Mobile robot chassis and mobile robot

Abstract

The embodiment of the utility model provides a mobile robot chassis and a mobile robot. The mobile robot chassis comprises a main frame and an auxiliary frame which are hinged to each other. The main frame comprises a first bottom plate, a pair of driving wheel sets and a hinge seat; the auxiliary frame comprises a second bottom plate, a cantilever and a hinge joint; the pair of driving wheel sets is installed on the first bottom plate. The hinge seat is fixed to the first bottom plate and located on the side, away from the auxiliary frame, of the driving wheel set. The hinge joint crosses the driving wheel set along with the cantilever and is hinged to the hinge seat. The hinge seat and the driving wheel set are both arranged on the first bottom plate of the main frame, the hinge seat is arranged on the side, away from the auxiliary frame, of the driving wheel set, and the cantilever is arranged across the first bottom plate from the second bottom plate, so that a part of weight of a mechanism located on the auxiliary frame is also distributed on the main frame through the cantilever. The load of the driving wheel set can be increased without arranging a spring pressurizing mechanism, so that the wheel pressure of the driving wheel set is increased, the ground fluctuation overcoming capacity of the mobile robot is improved, and slipping during high-speed traveling is avoided.

Description

Technical Field

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

[0002] In related technologies, mobile robots typically use a fixed chassis, primarily consisting of a frame, drive wheels, and casters. The casters are directly fixed to the frame, while the drive wheels are connected to the frame via a spring-loaded mechanism. The springs exert positive pressure on the ground, providing the drive wheels with a fixed driving force. However, due to the heavy weight of the mobile robot and the fixed driving force, the chassis' load capacity is relatively small relative to the vehicle's weight, resulting in a low wheel pressure on the drive wheels. This results in the mobile robot's poor ability to overcome uneven terrain and a tendency to slip at high speeds. Utility Model Content

[0003] The purpose of the present invention is to provide a mobile robot chassis and a mobile robot to increase the wheel pressure of the driving wheels and improve the mobile robot's ability to overcome ground undulations. The specific technical solution is as follows:

[0004] An embodiment of the present application provides a mobile robot chassis, comprising: a main frame and a sub-frame hinged to each other; the main frame comprises: a first base plate, a pair of drive wheel groups and an articulated seat; the sub-frame comprises: a second base plate, a cantilever and an articulated joint; the pair of drive wheel groups are mounted on the first docking end where the first base plate and the second base plate are docked, and the drive wheel of each drive wheel group extends out of the first base plate so that the drive wheel contacts the ground; the articulated seat of the main frame is fixed to the first base plate and is located on the side of the drive wheel group away from the sub-frame; the starting end of the cantilever of the sub-frame is fixedly arranged at the tail end of the second base plate away from the main frame; the articulated joint is fixedly arranged on the cantilever; and the articulated joint crosses the drive wheel group with the cantilever, so that the articulated joint is articulated to the articulated seat, so as to realize the mutual articulation of the main frame and the sub-frame.

[0005] In some embodiments of the present application, the sub-frame has two cantilevers, which are arranged in parallel and spaced apart; each cantilever is provided with an articulated joint; the main frame has two articulated seats, which correspond to the positions of the two articulated joints respectively.

[0006] In some embodiments of the present application, the articulated seat is U-shaped with an opening facing upward, and has a groove in the middle; the articulated head is inserted into the groove and is hinged to the two side walls of the groove through a hinge shaft; the hinge shaft is fixedly connected to the articulated seat; and the articulated head is rotatably connected to the articulated shaft.

[0007] In some embodiments of the present application, a limiting portion is provided at the first end of the articulated shaft; the limiting portion of the articulated shaft abuts against the outside of the first side wall of the groove, and the second end of the articulated shaft extends out of the second side wall of the groove; an axis end clamp is also fixed to the outside of the second side wall; a limiting groove is provided at the second end of the articulated shaft, which is clamped to the axis end clamp.

[0008] In some embodiments of the present application, a limiting column is further provided on the first base plate; the limiting column is fixed to the side of the hinge seat on the first base plate away from the sub-frame, and extends from the first base plate toward the top thereof; a limiting rubber pad is fixed on the top of the limiting column; a gap is provided in the vertical direction between the end of the cantilever and the top of the limiting rubber pad to limit the relative flipping angle between the main frame and the sub-frame.

[0009] In some embodiments of the present application, the top of the cantilever is used to install a scissors-type lifting mechanism, and a fixed groove is provided at one end of the top of each cantilever and a sliding groove is provided at the other end, which are respectively used to connect with the fixed end and sliding end of the scissors-type lifting mechanism.

