Robot chassis and autonomous mobile robot

Abstract

The embodiment of the utility model provides a robot chassis and an autonomous mobile robot. According to the scheme, the two sides of the chassis body are each provided with one wheel set. The wheel set comprises a suspension swing arm, a rear auxiliary wheel and a rear universal wheel are arranged at the first end, in the length direction, of the suspension swing arm, and a driving wheel is arranged at the second end of the suspension swing arm. The rear auxiliary wheels and the rear universal wheels are arranged front and back. The suspension swing arm is similar to a lever, and the chassis can adapt to various grounds such as grounds made of different materials and uneven grounds (such as grooves, protruding obstacles and the like) due to the lever type suspension. In addition, the lever type suspension can automatically adjust the pressure of the driving wheels when the robot chassis crosses obstacles, so that the robot can better adapt to load changes. In addition, the two sides of the chassis body are each provided with a set of driving wheels, a set of rear auxiliary wheels and a set of rear universal wheels, and the bearing capacity and stability of the robot can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot chassis and an autonomous mobile robot. BACKGROUND

[0002] In the field of warehouse logistics, AMR (Automatic Mobile Robot) is widely used. The chassis of the autonomous mobile robot is usually provided with a wheel system, that is, driving wheels and universal wheels installed on the chassis. The layout of the wheel system of the robot determines the running efficiency and reliability of the robot.

[0003] However, the layout design of the wheel system of most existing robots has the problems of insufficient flexibility, poor ground adaptability, and limited load capacity. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems, the present application is proposed to solve the above problems or at least partially solve the above problems.

[0005] In an embodiment of the present application, a robot chassis is provided. The robot chassis comprises a chassis body and a wheel group, and one group of the wheel group is arranged on each side of the chassis body. The wheel group comprises:

[0006] a suspension swing arm arranged on the chassis body, the suspension swing arm having a first end and a second end along the length direction of the suspension swing arm;

[0007] a rear auxiliary wheel and a rear universal wheel rotatably connected to the first end of the suspension swing arm, and the rear auxiliary wheel and the rear universal wheel are arranged in front and back directions;

[0008] a driving wheel arranged at the second end of the suspension swing arm.

[0009] Optionally, the robot chassis further comprises a shock absorber, the shock absorber is located in front of the driving wheel, one end of the shock absorber is arranged on the second end of the suspension swing arm, and the other end of the shock absorber is arranged on the chassis body.

[0010] Optionally, the shock absorber comprises a spring and a telescopic rod, one end of the telescopic rod is rotatably connected to the second end of the suspension swing arm, and the other end of the telescopic rod is rotatably connected to the chassis body, and the spring is sleeved on the telescopic rod.

[0011] Optionally, the chassis body is provided with a suspension fixed shaft; the suspension swing arm is rotatably arranged on the suspension fixed shaft; in the driving direction of the driving wheel, the distance between the wheel center of the driving wheel and the shaft center of the suspension fixed shaft is less than the distance between the wheel center of the rear auxiliary wheel and the shaft center of the suspension fixed shaft.

[0012] Optionally, in the driving direction, the distance between the wheel center of the driving wheel and the shaft center of the suspension fixed shaft is greater than the distance between the wheel center of the rear auxiliary wheel and the rotation center of the rear universal wheel.

[0013] Optionally, the wheel diameter of the driving wheel is greater than the wheel diameter of the rear universal wheel; the wheel diameter of the rear universal wheel is greater than the wheel diameter of the rear auxiliary wheel.

[0014] Optionally, in the width direction of the chassis body, the distance between the driving wheel and the side edge of the chassis body is less than the distance between the rear auxiliary wheel and the side edge of the chassis body.

[0015] Optionally, the robot chassis further comprises a front auxiliary wheel and two front universal wheels. The front auxiliary wheel is arranged at the front end of the chassis body; the two front universal wheels are arranged on the chassis body and located at the rear side of the front auxiliary wheel and at the front side of the driving wheel; wherein the front auxiliary wheel and the two front universal wheels form a triangular support structure; in the width direction of the chassis body, among the rear universal wheels and the front universal wheels on the same side, the distance between the rear universal wheel and the side edge of the chassis body is less than the distance between the front universal wheel and the side edge of the chassis body.

