Chassis mechanism and walking robot with same

Abstract

The utility model provides a chassis mechanism and a walking robot with the chassis mechanism, and the chassis mechanism comprises a chassis main body, and the bottom of the chassis main body is provided with an avoiding concave part; the first supporting plate and the first vibration reduction assembly are installed on the chassis body and located in the receding concave part, the first supporting plate is provided with a first connecting part and a second connecting part which are arranged in the first preset direction, and the first connecting part and the second connecting part are both connected with the first vibration reduction assembly; the second supporting plate and the first supporting plate are arranged in a spaced mode in the second preset direction, the second vibration reduction assembly is installed on the chassis body and located in the receding concave part, the second supporting plate is provided with a third connecting part and a fourth connecting part which are arranged in the first preset direction, and the third connecting part and the fourth connecting part are both connected with the second vibration reduction assembly. Through the technical scheme provided by the utility model, the technical problem that the structural stability of the walking robot is easily influenced due to long-term vibration or shaking in the prior art can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of walking robots, in particular to a chassis mechanism and a walking robot having the same. Background Art

[0002] At present, coal mines are areas where humans mine coal resources in coal-rich mining areas. They are generally divided into underground coal mines and open-pit coal mines. When the coal seam is far from the surface, it is generally chosen to dig tunnels underground to mine coal. This is an underground coal mine. When the coal seam is very close to the surface, it is generally chosen to directly strip the surface soil layer to mine coal. This is an open-pit coal mine. The vast majority of coal mines in my country are underground coal mines. The scope of coal mines includes a large area above and below the ground and related facilities. Coal mines are reasonable spaces dug by humans when digging geological layers rich in coal. They usually include tunnels, shafts, mining faces, etc. Coal is the most important Solid fuel is a type of combustible organic rock. It is formed by lush vegetation that thrives over a certain geological period, gradually accumulating into thick layers in suitable geological environments and then being buried in water or mud. Over a long period of time, natural coalification occurs. Among the world's geological periods, the Carboniferous, Permian, Jurassic, and Tertiary periods are the most productive, representing important coal-forming periods. Coal generally contains 46% to 97% carbon, is brown to black, and has a dull to metallic luster. Depending on the degree of coalification, coal can be divided into four categories: peat, lignite, bituminous coal, and anthracite. Currently, mobile robots are often used to survey coal mines to gather information.

[0003] However, due to the complex environment underground in coal mines, the walking robot often has uneven walking conditions. As a result, the walking robot experiences severe shaking and vibration during the walking survey process. Long-term shaking and vibration will be detrimental to the stability of the walking robot's own structure, posing a greater threat to the structural stability of the walking robot and even affecting its service life. Utility Model Content

[0004] The main purpose of the utility model is to provide a chassis mechanism and a walking robot having the same, so as to solve the technical problem in the prior art that the walking robot is easily affected by long-term vibration or shaking and its structural stability is easily affected.

[0005] In order to achieve the above object, according to one aspect of the present invention, a chassis mechanism is provided, comprising:

[0006] A chassis body, wherein a relief recess is provided at the bottom of the chassis body;

[0007] a first support plate and a first vibration damping assembly, wherein the first vibration damping assembly is mounted on the chassis body and located in the avoidance recess, the first support plate having a first connecting portion and a second connecting portion arranged along a first preset direction, the first connecting portion and the second connecting portion both being connected to the first vibration damping assembly;

[0008] a second support plate and a second vibration damping assembly, the second support plate being spaced apart from the first support plate along a second preset direction, the second vibration damping assembly being mounted on the chassis body and located within the avoidance recess, the second support plate having a third connecting portion and a fourth connecting portion arranged along the first preset direction, the third connecting portion and the fourth connecting portion both being connected to the second vibration damping assembly;

[0009] In which, the first vibration damping assembly and / or the second vibration damping assembly include a guide column and a spring, the guide column is passed through the chassis assembly, the guide column is passed through the first support plate or the second support plate, the spring is passed through the guide column, and the two ends of the spring are respectively connected to the chassis body and the first support plate, or respectively connected to the chassis body and the second support plate; the first connecting part is used to connect to the first running wheel, the second connecting part is used to connect to the second running wheel, the third connecting part is used to connect to the third running wheel, and the fourth connecting part is used to connect to the fourth running wheel.