[0010] In some embodiments of the present application, the fixing slot of each cantilever is arranged at the top of the starting end of the cantilever of the sub-frame; the sliding slot of each cantilever is arranged at the top of the end of the cantilever extending to the front end of the first base plate.

[0011] In some embodiments of the present application, a connecting frame is fixedly arranged between the two cantilevers, and a first main control component mounting hole is opened in the middle of the connecting frame for installing additional components; the two sides of the top of the connecting frame cover the part of the driving wheel group located on the first base plate; a second main control component mounting hole is opened at the junction of the first base plate and the second base plate, so that the built-in code reading camera of the main control component can scan the ground.

[0012] In some embodiments of the present application, each of the driving wheels is driven to rotate by a driving motor; the first base plate is provided with two driving motor mounting positions, located on the first docking end; each of the driving motors is fixedly mounted on one of the driving motor mounting positions.

[0013] In some embodiments of the present application, the front end of the first bottom plate of the main frame and the rear end of the second bottom plate of the auxiliary frame respectively have caster mounting positions; there is an accommodation space between the caster mounting position and the ground; in the accommodation space, casters are symmetrically arranged on the left and right, and the casters extend out of the first bottom plate or the second bottom plate and contact the ground.

[0014] In some embodiments of the present application, a caster bridge and a rotating shaft are further provided in the accommodating space; the casters are respectively fixed at both ends of the caster bridge; two connecting blocks are provided in the middle of the accommodating space along the front-to-back direction; the caster bridge is provided between the two connecting blocks, the rotating shaft passes through the middle of the caster bridge, and the two ends are respectively fixedly connected to the connecting blocks, so that the caster bridge can drive the casters to rotate around the rotating shaft.

[0015] An embodiment of the present application also provides a mobile robot, comprising: the mobile robot chassis and scissors-type lifting mechanism described in any of the above embodiments; the scissors-type lifting mechanism is installed on the top of the cantilever, and is used to move and lift goods under the drive of the mobile robot chassis.

[0016] The mobile robot chassis provided by the embodiment of the present invention has an articulated seat and a driving wheel assembly both disposed on the first bottom plate of the main frame, and the articulated seat is disposed on the side of the driving wheel assembly away from the sub-frame, and the articulated joint is extended from the second bottom plate of the sub-frame to the first bottom plate of the main frame along with the cantilever, so that the articulated position of the articulated joint and the articulated seat is always located on the main frame, and a portion of the weight of the mechanism located on the sub-frame can also be distributed on the main frame through the cantilever. Compared to the prior art, the present application adopts a method of articulating the main frame and the sub-frame, and the articulated position is always located on the main frame. Therefore, the load of the driving wheel assembly located on the first bottom plate of the main frame can be increased without the need for a spring boosting mechanism, thereby increasing the wheel pressure of the driving wheel assembly, improving the ability of the mobile robot to overcome ground undulations, and avoiding slipping during high-speed driving.

[0017] In addition, based on the setting position of the above-mentioned articulated seat and cantilever, even if the weight of the mechanism arranged above the chassis deviates (i.e., overload), the weight can be added to the top of the articulated seat through the cantilever, so that the distributed installation point span of the upper mechanism can be larger, which is convenient for expanding the mounting form of the upper mechanism, and the chassis can resist larger load overload.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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 present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0020] Figure 1 A three-dimensional structural diagram of a mobile robot chassis according to an embodiment of the present application from a first angle;

[0021] Figure 2A perspective structural diagram of the mobile robot chassis from a second angle according to an embodiment of the present application;

[0022] Figure 3 for Figure 1 An exploded schematic diagram of the mobile robot chassis is shown;

[0023] Figure 4 A three-dimensional structural diagram of a scissor lift mechanism of a mobile robot according to an embodiment of the present application;

[0024] Figure 5 for Figure 1 A top view of the mobile robot chassis is shown;

[0025] Figure 6 for Figure 5 A first cross-sectional view of the mobile robot chassis is shown;

[0026] Figure 7 for Figure 5 A second cross-sectional view of the mobile robot chassis is shown.

[0027] Reference numerals:

[0028] Main frame 100; first base plate 110; first docking end 111; drive motor mounting position 112; drive wheel assembly 120; drive wheel 121; drive motor 122; hinge seat 130; groove 131; first side wall 1311; second side wall 1312; first hinge hole 132; limiting post 140; limiting rubber pad 141; hinge shaft 150; limiting portion 151; limiting groove 152; shaft end clamp 160;

[0029] Subframe 200; second base plate 210; second docking end 211; cantilever 220; fixing slot 221; sliding slot 222; connecting frame 223; first main control assembly mounting hole 2231; support column 224; hinge head 230; second hinge hole 231; bushing 232;

[0030] Caster mounting position 300; accommodating space 310; connecting block 311; caster 320; caster bridge 330; rotating shaft 340;

[0031] Second main control assembly mounting hole 400;

[0032] Scissor lift mechanism 500 ; upper platform 501 ; scissor assembly 502 ; first fork arm 5021 ; second fork arm 5022 ; fixed end 510 ; sliding end 520 . DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field based on this application are within the scope of protection of the present invention.