[0016] Optionally, the chassis body is an integrally formed cast chassis.

[0017] In another embodiment of the present application, an autonomous mobile robot is also provided. The autonomous mobile robot can include a robot chassis as in the above embodiments.

[0018] In the technical scheme of the embodiment of the present application, a set of wheel groups are arranged on both sides of the chassis body. Among them, the wheel group comprises a suspension swing arm, the rear auxiliary wheel and the rear universal wheel are arranged on the first end of the suspension swing arm in the length direction, and the driving wheel is arranged on the second end; the rear auxiliary wheel and the rear universal wheel are arranged in front and back. The suspension swing arm is similar to a lever, and this lever type suspension makes the chassis adapt to various grounds, such as grounds of different materials and uneven grounds (such as grooves, protruding obstacles, etc.); in addition, the lever type suspension can also automatically adjust the pressure of the driving wheel when the robot chassis overcomes obstacles, so that the robot can better adapt to load changes. In addition, in the embodiment scheme, a set of driving wheels, rear auxiliary wheels and rear universal wheels are arranged on both sides of the chassis body, which can effectively improve the carrying capacity and stability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to make the technical scheme of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the description below are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these accompanying drawings without creative effort.

[0020] Figure 1 A structural schematic diagram of a robot chassis provided by an embodiment of the present application is shown in the figure.

[0021] Figure 2a And 2b A bottom view schematic diagram of a robot chassis provided by an embodiment of the present application is shown in the figure.

[0022] Figure 3 A corresponding schematic diagram of a robot chassis in which a wheel set is detached from the chassis main body is shown in the figure. DETAILED DESCRIPTION

[0023] In order to make those skilled in the art better understand the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application.

[0024] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the accompanying drawings, but not all the structures. In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrated; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] In the present application, unless specifically defined and limited otherwise, the "on" or "under" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "on", "above" and "above" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "under", "below" and "below" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature. In the description of the embodiments, the terms "up", "down", "left", "right", and the like orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only used to distinguish in the description, and have no special meaning.

[0026] The robot chassis wheel system layout design is an important link in the design of robot system, which directly affects the motion performance, stability and working efficiency of the robot. The wheel system layout design includes wheel number, wheel type, wheel position design and the like.

[0027] The existing warehouse robot wheel system layout design mainly faces the following challenges:

[0028] 1. Mobility limitation: the existing wheel system is not flexible enough in turning in narrow or crowded warehouse environment, limiting the activity range and efficiency of the robot.

[0029] 2. Poor ground adaptability: the existing wheel system may not effectively adapt to different materials and conditions of the warehouse ground, affecting the stability and passability of the robot.

[0030] 3. Limited load capacity: part of the wheel system design performs poorly when carrying heavy goods, limiting the load capacity and transportation efficiency of the robot.

[0031] 4. High maintenance cost: the maintenance and replacement cost of the existing wheel system is high, increasing the long-term expenditure of warehouse operation.

[0032] In order to solve or partially solve the above problems, the present application proposes a new type of robot chassis and autonomous mobile robot. The scheme of the present application significantly improves the mobility, ground adaptability, load capacity and maintenance economy of the robot through innovative wheel configuration and suspension system.

[0033] Reference is made to Figure 1 , Figure 2a and Figure 3As shown, the robot chassis comprises a chassis body 1 and a wheel set 2, and each side of the chassis body 1 is provided with a set of wheel sets 2. The wheel set 2 comprises a suspension swing arm 21, a rear auxiliary wheel 22, a rear universal wheel 23 and a driving wheel 24. The suspension swing arm 21 is arranged on the chassis body 1, and has a first end 211 and a second end 212 along the length direction of the suspension swing arm 21. The rear auxiliary wheel 22 and the rear universal wheel 23 are rotatably connected to the first end 211 of the suspension swing arm 21, and are arranged in front and back of each other. The driving wheel 24 is arranged at the second end of the suspension swing arm 21.

[0034] It should be noted that, along the driving direction of the driving wheel 24, the chassis body 1 has a front side and a rear side. Along the driving direction of the driving wheel, the left side and the right side of the chassis are distinguished. The two sides of the chassis body 1 in the above are the left side and the right side of the chassis body 1. As shown in the drawings, Figure 2a and 2b As shown, the left side of the chassis body 1 is provided with a set of wheel sets 2, and the right side of the chassis body 1 is also provided with a set of wheel sets 2. The two sets of wheel sets can be symmetrically arranged on the two sides of the chassis body 1.