[0010] Furthermore, the first support plate is telescopically arranged on the chassis body through the first vibration damping assembly, and the first support plate has a first initial position and a first vibration damping position; when the first support plate is in the first initial position, the first support plate is flush with the bottom edge of the chassis body; when the first support plate is in the first vibration damping position, the first support plate retracts into the avoidance recess; and / or,

[0011] The second support plate is telescopically arranged on the chassis body through the second vibration damping assembly, and the second support plate has a second initial position and a second vibration damping position; when the second support plate is in the second initial position, the second support plate is arranged flush with the bottom edge of the chassis body; when the second support plate is in the second vibration damping position, the second support plate retracts into the avoidance recess.

[0012] Furthermore, the avoidance recess includes a first guide groove and a second guide groove arranged at intervals along the first preset direction, the first guide groove is adapted to the shape of the first connecting part, and the first connecting part is movably arranged in the first guide groove along the extension direction of the first guide groove, and the second guide groove is adapted to the shape of the second connecting part, and the second connecting part is movably arranged in the second guide groove along the extension direction of the second guide groove.

[0013] Furthermore, the avoidance recess further includes a main avoidance groove that is connected to both the first guide groove and the second guide groove and is located at the connection point between the first guide groove and the second guide groove; the first support plate further includes a first main plate body, the first main plate body is installed in the main avoidance groove, the first main plate body is protruded from the first connecting portion and the second connecting portion, and the portion of the first main plate body protruding from the first connecting portion and the second connecting portion is connected to the first vibration damping assembly;

[0014] Among them, the first connecting part and the second connecting part are respectively located on both sides of the first main board body and are both connected to the first main board body, there is a first separation gap between the first connecting part and the first main board body, and there is a second separation gap between the second connecting part and the first main board body.

[0015] Furthermore, the first vibration reduction assembly includes:

[0016] a first vibration damping portion, the first connecting portion and the chassis body are both connected to the first vibration damping portion, there are at least two first vibration damping portions, and the at least two first vibration damping portions are arranged at intervals along the second preset direction; and / or,

[0017] a second vibration damping portion, the second connecting portion and the chassis body are both connected to the second vibration damping portion, there are at least two second vibration damping portions, and the at least two second vibration damping portions are arranged at intervals along the second preset direction; and / or,

[0018] A third vibration damping part, the first main board and the chassis body are both connected to the third vibration damping part, there are at least two third vibration damping parts, at least two of the third vibration damping parts are arranged at intervals along the second preset direction, and at least one of the two third vibration damping parts is connected to the part of the first main board that extends out from the first connecting part and the second connecting part.

[0019] Furthermore, the avoidance recess includes a third guide groove and a fourth guide groove arranged at intervals along the first preset direction, the third guide groove is adapted to the shape of the third connecting portion, and the third connecting portion is movably disposed in the third guide groove along the extension direction of the third guide groove, and the fourth guide groove is adapted to the shape of the fourth connecting portion, and the fourth connecting portion is movably disposed in the fourth guide groove along the extension direction of the fourth guide groove;

[0020] The avoidance recess further includes a main avoidance groove that is connected to both the third guide groove and the fourth guide groove and is located at the connection point between the third guide groove and the fourth guide groove; the second support plate further includes a second main plate body, the second main plate body is installed in the main avoidance groove, the second main plate body is protruded from the third connecting portion and the fourth connecting portion, and the portion of the second main plate body protruding from the third connecting portion and the fourth connecting portion is connected to the second vibration damping assembly;

[0021] Among them, the third connecting part and the fourth connecting part are respectively located on both sides of the second main board body and are both connected to the second main board body, there is a third separation gap between the third connecting part and the second main board body, and there is a fourth separation gap between the fourth connecting part and the second main board body.

[0022] Furthermore, the second main board body further includes a first connecting segment, a second connecting segment, and a third connecting segment connected in sequence, the third connecting segment being located on a side of the first connecting segment close to the first support plate, the third connecting portion and the fourth connecting portion being connected to the first connecting segment to form the third separation gap and the fourth separation gap; in the first preset direction, the width of the first connecting segment is greater than the width of the second connecting segment, and the width of the third connecting segment is greater than the width of the second connecting segment;

[0023] The second main board body also includes a fifth connecting portion and a sixth connecting portion, both of which are connected to the third connecting segment and are located on a side of the third connecting segment away from the second connecting segment, and the fifth connecting portion and the sixth connecting portion are arranged at intervals along the first preset direction, the fifth connecting portion is used to connect to the fifth walking wheel, and the sixth connecting portion is used to connect to the sixth walking wheel.