[0034] As mentioned in the background, in related art, the chassis of mobile robots typically utilizes a fixed chassis, primarily consisting of a frame, drive wheels, and casters. The casters are directly fixed to the frame, while the drive wheels are connected to the frame via a spring-loaded mechanism. The springs exert positive pressure on the ground, providing the drive wheels with a fixed driving force. However, due to the heavy weight of the mobile robot and the fixed driving force, the chassis' load capacity is relatively small relative to the vehicle's weight, resulting in a low wheel pressure on the drive wheels. This results in the mobile robot's poor ability to overcome ground undulations and makes it prone to slipping at high speeds.

[0035] In order to improve the wheel pressure of the driving wheels and the ability of the mobile robot to overcome the ups and downs of the ground, the embodiment of the present application provides a mobile robot chassis and a mobile robot. First, the mobile robot chassis provided in the embodiment of the present application is described in detail.

[0036] See also Figures 1 to 3 , Figure 1 A three-dimensional structural diagram of a mobile robot chassis according to an embodiment of the present application from a first angle; Figure 2 A perspective structural diagram of the mobile robot chassis from a second angle according to an embodiment of the present application; Figure 3 for Figure 1 Exploded diagram of the mobile robot chassis shown.

[0037] like Figures 1 to 3 As shown, the mobile robot chassis includes a main frame 100 and a sub-frame 200 that are hinged to each other.

[0038] The main frame 100 includes a first base plate 110 , a pair of driving wheel sets 120 and an articulated seat 130 ; the sub-frame 200 includes a second base plate 210 , a cantilever 220 and an articulated head 230 .

[0039] A pair of driving wheel assemblies 120 are mounted on the first docking end 111 of the first base plate 110 and the second base plate 210 , and the driving wheel 121 of each driving wheel assembly 120 extends out of the first base plate 110 so that the driving wheel 121 contacts the ground.

[0040] The hinge base 130 of the main frame 100 is fixed on the first base plate 110 and is located on a side of the driving wheel set 120 away from the sub-frame 200 .

[0041] The starting end of the cantilever 220 of the sub-frame 200 is fixedly arranged at the rear end of the second base plate 210 away from the main frame 100; the hinge head 230 is fixedly arranged on the cantilever 220; and the hinge head 230 and the cantilever 220 cross the driving wheel group 120, so that the hinge head 230 is hinged to the hinge seat 130, thereby realizing the mutual hinge connection between the main frame 100 and the sub-frame 200.

[0042] Specifically, a pair of driving wheel groups 120 and an articulated seat 130 are provided on the first base plate 110, and a cantilever 220 is provided on the second base plate 210, so that the number of parts of the mobile robot chassis is small, the structure is simple, and the manufacturing difficulty is low, thereby reducing the size of the mobile robot chassis and improving the assemblability and maintainability of the mobile robot chassis.

[0043] The main frame 100 and the sub-frame 200 are articulated, so that the change rate of the wheel pressure ratio of the driving wheel 121 of the mobile robot chassis does not exceed 3% regardless of whether it is unloaded or loaded, so that the mobile robot chassis has good grip and stability, ensuring that the mobile robot does not slip when traveling at high speed under loaded conditions.

[0044] like Figure 2 The mobile robot chassis is shown as viewed from above. The main frame 100 and the subframe 200 are arranged sequentially along a first direction x, which is the length of the mobile robot chassis. For ease of subsequent description, the main frame 100 is designated as the front, and the subframe 200 is designated as the rear.

[0045] The first docking end 111 of the first base plate 110 docks with the second docking end 211 of the second base plate 210. In this embodiment, the docking line deviates from the centerline of the long side of the mobile robot chassis and is located in the rear half of the mobile robot chassis. A pair of drive wheel assemblies 120 are mounted on the first docking end 111, located in the middle of the long side of the mobile robot chassis. This allows the drive wheel assemblies 120 to better support the entire mobile robot chassis and improve the stability of the mobile robot chassis during movement.

