mounting hole 100. Part of the power supply assembly 20 is located on the side of the support frame 10 close to the first drive wheel 32, and part of the power supply assembly 20 is located on the side of the support frame 10 away from the first drive wheel 32. This arrangement can effectively lower the center of gravity of the power supply assembly 20. Moreover, for a mobile robot, the power supply assembly 20 is relatively heavy and has the greatest impact on the center of gravity of the mobile robot. Therefore, by lowering the center of gravity of the power supply assembly 20, the stability of the mobile robot is improved, thereby ensuring that it will not fall or collapse even when traveling on uneven roads.

[0093] In some embodiments, as Figures 5 to 7 As shown, the support frame 10 also includes a baffle 11, which is arranged on the side of the support frame 10 close to the first driving wheel 32. A connecting column 12 is provided between the baffle 11 and the support frame 10. The baffle 11 is provided with a plurality of clearance holes 110, and the plurality of clearance holes 110 are respectively used for the first driving wheel 32, the second driving wheel 34 and the first steering assembly 30 to pass through.

[0094] In use, three clearance holes 110 are provided, one for each of the first drive wheel 32, the other for the second drive wheel 34, and the first roller 52 or the second roller 56. The baffle 11 is provided to prevent ground debris from splashing into the interior of the chassis structure, and the baffle 11 is used to block it. In use, a bumper bar 111 is provided on the side of the baffle 11 away from the support frame 10. Because the baffle 11 is relatively close to the ground, the baffle 11 is the first to collide when encountering an obstacle. To protect the baffle 11, the bumper bar 111 is provided, which not only acts as a buffer but also prevents damage to the baffle 11. Specifically, the bumper bar 111 is provided at the front end of the baffle 11.

[0095] In some embodiments, as Figures 1 to 7 As shown, a first installation space 101 is formed between the support frame 10 and the baffle 11, and a second installation space 102 is formed on the side of the support frame 10 away from the baffle 11. The two installation spaces are separated by the support frame 10, so that the components installed in the two installation spaces do not affect each other, effectively improving the space layout and space utilization.

[0096] In some embodiments, as Figures 5 to 7 As shown, a fixing bar 13 is further provided on the side of the support frame 10 away from the baffle 11, and both ends of the connecting column 12 are respectively connected to the baffle 11 and the fixing bar 13, and the middle part of the connecting column 12 is connected to the support frame 10;

[0097] The chassis structure of the mobile robot also includes a housing 60, which is connected to the fixing bar 13, the support frame 10, and the baffle 11. The housing 60 encloses the first installation space 101 and the second installation space 102. Furthermore, the connecting column 12 is connected to the housing 60, and the fixing bar 13 is welded to the housing 60.

[0098] In use, the housing 60 includes a front shell 61, a rear shell 62, and a top shell 63. The front shell 61 and rear shell 62 respectively enclose the circumference of the support frame 10, wrapping and covering the front and rear ends of the mobile robot, which not only provides physical protection for the internal components, but also improves the aesthetics. The top shell 63 is connected to the fixing bar 13, enclosing and covering the top of the chassis structure. In use, multiple support columns are provided between the top shell 63 and the support frame 10, and multiple support columns are also provided between the support frame 10 and the baffle 11 to connect the support frame 10, the top shell 63, and the baffle 11.

[0099] In some embodiments, the fixing bar 13 is a weldment provided on both the upper and lower portions of the housing 60. The fixing bar 13 is welded to the housing 60 as a whole, facilitating connection with the load platform and the bottom baffle 11.

[0100] In some embodiments, as Figures 5 to 10 As shown, the chassis structure of the mobile robot further includes a sensor assembly 70 and an expansion interface assembly 80, and the sensor assembly 70 and the expansion interface assembly 80 are distributed at the front end and the rear end of the chassis structure of the mobile robot;

[0101] The sensor assembly 70 includes a distance measuring sensor 71 and an anti-collision sensor 72 distributed along the circumference of the chassis structure of the mobile robot, and an anti-fall sensor 73 is provided at the bottom of the chassis structure of the mobile robot.

[0102] In application, the anti-fall sensor 73 is distributed on the left and right sides of the first driving wheel 32, the second driving wheel 34, the first roller 52 or the second roller 56, and detects the distance between the wheel and the ground in real time to prevent the wheel from stepping into the air, thereby playing a role in anti-falling.

[0103] In practice, expansion interface assembly 80 generally refers to the portion of a hardware device or software system used to add functionality or connect to other devices. This includes, but is not limited to, the following: PCI card slots, an early standard for expansion slots, used to install various cards, such as sound cards and network cards; USB ports, used to connect to various external devices, such as keyboards, mice, and printers; and high-speed data transfer interfaces, capable of connecting monitors, hard drives, and other peripherals.

[0104] The present application also provides a mobile robot. Figures 5 to 10As shown, the mobile robot includes a control module 90, an electrical board 91 and the chassis structure of the mobile robot described in the first aspect. The electrical board 91 is arranged at intervals on the support frame 10, and the control module 90 is arranged on the electrical board 91. The chassis structure of the mobile robot and the control module 90 are distributed on both sides of the electrical board 91.

[0105] In application, the control module 90 includes a controller, a motor driver, and a NANO control unit. The controller is the brain of the entire system, responsible for processing sensor data, executing algorithmic calculations, and determining the system's action strategy. It can make decisions based on preset logic or real-time data, such as determining the required steering angle. The controller can be a microprocessor, a single-chip microcomputer, or a more complex embedded system. The motor driver converts commands from the controller into current or voltage signals that drive the motor. It receives instructions from the controller, such as PWM signals, and adjusts the power supplied to the motor accordingly to control the motor's speed, direction, and torque. The motor driver also needs to have overload protection to ensure safe motor operation. The NANO control unit is typically a small, high-performance computing platform, such as an ARM-based development board. This type of control unit is characterized by its small size, low power consumption, and high computing power, making it ideal for embedded systems and mobile devices. It can serve as the main controller, handling high-level tasks such as path planning and obstacle avoidance algorithms, or it can assist the main controller in completing specific tasks.