[0024] Furthermore, the second vibration damping assembly includes:

[0025] a fourth vibration damping portion, the third connecting portion and the chassis body are both connected to the fourth vibration damping portion, there are at least two fourth vibration damping portions, and the at least two fourth vibration damping portions are arranged at intervals along the second preset direction; and / or,

[0026] a fifth vibration damping portion, the fourth connecting portion and the chassis body are both connected to the fifth vibration damping portion, there are at least two fifth vibration damping portions, and the at least two fifth vibration damping portions are arranged at intervals along the second preset direction; and / or,

[0027] a sixth vibration damping part, wherein there are at least three sixth vibration damping parts, at least one of which is arranged between the chassis body and the first connecting section, at least one of which is arranged between the chassis body and the second connecting section, and at least one of which is arranged between the chassis body and the third connecting section; and / or

[0028] A seventh vibration damping portion and an eighth vibration damping portion, wherein the seventh vibration damping portion is disposed between the fifth connecting portion and the chassis main body, and the eighth vibration damping portion is disposed between the sixth connecting portion and the chassis main body.

[0029] Furthermore, the chassis mechanism includes:

[0030] A visual sensor is provided on the chassis body, and is used to detect conditions on the ground surface;

[0031] The running rotation module is arranged on the chassis body, and the first running wheel and the second running wheel are both drivingly connected to the running rotation module; or the third running wheel and the fourth running wheel are both drivingly connected to the running rotation module.

[0032] A radar detection module is provided on the chassis body, and the radar detection module is located above the chassis body;

[0033] A control module, the visual sensor, the operation and rotation module, and the radar detection module are all signal-connected to the control module;

[0034] An information transmission module, the visual sensor, the operation and rotation module, the radar detection module (30) and the control module are all connected to the information transmission module by signals.

[0035] According to another aspect of the present invention, a walking robot is provided, comprising the chassis mechanism provided above.

[0036] The technical solution of this utility model, by providing an avoidance recess at the bottom of the chassis body and installing retractable first and second support plates within the avoidance recess, combined with the design of the vibration reduction assembly, can effectively absorb and disperse the impact force during walking, improve walking stability, and reduce the bumpy feeling when walking on uneven surfaces. In addition, the combination of visual sensors and radar detection modules enables the robot to more accurately perceive its surroundings, improving its autonomous navigation and obstacle avoidance capabilities. This design not only improves the robot's actual operating performance, but also enhances its adaptability and safety in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0038] Figure 1 A schematic structural diagram of the bottom of a chassis provided according to the first embodiment of the present utility model is shown;

[0039] Figure 2 FIG2 shows a schematic structural diagram of a first vibration damping assembly provided according to the first embodiment of the present utility model;

[0040] Figure 3 The figure shows a structural diagram of a walking robot provided according to the second embodiment of the present utility model.

[0041] The above drawings include the following reference numerals:

[0042] 10. Chassis structure;

[0043] 11. Chassis body;

[0044] 111. Avoid concave parts;

[0045] 12. First support plate; 121. First connecting portion; 122. Second connecting portion; 123. First main plate; 124. First separation gap; 125. Second separation gap;

[0046] 131. First vibration damping unit; 132. Second vibration damping unit; 133. Third vibration damping unit;

[0047] 14. Second support plate; 141. Third connecting portion; 142. Fourth connecting portion;

[0048] 143. Second main body; 1431. First connecting section; 1432. Second connecting section; 1433. Third connecting section; 1434. Fifth connecting portion; 1435. Sixth connecting portion;

[0049] 144, third separation gap; 145, fourth separation gap;

[0050] 151, fourth vibration damping unit; 152, fifth vibration damping unit; 153, sixth vibration damping unit; 154, seventh vibration damping unit; 155, eighth vibration damping unit;

[0051] 161. Guide column; 162. Spring; 163. Screw assembly; 164. Nut assembly;

[0052] 21. First traveling wheel; 22. Second traveling wheel; 23. Third traveling wheel; 25. Fifth traveling wheel;