[0046] The mobile robot chassis provided in the embodiment of the present application has an articulated seat 130 and a driving wheel group 120 both arranged on the first bottom plate 110 of the main frame 100, and the articulated seat 130 is arranged on the side of the driving wheel group 120 away from the sub-frame 200, and the articulated joint is spanned from the second bottom plate 210 of the sub-frame 200 to the first bottom plate 110 of the main frame 100 along with the cantilever 220, so that the articulated position of the articulated joint 230 and the articulated seat 130 is always located on the main frame 100, and part of the weight of the mechanism located on the sub-frame 200 can also be passed through the main frame 100. The overhanging arms 220 are distributed on the main frame 100. Compared with the prior art, the present application adopts a hinged connection between the main frame 100 and the sub-frame 200, and the hinged position is always located on the main frame 100. Therefore, there is no need to set a spring boosting mechanism to increase the load of the driving wheel group 120 located on the first bottom plate 110 of the main frame 100, thereby increasing the wheel pressure of the driving wheel group 120, improving the ability of the mobile robot to overcome ground undulations, avoiding slipping when driving at high speeds, being able to adapt to complex road conditions, and being able to travel at a higher speed on the ground.

[0047] Furthermore, the mobile robot chassis supports multiple internal mechanisms, such as the cargo pickup mechanism, the controller that controls the pickup mechanism and drive wheels, and batteries. In related art, these multiple mechanisms are distributed and mounted on the mobile robot's fixed chassis. Due to the varying weights of these mechanisms, this can result in uneven loading on the fixed chassis.

[0048] Compared with a fixed chassis, the mobile robot chassis provided in the embodiment of the present application, based on the setting position of the above-mentioned articulated seat 130 and cantilever 220, even if the weight of the mechanism arranged above the chassis deviates, the weight can be added to the top of the articulated seat 130 through the cantilever 220, thereby making the distributed installation point span of the upper mechanism larger, facilitating the expansion of the mounting form of the upper mechanism, and enabling the chassis to resist larger load offsets.

[0049] In some embodiments of the present application, Figure 2 and Figure 3 As shown, each driving wheel 121 is driven to rotate by a driving motor 122 .

[0050] The first base plate 110 is provided with two drive motor mounting positions 112 located on the first docking end 111 ; each drive motor 122 is fixedly mounted on one drive motor mounting position 112 .

[0051] In the embodiment of the present application, the driving wheel 121 can drive the first base plate 110 and the second base plate to move under the drive of the driving motor 122 .

[0052] Specifically, the articulated seat 130 is arranged close to the drive motor 122. Since the cantilever 220 adds the weight of the upper mechanism it carries to the top of the articulated seat 130, the wheel pressure of the drive wheel 121 close to the articulated seat 130 can be further increased, thereby improving the ability of the mobile robot to overcome ground fluctuations.

[0053] In some embodiments of the present application, Figure 1 and Figure 3 As shown, the sub-frame 200 has two cantilevers 220 , which are arranged in parallel and spaced apart; each cantilever 220 is provided with a hinge head 230 ; the main frame 100 has two hinge seats 130 , which correspond to the positions of the two hinge heads 230 .

[0054] Specifically, the two cantilevers 220 are parallel to the first direction x and are relatively arranged on the left and right sides of the sub-frame 200. The starting end of each cantilever 220 is fixedly supported by two vertically arranged support columns 224 to raise the cantilever 220 so that the cantilever 220 can cross the driving wheel set 120. This application does not limit the number and form of the fixed support structure of the starting end of the cantilever 220, except that Figure 1 and Figure 3 The two support columns 224 shown may also be one or more support blocks of other shapes.

[0055] By applying the embodiment of the present application, the cantilever 220 is used to install the cargo picking mechanism of the mobile robot. Two parallel and spaced cantilevers 220 and two articulated seats 130 are provided, which can improve the stability of the mobile robot chassis load and the stability of the relative rotation between the main frame 100 and the sub-frame 200 when encountering undulations in the ground.

[0056] When the mobile robot chassis encounters uneven terrain while traveling on the ground, the main frame 100 and the sub-frame 200 rotate relative to each other based on the hinge seat 130. For example, if the sub-frame 200 flips upward counterclockwise relative to the main frame 100, the cantilever 220 will follow the second bottom plate 210 of the sub-frame 200 and move clockwise downward at its end on the main frame 100.

[0057] In some embodiments of the present application, Figure 1 and Figure 3 As shown, the hinge seat 130 is in a U-shape with an opening facing upward, and has a groove 131 in the middle.

[0058] The hinge head 230 is inserted into the groove 131 and hinged to two side walls of the groove 131 via the hinge shaft 150 .

[0059] The hinge shaft 150 is fixedly connected to the hinge seat 130 ; the hinge head 230 is rotatably connected to the hinge shaft 150 .