[0106] The mobile robot provided by the embodiment of the present application has more precise steering, better front-to-back linkage, and is more agile and real-time. It is possible to achieve the conversion of multiple motion modes by replacing the structural configuration of the front wheels within a chassis; and the rear wheels of the chassis use a dual-spring shock-absorbing method, so that the left and right shock-absorbing balance of the wheels can be achieved under heavy loads. This avoids the risk of wheels tilting under heavy pressure environments caused by the unilateral configuration of the shock-absorbing springs of traditional mobile robots, and the chassis has stronger shock-absorbing capabilities and smoother shock absorption. In short, the mobile robot of the embodiment of the present application has better applicability and is suitable for wide promotion.

[0107] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0108] The above-described embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application are described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the embodiments of the present application, and should all be included in the protection scope of the embodiments of the present application.

Claims

1. A chassis structure of a mobile robot, characterized in that: include: Support frame; A power supply assembly is provided on the support frame; a first steering assembly, comprising a first driving member, a first driving wheel, a second driving member, and a second driving wheel, wherein the first driving member and the second driving member are electrically connected to the power supply assembly, the first driving wheel and the second driving wheel are connected to the support frame, the first driving member is configured to drive the first driving wheel to rotate, and the second driving member is configured to drive the second driving wheel to rotate; a shock absorbing assembly, connected to the first drive wheel, the second drive wheel, and the support frame, respectively, and configured to reduce vibration and impact caused by uneven road surface during the rotation of the first drive wheel and the second drive wheel; as well as The second steering assembly is detachably mounted on the support frame, and the second steering assembly is used to cooperate with the first steering assembly to adjust the steering of the mobile robot.

2. The chassis structure of the mobile robot according to claim 1, characterized in that: The second steering assembly comprises: A steering servo, provided on a side of the support frame away from the first driving wheel, the steering servo having a transmission shaft; a first roller, located on a side of the support frame away from the steering servo; and A connecting frame has one end rotatably connected to the transmission shaft, and the first roller is rotatably connected to the other end of the connecting frame.

3. The chassis structure of the mobile robot according to claim 1, characterized in that: The second steering assembly comprises: A fixing frame, provided on one side of the supporting frame; The universal wheel module is arranged on the fixing frame.

4. The chassis structure of the mobile robot according to claim 1, wherein: The shock absorbing components are provided in multiple groups, which are respectively provided on both sides of the first driving wheel and the second driving wheel, wherein the group of shock absorbing components provided on both sides of the first driving wheel includes: a linear bearing, one end of which is fixed to a side of the support frame away from the first driving wheel, and the other end of which passes through the support frame and extends toward the direction where the first driving wheel is located; a guide shaft, one end of which is slidably inserted into the linear bearing, and the other end of which is connected to the rotating shaft of the first driving wheel; and A shock-absorbing spring is sleeved on the linear bearing and the guide shaft, and one end of the shock-absorbing spring abuts against the support frame, and the other end abuts against the rotating shaft of the first driving wheel.

5. The chassis structure of the mobile robot according to claim 4, characterized in that: A mounting hole is provided in the middle of the support frame, and the power supply component is installed in the mounting hole. Part of the power supply component is located on the side of the support frame close to the first driving wheel, and part of the power supply component is located on the side of the support frame away from the first driving wheel.

6. The chassis structure of the mobile robot according to claim 1, wherein: The vehicle further comprises a baffle, the baffle being arranged on a side of the support frame close to the first driving wheel, a connecting column being provided between the baffle and the support frame, and a plurality of clearance holes being opened on the baffle, the plurality of clearance holes being respectively used for allowing the first driving wheel, the second driving wheel and the first steering assembly to pass through; And / or, a first installation space is formed between the support frame and the baffle, and a second installation space is formed on a side of the support frame away from the baffle.

7. The chassis structure of the mobile robot according to claim 6, characterized in that: A fixing strip is further provided on the side of the support frame away from the baffle, the two ends of the connecting column are respectively connected to the baffle and the fixing strip, and the middle part of the connecting column is connected to the support frame; The chassis structure of the mobile robot further includes a shell, which is connected to the fixing bar, the supporting frame and the baffle, and the shell encloses the first installation space and the second installation space.

8. The chassis structure of a mobile robot according to any one of claims 1 to 7, characterized in that: It also includes a sensor component and an expansion interface component, wherein the sensor component and the expansion interface component are distributed at the front end and the rear end of the chassis structure of the mobile robot; The sensor assembly includes a distance measuring sensor, an anti-collision sensor, and an anti-falling sensor distributed along the circumference of the chassis structure of the mobile robot. The anti-falling sensor is arranged at the bottom of the chassis structure of the mobile robot.

9. The chassis structure of the mobile robot according to claim 1, characterized in that: The second steering assembly includes a third roller, which is located on the center line of the first drive wheel and the second drive wheel, and the third roller is located at the front end of the mobile robot, and the first drive wheel and the second drive wheel are located at the rear end of the mobile robot.

10. A mobile robot, characterized in that: It includes a control module, an electrical board and the chassis structure of the mobile robot according to any one of claims 1 to 9, wherein the electrical board is arranged on the support frame at intervals, the control module is arranged on the electrical board, and the chassis structure of the mobile robot and the control module are distributed on both sides of the electrical board.

Images