[0053] 30. Radar detection module. DETAILED DESCRIPTION

[0054] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0055] like Figure 1 and Figure 2 As shown, embodiment 1 of the present utility model provides a chassis mechanism 10, which includes: a chassis body 11, a first support plate 12, a first vibration damping assembly, a second support plate 14, and a second vibration damping assembly. The bottom of the chassis body 11 is provided with an avoidance recess 111; the first vibration damping assembly is mounted on the chassis body 11 and is located in the avoidance recess 111, the first support plate 12 has a first connection portion 121 and a second connection portion 122 arranged along a first preset direction, and the first connection portion 121 and the second connection portion 122 are both connected to the first vibration damping assembly; the second support plate 14 is spaced apart from the first support plate 12 along the second preset direction, the second vibration damping assembly is mounted on the chassis body 11 and is located in the avoidance recess 111, the second support plate 14 has a third connection portion 141 and a fourth connection portion 142 arranged along the first preset direction, and the third connection portion 141 and the fourth connection portion 142 are both connected to the second vibration damping assembly. Among them, the first shock absorbing assembly and / or the second shock absorbing assembly includes a guide column 161 and a spring 162, the guide column 161 is arranged on the chassis assembly, the guide column 161 is arranged on the first support plate 12 or the second support plate 14, the spring 162 is arranged on the guide column 161, and the two ends of the spring 162 are respectively connected to the chassis body 11 and the first support plate 12, or respectively connected to the chassis body 11 and the second support plate 14; the first connecting portion 121 is used to connect to the first walking wheel 21, the second connecting portion 122 is used to connect to the second walking wheel 22, the third connecting portion 141 is used to connect to the third walking wheel 23, and the fourth connecting portion 142 is used to connect to the fourth walking wheel.

[0056] By using the chassis mechanism 10 provided in this embodiment, by separating the first support plate 12 and the second support plate 14, it is possible to facilitate separate vibration reduction for the first and second running wheels 21 and 22, and separate vibration reduction for the third and fourth running wheels 23, thereby improving the vibration reduction effect. Through the vibration reduction and buffering of the chassis mechanism 10 itself, the impact on the vehicle body and other structures connected to the chassis structure is reduced, thereby reducing the impact on the overall structural stability. Therefore, the chassis mechanism 10 provided in this embodiment can solve the technical problem in the prior art that the structural stability of walking robots is easily affected by long-term vibration or shaking.

[0057] At the same time, by arranging the first vibration damping assembly and the second vibration damping assembly in the avoidance recess 111, it is possible to better and effectively protect the first vibration damping assembly and the second vibration damping assembly, thereby preventing the first support plate 12 and the second support plate 14 from protruding far from the bottom of the chassis body 11 and being easily worn by the unevenness of the walking surface.

[0058] Specifically, the first vibration damping assembly and / or the second vibration damping assembly further includes a nut assembly 164 and a screw assembly 163 , and the screw assembly 163 and the nut assembly 164 are respectively disposed at both ends of the guide column 161 .

[0059] Specifically, the first support plate 12 is telescopically mounted on the chassis body 11 via the first vibration-damping assembly. The first support plate 12 has a first initial position and a first vibration-damping position. When the first support plate 12 is in the first initial position, the first support plate 12 is flush with the bottom edge of the chassis body 11. When the first support plate 12 is in the first vibration-damping position, the first support plate 12 retracts into the avoidance recess 111. This effectively prevents the first support plate 12 from extending beyond the bottom of the avoidance recess 111, effectively protecting the first support plate 12 and allowing it to smoothly perform vibration-damping telescopic movement via the first vibration-damping assembly.

[0060] Specifically, the second support plate 14 is retractably mounted on the chassis body 11 via the second vibration-damping assembly. The second support plate 14 has a second initial position and a second vibration-damping position. When the second support plate 14 is in the second initial position, the second support plate 14 is flush with the bottom edge of the chassis body 11. When the second support plate 14 is in the second vibration-damping position, the second support plate 14 retracts into the avoidance recess 111. This effectively prevents the second support plate 14 from extending beyond the bottom of the avoidance recess 111, effectively protecting the second support plate 14 and allowing it to smoothly perform vibration-damping telescopic movement via the second vibration-damping assembly.

[0061] In this embodiment, the avoidance recess 111 includes a first guide groove and a second guide groove arranged at intervals along a first preset direction. The first guide groove is adapted to the shape of the first connecting portion 121, and the first connecting portion 121 is movably disposed within the first guide groove along the extension direction of the first guide groove. The second guide groove is adapted to the shape of the second connecting portion 122, and the second connecting portion 122 is movably disposed within the second guide groove along the extension direction of the second guide groove. This structural arrangement can effectively guide the vibration-damping telescopic movement of the first connecting portion 121 and the second connecting portion 122, thereby ensuring a vibration-damping effect on the first and second running wheels 21 and 22.

