Robot

Abstract

The utility model provides a robot which comprises a chassis, the chassis comprises a bearing part and a peripheral structure, the bearing part is of a topological optimization structure, and the peripheral structure is arranged on the side of the bearing part and connected with the bearing part; and the jacking mechanism is arranged on the bearing part. According to the robot, on the premise that the reliability of the mechanical property of the chassis is guaranteed, the better chassis lightweight effect can be achieved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot. Background Technology

[0002] With the rapid development of the logistics automation industry, various types of robots used for cargo handling have been widely adopted. Furthermore, as the industry's development level continues to improve, higher load and higher efficiency requirements are being placed on robots, urgently necessitating improvements in their output energy efficiency to enhance product competitiveness. The load-to-weight ratio is a crucial indicator for measuring robot output energy efficiency. Under the same load conditions, a lighter weight not only improves the robot's dynamic performance but also, for mobile robots using batteries as their sole power source, increases endurance, resulting in greater economic benefits. Therefore, lightweight robot design has received increasing attention. The robot chassis is a critical component, accounting for approximately 10% to 20% of the robot's weight, and even exceeding 30% for some heavy-duty mobile robots. Therefore, achieving lightweight robot chassis has become a pressing issue for the industry. Utility Model Content

[0003] One objective of this application is to propose a robot whose structure achieves better chassis lightweighting while ensuring reliable mechanical performance.

[0004] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0005] One aspect of this application proposes a robot, comprising: a chassis, the chassis including a load-bearing part and a peripheral structure, the load-bearing part being a topology-optimized structure, the peripheral structure being disposed on the side of the load-bearing part and connected to the load-bearing part; and a lifting mechanism disposed on the load-bearing part.

[0006] According to some technical solutions of this application, the load-bearing part includes a base and reinforcing ribs, the reinforcing ribs are distributed on one side of the base, the lifting mechanism is disposed on the side of the load-bearing part opposite to the reinforcing ribs, and the peripheral structure is connected to the base and located on the side of the base.

[0007] According to some technical solutions of this application, the substrate includes a first main body, a second main body, and a connecting body. The connecting body is located between the first main body and the second main body and is connected to both the first main body and the second main body. The first main body, the second main body, and the connecting body form two grooves, which are distributed on opposite sides of the connecting body. The first main body, the second main body, and the connecting body are all provided with reinforcing ribs. The front two ends of the lifting mechanism are respectively connected to the second main body, and the rear two ends of the lifting mechanism are respectively connected to the first main body.

[0008] According to some technical solutions of this application, the lifting mechanism is provided with a left guide seat and a right guide seat, the left guide seat and the right guide seat are located between the two ends of the front side of the lifting mechanism, and are respectively connected to the second main body.

[0009] According to some technical solutions of this application, the robot also includes a front suspension mechanism, a left rear suspension mechanism, and a right rear suspension mechanism; the left rear suspension mechanism and the right rear suspension mechanism are respectively connected to the two ends of the first main body, and a protrusion is provided on the end of the second main body facing away from the first main body, and the front suspension mechanism is connected to the protrusion.

[0010] According to some technical solutions of this application, the reinforcing rib is provided on the side of the protrusion facing away from the front suspension mechanism.

[0011] According to some technical solutions of this application, the peripheral structure includes a first peripheral portion and a second peripheral portion. The first peripheral portion is connected to the first main body, and the second peripheral portion is connected to the second main body. A gap is formed between the first peripheral portion and the second peripheral portion. The gap between the first peripheral portion and the second peripheral portion corresponds to the groove. The robot also includes a drive wheel, which is located in the groove and the gap between the first peripheral portion and the second peripheral portion.

[0012] According to some technical solutions of this application, the robot further includes: a cover, one end of which is connected to the first peripheral portion and the other end of which is connected to the second peripheral portion. The cover has an opening at one end, and the opening of the cover corresponds to the interval between the first peripheral portion and the second peripheral portion.