[0060] Specifically, the opening direction of the groove 131 of the articulated seat 130 is parallel to the first direction x. The articulated head 230 on the cantilever 220 extends downward and is inserted into the groove 131. Both the articulated seat 130 and the articulated head 230 have hinge holes extending through them at the same height: the first hinge hole 132 on the articulated seat 130 and the second hinge hole 231 on the articulated head 230. The articulated shaft 150 is inserted into the first hinge hole 132 and the second hinge hole 231 along the second direction y, thereby achieving the articulated connection between the main frame 100 and the subframe 200. The second direction y represents the width of the mobile robot chassis.

[0061] A bushing 232 is provided in the second hinge hole 231 of the hinge head 230 to reduce the friction between the hinge shaft 150 and the hinge head 230 . The present application does not limit the number of bushings.

[0062] By applying the embodiment of the present application, the articulated shaft 150 is fixedly connected to the articulated seat 130 , and the articulated head 230 is rotatably connected to the articulated shaft 150 , so that the main frame 100 and the sub-frame 200 can achieve relative rotation.

[0063] In some embodiments of the present application, Figure 1 and Figure 3 As shown, a limiting portion 151 is provided at the first end of the hinge shaft 150 .

[0064] The limiting portion 151 of the hinge shaft 150 abuts against the exterior of the first side wall 1311 of the groove 131 , and the other end of the hinge shaft 150 extends out of the second side wall 1312 of the groove 131 .

[0065] An axis end clamping plate 160 is fixed to the outside of the second side wall 1312 ; a limiting groove 152 is provided at the second end of the hinge shaft 150 , which is clamped to the axis end clamping plate 160 .

[0066] Specifically, if Figure 3 As shown, in this embodiment, the diameter of the limiting portion 151 at the first end of the hinge shaft 150 is larger than the first hinge hole 132, so as to achieve one-end limiting at the first side wall 1311; the limiting groove 152 at the second end of the hinge shaft 150 is opened on the circumferential side, and the shaft end clamping plate 160 is inserted into the limiting groove 152 and fixedly connected to the second side wall 1312 by screws, so as to achieve one-end limiting at the second side wall 1312.

[0067] By applying the embodiment of the present application, the displacement of the hinge shaft 150 along the second direction y is limited by the limiting portion 151 and the two ends of the limiting groove 152, so that the hinge shaft 150 is fixed to the hinge seat 130.

[0068] In some embodiments of the present application, Figure 1 and Figure 3 As shown, a limiting column 140 is further provided on the first base plate 110 .

[0069] The limiting post 140 is fixed to a side of the hinge seat 130 on the first bottom plate 110 away from the sub-frame 200 and extends upward from the first bottom plate 110 .

[0070] A limiting rubber pad 141 is fixedly provided on the top of the limiting column 140 ; ​​there is a gap in the vertical direction between the end of the cantilever 220 and the top of the limiting rubber pad 141 to limit the relative turning angle between the main frame 100 and the sub-frame 200 .

[0071] Specifically, the first base plate 110 , the hinge seat 130 and the limiting column 140 of the main frame 100 can be integrated by welding or mold casting, and the three are absolutely fixed without relative displacement.

[0072] A vertical gap exists between the end of the cantilever arm 220 and the top of the limiting rubber pad 141, allowing the end of the cantilever arm 220 to deflect up and down only within the gap. When the subframe 200 is tilted upward counterclockwise relative to the main frame 100, i.e., when the cantilever arm 220 is tilted clockwise, the height at which the end of the cantilever arm 220 can descend is limited, thereby limiting the tilting angle of the subframe 200. When the main frame 100 is tilted upward clockwise relative to the subframe 200, i.e., when the limiting post 140 is tilted clockwise, the height at which the limiting post 140 can ascend is limited, thereby limiting the tilting angle of the main frame 100.

[0073] By applying the embodiment of the present application, when the main frame 100 and the sub-frame 200 rotate relative to each other on undulating ground, the limiting rubber pad 141 and the limiting block at the end of the cantilever 220 can limit the relative rotation angle of the main frame 100 and the sub-frame 200, thereby preventing the main frame 100 and the sub-frame 200 from flipping over excessively and causing a large floating of the mobile robot chassis, thereby making the robot travel more smoothly.

[0074] In some embodiments of this application, see Figure 1 、 Figure 3 and Figure 4 ,in, Figure 4 This is a three-dimensional structural diagram of the scissor lift mechanism of the mobile robot according to an embodiment of the present application. Figure 1 、 Figure 3 and Figure 4 As shown, the top of the cantilever 220 is used to install the scissors-type lifting mechanism 500. A fixed groove 221 is provided at one end of the top of each cantilever 220, and a sliding groove 222 is provided at the other end, which are respectively used to connect with the fixed end 510 and the sliding end 520 of the scissors-type lifting mechanism 500.