[0062] In this embodiment, the avoidance recess 111 further includes a main avoidance groove that is connected to both the first guide groove and the second guide groove and is located at the connection point between the first guide groove and the second guide groove. The first support plate 12 further includes a first main plate 123, which is mounted within the main avoidance groove and protrudes from the first connecting portion 121 and the second connecting portion 122. The portion of the first main plate 123 that protrudes from the first connecting portion 121 and the second connecting portion 122 is connected to the first vibration damping assembly. The first connecting portion 121 and the second connecting portion 122 are respectively located on either side of the first main plate 123 and are both connected to the first main plate 123. A first separation gap 124 is defined between the first connecting portion 121 and the first main plate 123, and a second separation gap 125 is defined between the second connecting portion 122 and the first main plate 123. Such a structural arrangement can reduce the connection rigidity of the first connection portion 121 and the second connection portion 122 , so as to better reduce vibration of the first connection portion 121 and the second connection portion 122 , thereby better reducing vibration of the first running wheel 21 and the second running wheel 22 .

[0063] Specifically, the first vibration damping assembly includes a first vibration damping portion 131, a second vibration damping portion 132, and a third vibration damping portion 133. The first connecting portion 121 and the chassis body 11 are both connected to the first vibration damping portion 131. There are at least two first vibration damping portions 131, which are spaced apart along the second predetermined direction. The second connecting portion 122 and the chassis body 11 are both connected to the second vibration damping portion 132. There are at least two second vibration damping portions 132, which are spaced apart along the second predetermined direction. The first main plate 123 and the chassis body 11 are both connected to the third vibration damping portion 133. There are at least two third vibration damping portions 133, which are spaced apart along the second predetermined direction. One of the at least two third vibration damping portions 133 is connected to the portion of the first main plate 123 that extends beyond the first connecting portion 121 and the second connecting portion 122. In this way, the first vibration damping part 131 , the second vibration damping part 132 and the third vibration damping part 133 can respectively fully damp the vibrations of different parts of the first support plate 12 , thereby improving the vibration damping effect on the first support plate 12 .

[0064] In this embodiment, the avoidance recess 111 includes a third guide groove and a fourth guide groove arranged at intervals along a first predetermined direction. The third guide groove matches the shape of the third connecting portion 141, and the third connecting portion 141 is movably disposed within the third guide groove along the extension direction of the third guide groove. The fourth guide groove matches the shape of the fourth connecting portion 142, and the fourth connecting portion 142 is movably disposed within the fourth guide groove along the extension direction of the fourth guide groove. The avoidance recess 111 also includes a main avoidance groove that is connected to both the third and fourth guide grooves and is located at the connection point between the third and fourth guide grooves. The second support plate 14 also includes a second main plate body 143, which is mounted within the main avoidance groove and protrudes from the third and fourth connecting portions 141, 142. The portion of the second main plate body 143 that protrudes from the third and fourth connecting portions 141, 142 is connected to the second vibration damping assembly. The third connecting portion 141 and the fourth connecting portion 142 are respectively located on either side of the second main plate body 143 and are both connected to the second main plate body 143. A third separation gap 144 is defined between the third connecting portion 141 and the second main plate body 143, and a fourth separation gap 145 is defined between the fourth connecting portion 142 and the second main plate body 143. This structural arrangement effectively guides the vibration-damping telescopic movement of the third connecting portion 141 and the fourth connecting portion 142, thereby ensuring a vibration-damping effect on the third and fourth running wheels 23 and 24. Furthermore, the third separation gap 144 and the fourth separation gap 145 can respectively reduce the connection rigidity of the third and fourth connecting portions 141 and 142, thereby better reducing vibration of the third and fourth connecting portions 141 and 142, thereby better reducing vibration of the third and fourth running wheels 23 and 24.