[0035] In the wheel set, when the driving wheel on the second end of the suspension swing arm is raised, the rear auxiliary wheel and the rear universal wheel on the corresponding first end are lowered; on the contrary, when the driving wheel on the second end of the suspension swing arm is lowered, the rear auxiliary wheel and the rear universal wheel on the corresponding first end are raised.

[0036] Further, the robot chassis provided by the embodiment can further comprise a shock absorber 3. The shock absorber 3 is located on the front side of the driving wheel 24; one end of the shock absorber 3 is arranged on the second end 212 of the suspension swing arm 21, and the other end is arranged on the chassis body 1. By arranging the shock absorber, a corresponding elastic connection is formed between the second end of the suspension swing arm 21 and the chassis body 1, which improves the adaptability of the robot chassis to various ground driving capabilities and also improves the walking smoothness of the robot.

[0037] The shock absorber 3 can be an elastic component. For example, as shown in the example, Figure 1 The shock absorber 3 comprises a spring 31 and a telescopic rod 32; one end of the telescopic rod 32 is rotatably connected to the second end 212 of the suspension swing arm 21, and the other end is rotatably connected to the chassis body 1. The spring 31 can be sleeved on the telescopic rod 32. Specifically, the telescopic rod 32 can be vertically arranged, and the upper end of the telescopic rod 32 is rotatably connected to the upper part of the chassis body 1, i.e. the position close to the top surface of the chassis body 1 is provided with a first connecting shaft 11 (as shown in Figure 1 The telescopic rod 32 is rotatably connected to the first connecting shaft through a connecting piece. The lower end of the telescopic rod 32 is rotatably connected to the chassis body 1 at the lower part of the chassis body 1, i.e. the second end 212 of the suspension swing arm 21 is provided with a second connecting shaft 25 (as shown in Figure 1 andFigure 3 As shown in FIG. 2, the second connecting shaft 25 is located at a position close to the bottom surface of the chassis body 1, and the telescopic rod 32 is rotatably connected to the second connecting shaft through a connecting member.

[0038] In an implementable manner, the spring 31 can have a certain pre-tightening force, so that the driving wheel 24 has a certain pressure on the ground. The size of the pre-tightening force can be determined according to actual design requirements, which is not specifically limited in the embodiment.

[0039] In addition, referring to FIG. 2, the second end 212 of the suspension swing arm 21 has two opposite sides, which are respectively an outer side and an inner side. The driving wheel 24 is located at the outer side of the second end 212, and the inner side of the second end 212 is provided with the driving motor 4. The second end 212 of the suspension swing arm 21 is provided with a through hole, and the driving shaft of the driving motor penetrates through the through hole and is connected with the driving wheel 24 to drive the driving wheel 24 to rotate. Correspondingly, as shown in FIG. 2, the chassis body 1 is provided with a recess 5 corresponding to the position of the driving motor 4. The recess 5 is adapted to the driving motor 4, and the driving motor 4 can be installed in the recess 5, and the driving wheel 24 is exposed. Figure 3 Figure 3

[0040] The chassis body 1 is provided with a suspension fixing shaft 12. The suspension swing arm 21 is rotatably arranged on the suspension fixing shaft 12. As shown in FIG. 2, in the driving direction of the driving wheel 24, the distance L1 between the wheel center of the driving wheel 24 and the shaft center of the suspension fixing shaft 12 is less than the distance L2 between the wheel center of the rear auxiliary wheel 22 and the shaft center of the suspension fixing shaft 12. In specific implementation, L2 can be 1.1-1.5 times of L1. For example, L2 is 1.23 times of L1. Figure 2a

[0041] As shown in FIG. 2, in the driving direction, the distance L1 between the wheel center of the driving wheel 24 and the shaft center of the suspension fixing shaft 12 is greater than the distance L3 between the wheel center of the rear auxiliary wheel 22 and the rotation center of the rear universal wheel 23. In specific implementation, L1 can be 1.5-2 times of L3. For example, L1 can be 1.77 times of L3. Figure 2a

[0042] In the embodiment, the wheel diameter of the driving wheel 24 can be greater than the wheel diameter of the rear universal wheel 23, and the wheel diameter of the rear universal wheel 23 is greater than the wheel diameter of the rear auxiliary wheel 22.