[0013] According to some technical solutions of this application, the peripheral structure includes at least one of a frame structure and a plate-like covering.

[0014] According to some technical solutions of this application, the peripheral structure and the load-bearing part are integrally formed and connected, or welded, or riveted, or screwed, or snapped together.

[0015] The robot provided in this application has a lifting mechanism that can be used to lift pallets or goods and drive the pallets or goods to rise and fall. The chassis includes a load-bearing part and an outer structure. The lifting mechanism is set on the load-bearing part and is supported by the load-bearing part. The load-bearing part is designed with topology optimization to make it a topology-optimized structure. Compared with the integrated topology-optimized structure of the chassis, it can achieve a better lightweight effect of the load-bearing part while ensuring the reliability of mechanical performance. Since the outer structure does not need to bear heavy loads, it can make more flexible choices in structure, shape and / or materials, thereby making it easier to ensure the overall lightweight of the chassis and to meet the installation requirements of the electrical components of the chassis at a lower cost, while taking into account dustproof, waterproof and appearance requirements.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0017] The above and other objectives, features and advantages of this application will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0018] Figure 1 This is a three-dimensional structural diagram of at least a portion of the robot structure in some embodiments of this application.

[0019] Figure 2 This is a three-dimensional schematic diagram of at least part of the robot structure from another perspective in some embodiments of this application.

[0020] Figure 3 yes Figure 2 The diagram shown is a schematic of the robot after at least part of its outer structure has been removed.

[0021] Figure 4 This is a three-dimensional structural diagram of the robot chassis in some embodiments of this application.

[0022] Figure 5 yes Figure 4 A schematic diagram of the three-dimensional structure of the robot's chassis after removing the plate-like covering parts.

[0023] Figure 6 yes Figure 4 A three-dimensional structural diagram of the load-bearing part of the chassis of the robot.

[0024] Figure 7 This is a schematic diagram of the original chassis structure in some embodiments of this application.

[0025] Figure 8 Based on some embodiments of this application Figure 7 The diagram shows a mechanical analysis of the original chassis model.

[0026] Figure 9This is a first chassis topology diagram in some embodiments of this application when the volume fraction constraint is 70%.

[0027] Figure 10 This is a first chassis topology diagram in some embodiments of this application when the volume fraction constraint is 50%.

[0028] Figure 11 This is a schematic diagram of the structure of the first new chassis in some embodiments of this application.

[0029] Figure 12 This is a schematic diagram of a three-dimensional model of the first topology-optimized chassis structure in some embodiments of this application.

[0030] Figure 13 This is a schematic diagram of a three-dimensional model of the first topology-optimized chassis structure and frame structure assembly.

[0031] Figure 14 This is a schematic diagram of a three-dimensional model of the first topology-optimized chassis structure and plate-type covering components.

[0032] Figure 15 This is the second chassis topology diagram when the volume fraction constraints are 80% (A), 60% (B), and 40% (C).

[0033] Figure 16 This is a rear view of a three-dimensional model of the robot chassis in one embodiment of this application.

[0034] Figure 17 This is a schematic diagram of the rear structure of the robot chassis in one embodiment of this application.

[0035] Figure 18 This is a front view of a three-dimensional model of the robot chassis in one embodiment of this application.

[0036] Figure 19 This is a front structural diagram of the robot chassis in one embodiment of this application.

[0037] Figure 20 This is a flowchart of a method for lightweighting the chassis of a robot according to some embodiments of this application.