[0065] Specifically, the second main board body 143 also includes a first connecting section 1431, a second connecting section 1432 and a third connecting section 1433 connected in sequence, the third connecting section 1433 is located on the side of the first connecting section 1431 close to the first support plate 12, the third connecting portion 141 and the fourth connecting portion 142 are both connected to the first connecting section 1431 and form a third separation gap 144 and a fourth separation gap 145; in the first preset direction, the width of the first connecting section 1431 is greater than the width of the second connecting section 1432, and the width of the third connecting section 1433 is greater than the width of the second connecting section 1432. The second main body 143 further includes a fifth connecting portion 1434 and a sixth connecting portion 1435. Both the fifth connecting portion 1434 and the sixth connecting portion 1435 are connected to the third connecting section 1433 and are located on a side of the third connecting section 1433 away from the second connecting section 1432. The fifth connecting portion 1434 and the sixth connecting portion 1435 are spaced apart along the first predetermined direction. The fifth connecting portion 1434 is configured to connect to the fifth running wheel 25, and the sixth connecting portion 1435 is configured to connect to the sixth running wheel. This structural arrangement facilitates vibration reduction for the fifth and sixth running wheels 25.

[0066] Specifically, the second vibration damping assembly includes a fourth vibration damping portion 151, a fifth vibration damping portion 152, a sixth vibration damping portion 153, a seventh vibration damping portion 154, and an eighth vibration damping portion 155. The third connecting portion 141 and the chassis body 11 are both connected to the fourth vibration damping portion 151. There are at least two fourth vibration damping portions 151, which are arranged at intervals along the second predetermined direction. The fourth connecting portion 142 and the chassis body 11 are both connected to the fifth vibration damping portion 152. There are at least two fifth vibration damping portions 152, which are arranged at intervals along the second predetermined direction. There are at least three sixth vibration damping portions 153, with at least one sixth vibration damping portion 153 disposed between the chassis body 11 and the first connecting section 1431, at least one sixth vibration damping portion 153 disposed between the chassis body 11 and the second connecting section 1432, and at least one sixth vibration damping portion 153 disposed between the chassis body 11 and the third connecting section 1433. The seventh vibration-damping portion 154 is disposed between the fifth connecting portion 1434 and the chassis body 11, and the eighth vibration-damping portion 155 is disposed between the sixth connecting portion 1435 and the chassis body 11. This structural arrangement facilitates effective vibration reduction for different portions of the second support plate 14, thereby facilitating better vibration reduction for the third running wheel 23, the fourth running wheel, the fifth running wheel 25, and the sixth running wheel.

[0067] In this embodiment, the chassis mechanism 10 includes a visual sensor, an operating and rotating module, a radar detection module 30, a control module, and an information transmission module. The visual sensor is mounted on the chassis body 11 and is used to detect surface conditions. The operating and rotating module is mounted on the chassis body 11. The first and second running wheels 21 and 22 are both drive-connected to the operating and rotating module; alternatively, the third and fourth running wheels 23 and 24 are both drive-connected to the operating and rotating module. The radar detection module 30 is mounted on the chassis body 11 and is located above the chassis body 11. The visual sensor, operating and rotating module, and radar detection module 30 are all signal-connected to the control module. The visual sensor, operating and rotating module, radar detection module 30, and control module are all signal-connected to the information transmission module to transmit information from each module to relevant equipment outside the coal mine, allowing personnel to promptly understand surface conditions within the coal mine and the operating status of the walking robot's chassis mechanism 10. This structural arrangement facilitates the use of visual sensors to collect surface conditions within the coal mine. Specifically, the visual sensors can be positioned partially below and partially above the chassis to comprehensively capture surface conditions within the coal mine. The radar detection module 30 is used to detect obstacles, and the control module controls the movement module based on the information detected by the radar detection module 30, enabling intelligent obstacle avoidance for the walking robot.

[0068] like Figure 3 As shown, the second embodiment of the present invention provides a walking robot, including the chassis mechanism 10 provided in the above-mentioned first embodiment.

[0069] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: good vibration reduction effect, improved structural stability of the vehicle body and other structures on the chassis, and improved walking stability and structural stability of the overall walking robot.

[0070] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0071] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0072] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the walking outline of each component itself.