[0075] Specifically, if Figure 1 and Figure 3As shown, in this embodiment, the fixing groove 221 of each cantilever 220 is set at the top of the starting end of the cantilever 220 of the sub-frame 200; the sliding groove 222 of each cantilever 220 is set at the top of the end of the cantilever 220 extending to the front end of the first base plate 110.

[0076] In this embodiment, Figure 4 As shown, the scissor lift mechanism 500 is a cargo-retrieving mechanism, comprising an upper loading platform 501 and a scissor assembly 502, arranged sequentially from top to bottom. The scissor assembly 502 comprises two sets of first fork arms 5021 and second fork arms 5022, each set of first fork arms 5021 and second fork arms 5022 being hingedly connected. The bottom end of the first fork arm 5021 is a fixed end 510 of the scissor lift mechanism 500, which is rotatably connected to the fixed slot 221 of the cantilever; the bottom end of the second fork arm 5022 is a sliding end 520 of the scissor lift mechanism 500, which is horizontally slidably connected to the sliding slot 220 of the cantilever.

[0077] The first fork arm 5021 and the second fork arm 5022 rotate relative to each other based on the hinge point, allowing the sliding end 520 located on the second fork arm 5022 to slide horizontally in the cantilever's sliding slot 222. When the sliding end 520 is located in the sliding slot 222, closer to the fixed slot 221, the scissor assembly 502 is in a raised state; when it is located in the sliding slot 222, farther from the fixed slot 221, the scissor assembly 502 is in a lowered state.

[0078] In the embodiment of the present application, the sliding end 520 of the scissor lift mechanism 500 slides within the sliding slot 222 of the cantilever 220, causing the center of gravity of the scissor lift mechanism 500 to move back and forth along the first direction x, i.e., causing the mobile robot chassis to bear a load imbalance. However, the articulated seat 130 of the present application is disposed on the first base plate 110 at a position away from the sub-frame 200, and the cantilever 220 extends from the second base plate 210 to the first base plate 110. Even if the center of gravity of the scissor lift mechanism 500 moves back and forth along the first direction x, causing a load imbalance, the weight of the scissor lift mechanism 500 can be supported by the cantilever 220, and the gravity can be transferred to the main frame 100, thereby enabling the mobile robot chassis to withstand a large load imbalance.

[0079] In some embodiments of the present application, Figure 1 and Figure 3 As shown, a connecting frame 223 is fixedly provided between the two cantilevers 220 , and a first main control component mounting hole 2231 is provided in the middle of the connecting frame 223 for mounting additional components.

[0080] Both sides of the top of the connecting frame 223 cover the portion of the driving wheel assembly 120 located on the first bottom plate 110 .

[0081] A second main control assembly mounting hole 400 is provided at the joint between the first base plate 110 and the second base plate 210 , so that a code reading camera built into the main control assembly can scan the ground.

[0082] Specifically, the connecting frame 223 is used to mount the main control assembly, which has a built-in code-reading camera. The code-reading camera can scan a QR code on the ground through the second main control assembly mounting hole 400 and feed the QR code information back to the mobile robot's controller. The controller controls the movement of the mobile robot chassis and the scissor lift mechanism 500 based on the QR code information. In the embodiment of the present application, the connecting frame 223 is provided between the two cantilevers 220 to allow for the installation of additional components and protect the drive motor 122. The second main control assembly mounting hole 400 is directly provided at the junction of the first base plate 110 and the second base plate 210, resulting in a simple mobile robot chassis structure.

[0083] In some embodiments of the present application, Figures 1 to 3 As shown, the front end of the first bottom plate 110 of the main frame 100 and the rear end of the second bottom plate 210 of the auxiliary frame 200 are respectively provided with caster mounting positions 300 ; an accommodation space 310 is defined between the caster mounting positions 300 and the ground.

[0084] Casters 320 are symmetrically arranged in the accommodation space 310 . The casters 320 extend out of the first bottom plate 110 or the second bottom plate 210 and contact the ground.

[0085] Specifically, the accommodation space 310 is formed by the upward protrusion of the first bottom plate 110 and the second bottom plate 210 at the caster installation position 300. The casters 320 are arranged along the second direction y and are disposed at the left and right ends of the accommodation space 310.