[0038] The attached figures are labeled as follows:

[0039] 10. Chassis; 100. Load-bearing part; 110. Base; 111. First main body; 112. Second main body; 113. Connecting body; 114. Protrusion; 1141. Mounting surface; 120. Reinforcing rib; 130. Groove; 200. Peripheral structure; 201. Frame structure; 202. Plate-like covering; 210. First peripheral part; 220. Second peripheral part; 230. Spacing; 310. First support part; 320. Second support part; 330. 340. Third support section; 350. Fourth support section; 360. Fifth support section; 370. Sixth support section; 380. Seventh support section; 390. Eighth support section; 390. Ninth support section; 400. Cover; 20. Lifting mechanism; 30. Drive wheel; 51. Right suspension mechanism; 52. Left suspension mechanism; 53. Front suspension mechanism; 60. Motor of lifting mechanism; 1a. Original chassis; 2a. First new chassis; 3a. First topology optimized chassis structure. Detailed Implementation

[0040] Although this application can be readily embodied in various forms of implementation, only some specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. It is understood that this specification should be regarded as an exemplary illustration of the principles of this application and is not intended to limit the application to what is described herein.

[0041] Therefore, a feature described in this specification is used to illustrate one feature of one embodiment of this application, and does not imply that every embodiment of this application must have the described feature. Furthermore, it should be noted that this specification describes many features. While certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly stated. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0042] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, etc.) used to explain the structure and movement of the various elements of this application are relative rather than absolute. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the positions of these elements changes, these directional indications also change accordingly.

[0043] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided to make the description of this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The drawings are merely illustrative of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0044] Some embodiments of this application provide a robot.

[0045] Please see Figure 1 , Figure 2 and Figure 3 , Figure 1 , Figure 2 and Figure 3 All of these illustrations show at least a portion of the structure of the robot described in some embodiments of this application.

[0046] like Figure 1 , Figure 2 and Figure 3 As shown, the robot may include a chassis 10 and an object to be carried, mounted on the chassis 10. The object to be carried may include, for example, a lifting mechanism 20 mounted on the chassis 10. The lifting mechanism 20 is used to carry a pallet or goods and drive the pallet or goods to rise and fall. And / or, the object to be carried may include, for example, a suspension mechanism, specifically, a left suspension mechanism 52, a right suspension mechanism 51, a front suspension mechanism 53, etc. The suspension mechanism can be used to suspend components such as casters, and may specifically employ a linkage mechanism, etc. And / or, the object to be carried may also include, for example, drive wheels 30, which are used to drive the robot to move by rotation.

[0047] For robots, lightweight design has received increasing attention due to factors such as load-to-weight ratio and endurance. The robot chassis 10, which typically accounts for a large proportion of the robot's weight, is one of the primary targets for lightweight design. As one of the robot's main heavy-duty components, the chassis 10, for example, houses the lifting mechanism 20, which is supported by the chassis 10. This results in the chassis 10 being large and subject to complex stresses, placing higher demands on its lightweight design.

[0048] Combination Figure 4 , Figure 5 and Figure 6 It can be understood that the chassis 10 of the robot in this embodiment includes a load-bearing part 100 and an outer structure 200 (for details, please refer to the first outer part 210 and the second outer part 220 for understanding). The load-bearing part 100 is a topology-optimized structure, and the outer structure 200 is disposed on the side of the load-bearing part 100 and connected to the load-bearing part 100.

[0049] The robot of this embodiment differentiates its chassis 10 based on heavy-duty conditions, such that the chassis 10 generally includes two major parts, namely the peripheral structure 200 and the load-bearing part 100. Among them, the load-bearing part 100 is used as the main component for the chassis 10 to achieve heavy-duty operation. For example, the load-bearing part 100 of the chassis 10 is used to carry the lifting mechanism 20, and a topology optimization design is performed on the load-bearing part 100 that mainly realizes heavy-duty operation, making the load-bearing part 100 a topology-optimized structure. Compared with the traditional integral topology-optimized structure of the chassis 10, the topology optimization design of this load-bearing part 100 is not interfered by the peripheral structure 200, and it is easier to achieve the refinement of the topology optimization design of the load-bearing part 100. In this way, while ensuring the reliability of the mechanical properties of the chassis, a smaller volume and lighter weight of the load-bearing part 100 can be achieved, thereby achieving a better lightweight optimization effect of the chassis 10. Since the peripheral structure 200 does not require heavy-duty operation, more flexible choices of structure, shape, and / or material can be made, making it easier to ensure the overall lightweight of the chassis 10, and meeting the installation requirements of the electrical components of the chassis 10 at a lower cost while taking into account dust-proof, waterproof, appearance, and other requirements.