[0073] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0074] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0075] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A chassis mechanism, characterized in that: include: A chassis body (11), wherein a relief recess (111) is provided at the bottom of the chassis body (11); a first support plate (12) and a first vibration damping assembly, wherein the first vibration damping assembly is mounted on the chassis body (11) and is located in the avoidance recess (111), the first support plate (12) having a first connecting portion (121) and a second connecting portion (122) arranged along a first preset direction, the first connecting portion (121) and the second connecting portion (122) both being connected to the first vibration damping assembly; a second support plate (14) and a second vibration damping assembly, wherein the second support plate (14) and the first support plate (12) are spaced apart along a second preset direction, the second vibration damping assembly is mounted on the chassis body (11) and is located in the avoidance recess (111), the second support plate (14) has a third connecting portion (141) and a fourth connecting portion (142) arranged along the first preset direction, and the third connecting portion (141) and the fourth connecting portion (142) are both connected to the second vibration damping assembly; Wherein, the first vibration damping assembly and / or the second vibration damping assembly comprises a guide column (161) and a spring (162), the guide column (161) is provided on the chassis assembly, the guide column (161) is provided on the first support plate (12) or the second support plate (14), the spring (162) is provided on the guide column (161), and the two ends of the spring (162) are respectively connected to the chassis body (11) and the first support plate (12), or respectively connected to the chassis body (11) and the second support plate (14); the first connecting portion (121) is used to connect to the first running wheel (21), the second connecting portion (122) is used to connect to the second running wheel (22), the third connecting portion (141) is used to connect to the third running wheel (23), and the fourth connecting portion (142) is used to connect to the fourth running wheel.

2. The chassis structure according to claim 1, characterized in that: The first support plate (12) is telescopically arranged on the chassis body (11) through the first vibration damping assembly, and the first support plate (12) has a first initial position and a first vibration damping position; when the first support plate (12) is in the first initial position, the first support plate (12) is flush with the bottom edge of the chassis body (11); when the first support plate (12) is in the first vibration damping position, the first support plate (12) retracts into the avoidance recess (111); and / or, The second support plate (14) is telescopically arranged on the chassis body (11) through the second vibration damping assembly, and the second support plate (14) has a second initial position and a second vibration damping position; when the second support plate (14) is in the second initial position, the second support plate (14) is flush with the bottom edge of the chassis body (11); when the second support plate (14) is in the second vibration damping position, the second support plate (14) retracts into the avoidance recess (111).

3. The chassis structure according to claim 1, characterized in that: The avoidance recess (111) includes a first guide groove and a second guide groove arranged at intervals along the first preset direction, the first guide groove is adapted to the shape of the first connecting portion (121), the first connecting portion (121) is movably arranged in the first guide groove along the extension direction of the first guide groove, the second guide groove is adapted to the shape of the second connecting portion (122), and the second connecting portion (122) is movably arranged in the second guide groove along the extension direction of the second guide groove.

4. The chassis structure according to claim 3, characterized in that: The avoidance recess (111) further comprises a avoidance main groove which is in communication with both the first guide groove and the second guide groove and is located at the connection point between the first guide groove and the second guide groove; the first support plate (12) further comprises a first main plate body (123), the first main plate body (123) being installed in the avoidance main groove, the first main plate body (123) being protruded from the first connecting portion (121) and the second connecting portion (122), and the portion of the first main plate body (123) protruding from the first connecting portion (121) and the second connecting portion (122) being connected to the first vibration damping assembly; The first connecting portion (121) and the second connecting portion (122) are respectively located on both sides of the first main board body (123) and are both connected to the first main board body (123); a first separation gap (124) is provided between the first connecting portion (121) and the first main board body (123); and a second separation gap (125) is provided between the second connecting portion (122) and the first main board body (123).

5. The chassis structure according to claim 4, characterized in that: The first vibration damping assembly comprises: a first vibration damping portion (131), the first connecting portion (121) and the chassis body (11) are both connected to the first vibration damping portion (131), there are at least two first vibration damping portions (131), and the at least two first vibration damping portions (131) are arranged at intervals along the second preset direction; and / or, a second vibration damping portion (132), the second connecting portion (122) and the chassis body (11) are both connected to the second vibration damping portion (132), there are at least two second vibration damping portions (132), and the at least two second vibration damping portions (132) are arranged at intervals along the second preset direction; and / or, A third vibration damping portion (133), the first main plate body (123) and the chassis body (11) are both connected to the third vibration damping portion (133), there are at least two third vibration damping portions (133), at least two of the third vibration damping portions (133) are arranged at intervals along the second preset direction, and one of the at least two third vibration damping portions (133) is connected to a portion of the first main plate body (123) extending from the first connecting portion (121) and the second connecting portion (122).