[0086] In this embodiment of the present application, casters 320 are positioned within the accommodation space 310 between caster mounting position 300 and the ground, partially extending beyond the chassis. This reduces the size of the mobile robot chassis and improves the utilization of the internal space within the chassis. If the weight of the mechanisms arranged above the chassis is unevenly distributed on the left and right sides, the symmetrical placement of casters 320 within accommodation space 310 can improve the mobile robot chassis' ability to resist unbalanced loads.

[0087] In some embodiments of this application, see Figures 5 to 7 , Figure 5 for Figure 1 A top view of the mobile robot chassis is shown; Figure 6 for Figure 5 A first cross-sectional view of the mobile robot chassis is shown; Figure 7 for Figure 5 The second cross-sectional view of the mobile robot chassis is shown in FIG. Figures 5 to 7As shown, a caster bridge 330 and a rotating shaft 340 are further provided in the accommodating space 310 ; the casters 320 are respectively fixed to both ends of the caster bridge 330 .

[0088] Two connecting blocks 311 are provided in the middle of the accommodation space 310 along the front-to-back direction.

[0089] The caster bridge 330 is arranged between the two connecting blocks 311 , and the rotating shaft 340 passes through the middle of the caster bridge 330 , and both ends are fixedly connected to the connecting blocks 311 , so that the caster bridge 330 can drive the caster 320 to rotate around the rotating shaft 340 .

[0090] Specifically, if Figure 5 and Figure 6 As shown, the two ends of the rotating shaft 340 extending out of the caster bridge 330 are fixed to the two connecting blocks 311 by screws. Figure 7 As shown, there is a certain distance between the top of the caster bridge 330 and the top of the accommodating space 310 so that the caster bridge 330 can drive the caster 320 to rotate.

[0091] When the mobile robot encounters uneven terrain, the caster bridge 330 can drive the casters 320 to rotate about the rotation axis 340, thereby improving driving stability. If the weight distribution of the mechanisms arranged above the chassis is uneven, the caster bridge 330 can drive the casters 320 to rotate about the rotation axis 340, further improving the mobile robot chassis' ability to resist unbalanced loads.

[0092] Finally, the mobile robot provided in the embodiments of the present application is described in detail.

[0093] like Figure 1 and Figure 4 As shown, the mobile robot includes the mobile robot chassis and the scissor lift mechanism 500 described in any of the above embodiments; the scissor lift mechanism 500 is installed on the top of the cantilever 220, and is used to move under the drive of the mobile robot chassis and lift goods.

[0094] In the mobile robot provided in the embodiment of the present application, the articulated seat 130 and the drive wheel assembly 120 on its chassis are both disposed on the first base plate 110 of the main frame 100. The articulated seat 130 is disposed on the side of the drive wheel assembly 120 away from the sub-frame 200, and the articulated head 230, along with the cantilever 220, spans from the second base plate 210 of the sub-frame 200 to the first base plate 110 of the main frame 100. Even if the sliding end 520 of the scissor lift mechanism 500 slides within the sliding slot 222 of the cantilever 220, causing the center of gravity of the scissor lift mechanism 500 to move back and forth along the first direction x, causing the mobile robot chassis to experience load eccentricity, this embodiment, based on the aforementioned positioning of the articulated seat 130 and cantilever 220, can distribute the weight of the scissor lift mechanism 500 via the cantilever 220 to the main frame 100, thereby enabling the mobile robot chassis to withstand significant load eccentricity.

[0095] The mobile robot provided in the embodiments of the present application, including the mobile robot chassis described in any of the above embodiments, fills the gap in the field of robotics technology for a mobile robot that is suitable for low load capacity, has a high and stable driving wheel pressure, can adapt to complex road conditions, and has a high driving speed.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A mobile robot chassis, characterized in that: include: A main frame (100) and a sub-frame (200) hinged to each other; The main frame (100) comprises: a first base plate (110), a pair of driving wheel sets (120) and an articulated seat (130); the sub-frame (200) comprises: a second base plate (210), a cantilever (220) and an articulated joint (230); The pair of driving wheel sets (120) are mounted on the first docking end (111) of the first base plate (110) and the second base plate (210), and the driving wheel (121) of each driving wheel set (120) extends out of the first base plate (110) so that the driving wheel (121) contacts the ground; The hinge seat (130) of the main frame (100) is fixed on the first base plate (110) and is located on a side of the driving wheel set (120) away from the auxiliary frame (200); The starting end of the cantilever (220) of the auxiliary frame (200) is fixedly arranged at the rear end of the second base plate (210) away from the main frame (100); the hinge head (230) is fixedly arranged on the cantilever (220); and the hinge head (230) straddles the driving wheel group (120) along with the cantilever (220), so that the hinge head (230) is hinged to the hinge seat (130), thereby realizing mutual hinge connection between the main frame (100) and the auxiliary frame (200).