[0043] ​​​​In one specific embodiment, the drive wheel can be an 8-inch drive wheel, i.e., the diameter of the drive wheel can be 200 mm. The rear auxiliary wheel can be a 2-inch directional wheel. The rear universal wheel can be a 3-inch universal wheel. In this embodiment, the drive wheel is arranged at one end of the suspension swing arm, and the wheel set of the auxiliary wheel and the universal wheel arranged at the other end of the suspension swing arm can be referred to as a suspension lever wheel set. This suspension lever wheel set can automatically adjust the wheel pressure when the robot is crossing obstacles, so that the robot can better adapt to changes in load. At the same time, this structure enables the robot to cross wider trenches (such as a 10 cm wide elevator trench), and also enables the robot to climb higher (such as 10 mm or 15 mm, etc.) steps or obstacles, etc.

[0044] Referring to Figure 2b In the example shown, in the width direction of the chassis body 1, the distance H1 from the drive wheel 24 to the side edge of the chassis body 1 is less than the distance H2 from the rear auxiliary wheel 22 to the side edge of the chassis body 1. The distance H2 from the rear auxiliary wheel 22 to the side edge of the chassis body 1 is less than the distance H3 from the rotation center of the rear universal wheel to the side edge of the chassis body 1.

[0045] In other words, compared with the drive wheel 24, the rear auxiliary wheel 22 is arranged to be offset to the inside of the chassis body 1 by 10-30 mm, i.e., H2-H1=10-30 mm. Compared with the rear auxiliary wheel 22, the rotation center of the rear universal wheel 23 is arranged to be offset to the inside of the chassis body 1 by 5-25 mm, i.e., H3-H2=5-25 mm.

[0046] Further, referring to Figure 2a and 2b As shown, the robot chassis further includes a front auxiliary wheel 6 and two front universal wheels 7. The front auxiliary wheel 6 is arranged at the front end of the chassis body 1. The two front universal wheels 7 are arranged on the chassis body 1 and located at the rear side of the front auxiliary wheel 6 and at the front side of the drive wheel 24. Among them, the front auxiliary wheel 6 and the two front universal wheels 7 form a triangular support structure. In the width direction of the chassis body 1, as shown in Figure 2b Among the same side rear universal wheel 23 and front universal wheel 7, the distance H3 from the rear universal wheel 23 to the side edge of the chassis body 1 is less than the distance H4 from the front universal wheel 7 to the side edge of the chassis body 1.

[0047] In other words, compared with the rear universal wheel 23, the front universal wheel 7 is arranged to be offset to the inside of the chassis body by 3-23 mm, i.e., H4-H3=3-23 mm.

[0048] In addition, the chassis body 1 in this embodiment can be an integrally formed cast chassis, more specifically, an integrally formed cast aluminum alloy chassis, which can ensure the structural strength of the chassis and effectively reduce the number of parts, facilitating assembly and production.

[0049] Continuing to refer to Figure 2bThe drive wheel 24 is located approximately in the middle of the length of the chassis body 1. The length of the chassis body 1 is parallel to the driving wheel's travel direction, and the width of the chassis body 1 is perpendicular to the driving wheel's travel direction. The distance D1 between the wheel center of the drive wheel 24 and the rotation center of the rear universal wheel 23 is approximately equal to the distance D2 between the wheel center of the drive wheel 24 and the rotation center of the front universal wheel 7, or D1 = D2 ± 10 mm.

[0050] The technical solution provided by the embodiments of the present application has at least the following beneficial effects:

[0051] 1. Enhanced ground adaptability: The solution provided in this embodiment uses a lever-type suspension system and a nine-wheel chassis layout. Figure 2a and 2b As shown, from front to back, there are a front auxiliary wheel 6 (which can be a front fixed wheel), two front universal wheels 7, two drive wheels 24, two rear auxiliary wheels 22, and two rear universal wheels 23. The drive wheels and rear universal wheels form a lever-type suspension. When encountering unusual ground conditions (such as uneven ground, grooves, and bumps) during driving, the lever-type suspension's leverage ensures that the wheels are always on the ground, giving the robot excellent ground adaptability. This ensures that the drive wheels remain on the ground, especially when navigating uphill or in grooves. The wheel train layout of this application can adapt to various warehouse floor conditions, including those of varying materials and uneven surfaces.