6. The chassis structure according to claim 1, characterized in that: The avoidance recess (111) comprises a third guide groove and a fourth guide groove arranged at intervals along the first preset direction, the third guide groove is adapted to the shape of the third connecting portion (141), the third connecting portion (141) is movably arranged in the third guide groove along the extension direction of the third guide groove, the fourth guide groove is adapted to the shape of the fourth connecting portion (142), and the fourth connecting portion (142) is movably arranged in the fourth guide groove along the extension direction of the fourth guide groove; The avoidance recess (111) further includes a avoidance main groove that is in communication with both the third guide groove and the fourth guide groove and is located at the connection point between the third guide groove and the fourth guide groove; the second support plate (14) further includes a second main plate body (143), the second main plate body (143) being installed in the avoidance main groove, the second main plate body (143) being protruded from the third connecting portion (141) and the fourth connecting portion (142), and the portion of the second main plate body (143) protruding from the third connecting portion (141) and the fourth connecting portion (142) being connected to the second vibration damping assembly; The third connecting portion (141) and the fourth connecting portion (142) are respectively located on both sides of the second main board body (143) and are both connected to the second main board body (143); a third separation gap (144) is provided between the third connecting portion (141) and the second main board body (143); and a fourth separation gap (145) is provided between the fourth connecting portion (142) and the second main board body (143).

7. The chassis structure according to claim 6, characterized in that: The second main body (143) further comprises a first connecting section (1431), a second connecting section (1432) and a third connecting section (1433) connected in sequence, the third connecting section (1433) being located on a side of the first connecting section (1431) close to the first support plate (12), the third connecting portion (141) and the fourth connecting portion (142) being connected to the first connecting section (1431) to form the third separation gap (144) and the fourth separation gap (145); in the first preset direction, the width of the first connecting section (1431) is greater than the width of the second connecting section (1432), and the width of the third connecting section (1433) is greater than the width of the second connecting section (1432); The second main body (143) further includes a fifth connecting portion (1434) and a sixth connecting portion (1435), wherein the fifth connecting portion (1434) and the sixth connecting portion (1435) are both connected to the third connecting segment (1433) and are located on a side of the third connecting segment (1433) away from the second connecting segment (1432), and the fifth connecting portion (1434) and the sixth connecting portion (1435) are arranged at intervals along the first preset direction, and the fifth connecting portion (1434) is used to connect to the fifth walking wheel (25), and the sixth connecting portion (1435) is used to connect to the sixth walking wheel.

8. The chassis structure according to claim 7, characterized in that: The second vibration damping assembly comprises: a fourth vibration damping portion (151), the third connecting portion (141) and the chassis body (11) are both connected to the fourth vibration damping portion (151), there are at least two fourth vibration damping portions (151), and at least two of the fourth vibration damping portions (151) are arranged at intervals along the second preset direction; and / or, a fifth vibration damping portion (152), the fourth connecting portion (142) and the chassis body (11) are both connected to the fifth vibration damping portion (152), there are at least two fifth vibration damping portions (152), and at least two of the fifth vibration damping portions (152) are arranged at intervals along the second preset direction; and / or, a sixth vibration damping part (153), wherein there are at least three sixth vibration damping parts (153), at least one of the sixth vibration damping parts (153) is arranged between the chassis body (11) and the first connecting section (1431), at least one of the sixth vibration damping parts (153) is arranged between the chassis body (11) and the second connecting section (1432), and at least one of the sixth vibration damping parts (153) is arranged between the chassis body (11) and the third connecting section (1433); and / or, A seventh vibration damping portion (154) and an eighth vibration damping portion (155), wherein the seventh vibration damping portion (154) is arranged between the fifth connecting portion (1434) and the chassis main body (11), and the eighth vibration damping portion (155) is arranged between the sixth connecting portion (1435) and the chassis main body (11).

9. The chassis structure according to any one of claims 1 to 8, characterized in that: The chassis mechanism comprises: A visual sensor is provided on the chassis body (11), and is used to detect conditions on the ground surface; A running rotation module is provided on the chassis body (11), wherein the first running wheel (21) and the second running wheel (22) are both drivingly connected to the running rotation module; or the third running wheel (23) and the fourth running wheel are both drivingly connected to the running rotation module; A radar detection module (30) is provided on the chassis body (11), wherein the radar detection module (30) is located above the chassis body (11); A control module, the visual sensor, the operation and rotation module, and the radar detection module (30) are all connected to the control module by signal; An information transmission module, the visual sensor, the operation and rotation module, the radar detection module (30) and the control module are all connected to the information transmission module by signals.

10. A walking robot, characterized in that: The invention comprises the chassis mechanism according to any one of claims 1 to 9.

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