[0050] Combined with Figure 16 and Figure 17 It can be understood that the load-bearing part 100 includes a base body 110 and reinforcing ribs 120. The reinforcing ribs 120 are distributed on one side of the base body 110, and one or more support parts are distributed on the side of the base body 110 opposite to the reinforcing ribs 120. The lifting mechanism 20 cooperates with one or more support parts of the base body 110 and is thus connected to the base body 110. The peripheral structure 200 is arranged on the side of the base body 110 and is connected to the base body 110. Specifically, the reinforcing ribs 120 can be structures formed by the topology optimization design of the base body 110 of the load-bearing part 100, achieving the strength improvement of the base body 110 of the load-bearing part 100 while taking into account the lightweight design requirements of the base body 110 of the load-bearing part 100.

[0051] Optionally, as Figure 16 and Figure 17 shown, the reinforcing ribs 120 can be in the shape of "*" and / or "yao" and / or "cross". Since the base body 110 of the load-bearing part 100 after progressive topology optimization is thinner than the original chassis 1a, using the reinforcing ribs 120 in the shape of "*" and / or "yao" and / or "cross" for reinforcement can have better bending ability.

[0052] Optionally, as Figure 6As shown, the base 110 includes a first body 111, a second body 112, and a connecting body 113. The connecting body 113 is located between the first body 111 and the second body 112, and is connected to both the first body 111 and the second body 112. The first body 111, the second body 112, and the connecting body 113 form two grooves 130, which are distributed on opposite sides of the connecting body 113. Optionally, the first body 111 and the second body 112 can be configured as follows: Figure 6 The rectangular-like structure shown has a connector 113 also configured as such. Figure 6 The rectangular-like structure shown has a connecting body 113 that is narrower than both the first body 111 and the second body 112. Therefore, the portions of the first body 111 wider than the connecting body 113 and the portions of the second body 112 wider than the connecting body 113, together with the connecting body 113, form a groove 130. Correspondingly, the connecting body 113 connects to the middle of the first body 111 and the second body 112, resulting in grooves 130 on both sides of the connecting body 113. Figure 3 It is understood that the robot also includes a drive wheel 30. The groove 130 can be used to accommodate the robot's drive wheel 30. Combined with the shape of the base 110 and the position of the drive wheel 30 defined by the groove 130, the movement of the chassis 10 can be made more stable.

[0053] Of course, it is understandable that the shapes of the first main body 111, the second main body 112, and the connecting body 113 are not limited to being attachments. Figure 6 In other embodiments, the shapes of the first body 111, the second body 112, and the connecting body 113 can be varied according to requirements, such as being designed as trapezoids, wedges, semicircles, etc., which will not be listed here.

[0054] like Figure 16 and Figure 17 As shown, reinforcing ribs 120 are provided on the first main body 111, the second main body 112, and the connecting body 113. This is to achieve overall reinforcement of the base 110 and further optimize the weight and volume of the base 110.

[0055] Combination Figure 1 , Figure 2 and Figure 3 It is understood that the front two ends of the lifting mechanism 20 are connected to the second main body 112, and the rear two ends of the lifting mechanism 20 are connected to the first main body 111. For the lightweight load-bearing part 100, by making the lifting mechanism 20 span across the first main body 111, the second main body 112, and the connecting body 113, and covering the load-bearing part 100 as much as possible, it is beneficial to distribute the weight of the lifting mechanism 20 and the object it lifts more evenly on the chassis 10. In this way, the lifting mechanism 20 is more stable when lifting goods, and the chassis 10 is less likely to tip over.