2. The mobile robot chassis according to claim 1, characterized in that: The auxiliary frame (200) has two cantilevers (220), which are arranged in parallel and spaced apart; each cantilever (220) is provided with a hinge joint (230); the main frame (100) has two hinge seats (130), which respectively correspond to the positions of the two hinge joints (230).

3. The mobile robot chassis according to claim 1 or 2, characterized in that: The hinge seat (130) is in a U-shape with an opening facing upward, and has a groove (131) in the middle thereof; The hinge head (230) is inserted into the groove (131) and is hinged to two side walls of the groove (131) via a hinge shaft (150); The hinge shaft (150) is fixedly connected to the hinge seat (130); and the hinge head (230) is rotatably connected to the hinge shaft (150).

4. The mobile robot chassis according to claim 3, characterized in that: A limiting portion (151) is provided at the first end of the hinge shaft (150); The limiting portion (151) of the hinge shaft (150) abuts against the outside of the first side wall (1311) of the groove (131), and the second end of the hinge shaft (150) extends out of the second side wall (1312) of the groove (131); An axis end clamping plate (160) is also fixed outside the second side wall (1312); The second end of the hinge shaft (150) is provided with a limiting groove (152) which is engaged with the shaft end clamping plate (160).

5. The mobile robot chassis according to claim 1 or 2, characterized in that: A limiting column (140) is also provided on the first bottom plate (110); The limiting column (140) is fixed to a side of the hinge seat (130) on the first bottom plate (110) away from the sub-frame (200), and extends from the first bottom plate (110) toward the top thereof; A limiting rubber pad (141) is fixedly provided on the top of the limiting column (140); There is a gap in the up-down direction between the end of the cantilever (220) and the top of the limiting rubber pad (141) to limit the relative turning angle between the main frame (100) and the auxiliary frame (200).

6. The mobile robot chassis according to claim 2, characterized in that: The top of the cantilever (220) is used to install the scissor lift mechanism (500), and one end of the top of each cantilever (220) is provided with a fixed groove (221), and the other end is provided with a sliding groove (222), which are respectively used to connect with the fixed end (510) and the sliding end (520) of the scissor lift mechanism (500).

7. The mobile robot chassis according to claim 6, characterized in that: The fixing groove (221) of each cantilever (220) is arranged at the top of the starting end of the cantilever (220) of the sub-frame (200); and the sliding groove (222) of each cantilever (220) is arranged at the top of the end of the cantilever (220) extending to the front end of the first base plate (110).

8. The mobile robot chassis according to claim 2, characterized in that: A connecting frame (223) is fixedly provided between the two cantilevers (220), and a first main control component mounting hole (2231) is provided in the middle of the connecting frame (223) for mounting additional components; Both sides of the top of the connecting frame (223) cover the portion of the driving wheel set (120) located on the first bottom plate (110); A second main control assembly mounting hole (400) is provided at the joint between the first base plate (110) and the second base plate (210), so that a code reading camera built into the main control assembly can scan the ground.

9. The mobile robot chassis according to claim 1, characterized in that: Each of the driving wheels (121) is driven to rotate by a driving motor (122); The first base plate (110) is provided with two drive motor mounting positions (112) located on the first docking end (111); each of the drive motors (122) is fixedly mounted on one of the drive motor mounting positions (112).

10. The mobile robot chassis according to claim 1, characterized in that: The front end of the first bottom plate (110) of the main frame (100) and the rear end of the second bottom plate (210) of the auxiliary frame (200) are respectively provided with caster mounting positions (300); an accommodation space (310) is provided between the caster mounting positions (300) and the ground; Casters (320) are symmetrically arranged in the accommodation space (310), and the casters (320) extend out of the first bottom plate (110) or the second bottom plate (210) and contact the ground.

11. The mobile robot chassis according to claim 10, characterized in that: A caster bridge (330) and a rotating shaft (340) are also provided in the accommodation space (310); the casters (320) are respectively fixed to both ends of the caster bridge (330); Two connecting blocks (311) are provided in the middle of the accommodating space (310) along the front-to-back direction; The caster bridge (330) is arranged between two connecting blocks (311), and the rotating shaft (340) passes through the middle of the caster bridge (330), and both ends are fixedly connected to the connecting blocks (311), so that the caster bridge (330) can drive the caster (320) to rotate around the rotating shaft (340).

12. A mobile robot, characterized in that: include: The mobile robot chassis and scissor lift mechanism (500) according to any one of claims 1 to 11; the scissor lift mechanism (500) is installed on the top of the cantilever (220) and is used to move under the drive of the mobile robot chassis and to lift goods.

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