[0052] 2. Optimized load distribution: The robot chassis of the embodiment of the present application achieves a more uniform load distribution by optimizing the position (such as the relative position relationship between the wheels mentioned above and the position relationship between the wheels and the side of the chassis body, etc.) and number of wheels, thereby improving the robot's carrying capacity and stability.

[0053] 3. Reduce maintenance costs: The chassis body of the robot chassis in the embodiment of the present application adopts an one-piece cast chassis, which ensures the structural strength of the chassis, reduces the number of parts, simplifies the maintenance process, and uses more durable materials (such as cast aluminum alloy materials) and components, reducing replacement frequency and maintenance costs.

[0054] Based on the robot chassis provided in the above embodiments, another embodiment of the present application provides an autonomous mobile robot (AMR) having the robot chassis provided in the above embodiments. The autonomous mobile robot can be an intelligent forklift, a picking robot with a robotic arm, or the like. Specifically, the specific structure of the robot chassis of the autonomous mobile robot in this embodiment can be found in the above content and will not be repeated here.

[0055] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot chassis, characterized in that, The chassis body is provided with a group of wheel sets on each side thereof, and each wheel set comprises: A suspension swing arm is arranged on the chassis body, and has a first end and a second end along the length direction of the suspension swing arm; A rear auxiliary wheel and a rear universal wheel are rotatably connected to the first end of the suspension swing arm, and the rear auxiliary wheel and the rear universal wheel are arranged in front of and behind each other; A driving wheel is arranged at the second end of the suspension swing arm.

2. The robot chassis of claim 1, wherein, A shock absorber is further arranged; The shock absorber is arranged on the front side of the driving wheel; One end of the shock absorber is arranged on the second end of the suspension swing arm, and the other end is arranged on the chassis body.

3. The robot chassis of claim 2, wherein, The shock absorber comprises a spring and an extension rod; One end of the extension rod is rotatably connected to the second end of the suspension swing arm, and the other end is rotatably connected to the chassis body; The spring is sleeved on the extension rod.

4. The robot chassis of any one of claims 1-3, wherein, A suspension fixing shaft is arranged on the chassis body; The suspension swing arm is rotatably arranged on the suspension fixing shaft; In the driving direction of the driving wheel, the distance between the wheel center of the driving wheel and the shaft center of the suspension fixing shaft is smaller than the distance between the wheel center of the rear auxiliary wheel and the shaft center of the suspension fixing shaft.

5. The robot chassis according to claim 4, wherein In the driving direction, the distance between the wheel center of the driving wheel and the shaft center of the suspension fixing shaft is greater than the distance between the wheel center of the rear auxiliary wheel and the rotation center of the rear universal wheel.

6. The robot chassis according to any one of claims 1 to 3, wherein The wheel diameter of the driving wheel is greater than the wheel diameter of the rear universal wheel; The wheel diameter of the rear universal wheel is greater than the wheel diameter of the rear auxiliary wheel.

7. The robot chassis of any one of claims 1-3, wherein, In the width direction of the chassis body, The distance between the driving wheel and the side edge of the chassis body is smaller than the distance between the rear auxiliary wheel and the side edge of the chassis body.

8. The robot chassis of any one of claims 1-3, wherein, Further comprising: A front auxiliary wheel is arranged at the front end of the chassis body; Two front universal wheels are arranged on the chassis body and located on the rear side of the front auxiliary wheel and on the front side of the driving wheel; The front auxiliary wheel and the two front universal wheels form a triangular support structure; In the width direction of the chassis body, the distance between the rear universal wheel and the side edge of the chassis body is smaller than the distance between the front universal wheel and the side edge of the chassis body.

9. The robot chassis of any one of claims 1-3, wherein, The chassis body is an integrally formed cast chassis.

10. An autonomous mobile robot, characterized in that The autonomous mobile robot comprises the robot chassis according to any one of claims 1 to 9.

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