[0056] Furthermore, the front right part of the lifting mechanism 20 is opposite to the rear right part of the lifting mechanism 20 through the groove 130, and the front left part of the lifting mechanism 20 is opposite to the rear left part of the lifting mechanism 20 through the groove 130. This ensures the stability of the chassis 10 in supporting the lifting mechanism 20, while making the structure of the chassis 10 more compact.

[0057] The lifting mechanism 20 is equipped with a left guide seat and a right guide seat, which are located between the two front ends of the lifting mechanism 20 and are respectively connected to the second main body 112. In this way, the left and right guide seats of the lifting mechanism 20 are located on the second main body 112, which facilitates the relative fixation and symmetrical layout of the left and right guide seats of the lifting mechanism 20, thereby promoting the stability of the lifting mechanism 20.

[0058] Combination Figure 1 , Figure 2 and Figure 3 It is understood that the robot also includes a front suspension mechanism 53, a left rear suspension mechanism, and a right rear suspension mechanism. The left and right rear suspension mechanisms are connected to the two ends of the first main body 111 respectively. The second main body 112 has a protrusion 14 on the end opposite to the first main body 111, and the front suspension mechanism 53 is connected to the protrusion 14. In this way, the left suspension mechanism 52 and the right suspension mechanism 51 can be set on the first main body 111, which is conducive to the relative fixation and symmetrical layout of the left suspension mechanism 52 and the right suspension mechanism 51, thereby facilitating the stability of the chassis 10. At the same time, the front suspension mechanism 53 is set on the protrusion 14. The front suspension mechanism 53, the left rear suspension mechanism, and the right rear suspension mechanism are distributed at the three vertices of a triangle, which not only achieves a compact layout of each suspension mechanism on the load-bearing part 100, but also meets the lightweight design requirements of the load-bearing part 100, and makes the robot's movement more stable, while also facilitating the robot's flexible turning.

[0059] like Figure 16 and Figure 17 As shown, a reinforcing rib 120 is also provided on the side of the protrusion 14 facing away from the front suspension mechanism 53, which further strengthens the overall structure of the base 110 and further optimizes the weight and volume of the base 110.

[0060] Combination Figure 1 , Figure 2 , Figure 3 and Figure 4 It is understood that the second body 112 has a mounting surface 1141 at one end near the protrusion 114. The mounting surface 1141 is located on the side of the second body 112 opposite to the reinforcing rib 120. The lifting mechanism 20 has a motor 60, and the motor 60 of the lifting mechanism 20 is mounted on the mounting surface 1141.

[0061] To give a more detailed example, such as Figure 6As shown, the first main body 111 is provided with a support portion, which includes a first support portion 310 for supporting and / or connecting the left suspension mechanism 52, a second support portion 320 for supporting and / or connecting the right suspension mechanism 51, a third support portion 330 for supporting and / or connecting the left rear portion of the lifting mechanism 20, and a fourth support portion 340 for supporting and / or connecting the right rear portion of the lifting mechanism 20.

[0062] The second main body 112 is provided with a support portion, which includes a fifth support portion 350 for supporting and / or connecting the left guide seat of the lifting mechanism 20, a sixth support portion 360 for supporting and / or connecting the right guide seat of the lifting mechanism 20, a seventh support portion 370 for supporting and / or connecting the left front part of the lifting mechanism 20, and an eighth support portion 380 for supporting and / or connecting the right front part of the lifting mechanism 20. The third support portion 330 and the seventh support portion 370 are arranged opposite to each other and separated by a groove 130, the fourth support portion 340 and the eighth support portion 380 are arranged opposite to each other and separated by a groove 130, and the fifth support portion 350 and the sixth support portion 360 are located between the seventh support portion 370 and the eighth support portion 380.

[0063] The protrusion 14 is provided with a support portion, which includes a ninth support portion 390 for supporting and / or connecting the front suspension mechanism 53.

[0064] Optionally, each support can be configured as a hinged fulcrum or as a slot, thereby facilitating the rapid assembly of each load-bearing object on the load-bearing part 100.

[0065] like Figure 4 As shown, the peripheral structure 200 includes a first peripheral portion 210 connected to the first body 111 and a second peripheral portion 220 connected to the second body 112. A gap 230 is formed between the first peripheral portion 210 and the second peripheral portion 220, and the gap 230 between the first peripheral portion 210 and the second peripheral portion 220 corresponds to the groove 130. The drive wheel 30 is located in the groove 130 and within the gap 230 between the first peripheral portion 210 and the second peripheral portion 220. By utilizing the gap 230 between the first peripheral portion 210 and the second peripheral portion 220, which communicates with the groove 130 to jointly serve as a space for accommodating the drive wheel 30, the chassis 10 becomes more compact overall.

[0066] like Figure 4As shown, the robot also includes a cover 400, one end of which is connected to the first peripheral portion 210 and the other end to the second peripheral portion 220. The cover 400 has an opening at one end, which corresponds to the interval 230 between the first peripheral portion 210 and the second peripheral portion 220. The cover 400 can protect the drive wheel 30 from foreign objects getting stuck, and also acts as a mudguard. In addition, by using the cover 400 to connect the first peripheral portion 210 and the second peripheral portion 220, the strength of the entire peripheral structure 200 is made more reliable, and the cover 400 achieves multiple functions without the need for additional parts to connect the first peripheral portion 210 and the second peripheral portion 220, which is beneficial to the overall weight reduction of the chassis 10.

[0067] Optionally, the peripheral structure 200 includes at least one of a frame structure 201 and a plate-like covering 202. This allows the frame structure 201 and the plate-like covering 202 to meet the installation requirements of the original chassis's electrical components with lower quality and cost, while also taking into account requirements such as dustproofing, waterproofing, and aesthetics.

[0068] Combination Figure 13 , Figure 14 and Figure 16 It is understood that both the first peripheral portion 210 and the second peripheral portion 220 may include a frame structure 201 and a plate-like cover 202. The frame structure 201 of the first peripheral portion 210 is connected to the rear end of the first main body 111, and the plate-like cover 202 of the first peripheral portion 210 covers the frame structure 201 of the first peripheral portion 210. The frame structure 201 of the second peripheral portion 220 is connected to the second main body 112 and the left and right sides of the protrusion 14, and the plate-like cover 202 of the second peripheral portion 220 covers the frame structures 201 on both sides of the second main body 112 and the protrusion 14, respectively.

[0069] Optionally, the frame structure 201 can use standard aluminum alloy or steel pipe (such as 20×20 European standard aluminum profiles). The frame structure 201 and the load-bearing part 100 can be integrally cast to achieve a one-piece connection. Alternatively, if the frame structure 201 and the load-bearing part 100 are separate components, they can be connected and fixed by welding, screws, riveting, or snap-fitting.

[0070] Optionally, the plate-like cover 202 can be obtained by laser cutting and welding or bending of thin metal sheets (such as Q235 or stainless steel). The plate-like cover 202 and the load-bearing part 100 can be integrally cast to achieve a one-piece connection. Alternatively, if the plate-like cover 202 and the load-bearing part 100 are separate components, the plate-like cover 202 and the load-bearing part 100 can be connected and fixed by welding, screw connection, riveting, or snap-fitting.

[0071] Optionally, the load-bearing part 100 is a topology-optimized structure formed by two or more topology optimization processes. By performing two or more progressive topology optimizations on the load-bearing part 100, the mechanical properties of the load-bearing part 100 can be improved to ensure that the load-bearing part 100 meets the load-bearing requirements, while also significantly reducing the weight of the load-bearing part 100.

[0072] For example, performing more than two topology optimization processes includes the following steps:

[0073] S1: Perform mechanical analysis on the original chassis 1a, and define loads based on the mechanical analysis results of the original chassis 1a;

[0074] S2: Perform topology optimization on the original chassis 1a to obtain the first topology-optimized chassis structure 3a;

[0075] S3: Perform mechanical analysis on the first topology-optimized chassis structure 3a, and define loads based on the mechanical analysis results of the first topology-optimized chassis structure 3a;

[0076] S4; Perform topology optimization on the first topology-optimized chassis structure 3a to obtain the second topology-optimized chassis structure, wherein the load-bearing part 100 is obtained based on the second topology-optimized chassis structure.

[0077] It should be noted that, for the sake of easy distinction in describing the chassis, the chassis before the topology optimization process described above is referred to as the original chassis 1a, and the chassis 10 obtained after the topology optimization process described above is referred to as the robot's chassis 10.

[0078] Based on the above method steps, the load-bearing part 100 undergoes at least two progressive topology optimization processes. Compared with the traditional chassis that is directly applied after backfilling following a single topology optimization (i.e., a chassis optimized as a whole), it has a more significant lightweight effect and more reliable chassis mechanical performance.

[0079] Specifically, based on step S1, a mechanical analysis is performed on the original chassis 1a, and the load is defined based on the mechanical analysis results of the original chassis 1a. In step S2, the original chassis 1a is subjected to a first topology optimization. The result of the first topology optimization can have macroscopic characteristics and can greatly improve the mechanical performance of the first topology optimized chassis structure 3a, so as to ensure that the load-bearing capacity of the first topology optimized chassis structure 3a meets the actual working conditions. At the same time, it can achieve the purpose of lightweighting of the first topology optimized chassis structure 3a to a certain extent, that is, to a certain extent, the weight of the first topology optimized chassis structure 3a is reduced compared with the original chassis 1a.

[0080] Based on step S3, a mechanical analysis is performed on the first topology-optimized chassis structure 3a. Based on the mechanical analysis results of the first topology-optimized chassis structure 3a, loads are defined. In step S4, a second topology optimization is performed on the first topology-optimized chassis structure 3a. Compared with the first topology optimization result, the second topology optimization result can have microscopic characteristics. While ensuring the mechanical performance of the second topology-optimized chassis structure and further ensuring that the load-bearing capacity of the second topology-optimized chassis structure meets the actual working conditions, it can more significantly achieve the lightweighting of the second topology-optimized chassis structure, that is, to a large extent, the weight reduction of the second topology-optimized chassis structure compared with the original chassis 1a can be achieved. The load-bearing part 100 is obtained based on the second topology-optimized chassis structure. For example, the second topology-optimized chassis structure can be used as the load-bearing part 100, or the load-bearing part 100 can be obtained by fine-tuning the second topology-optimized chassis structure, or the load-bearing part 100 can be obtained by further topology optimization based on the second topology-optimized chassis structure. Accordingly, the topology optimization of the load-bearing part 100 is refined, and the weight reduction of the load-bearing part 100 is more obvious, which can also achieve a significant reduction in weight of the load-bearing part 100 compared to the original chassis 1a.

[0081] Based on the above method steps, since the original chassis 1a to the robot's chassis 10 undergoes more than two progressive topology optimizations (such as the first topology optimization of the original chassis 1a and the second topology optimization of the first topology optimization structure), compared with the traditional chassis 10 that is directly applied after backfilling after a single topology optimization, the micro-topological characteristics based on the two progressive topology optimizations can remove more chassis material while ensuring the mechanical performance of the chassis, and greatly reduce the material backfilling requirements, thereby achieving a lighter applicable chassis 10 structure and obtaining a more significant lightweight effect.

[0082] For further detailed examples, please see Figure 20 , Figure 20 A flowchart illustrating a lightweighting method for the robot chassis 10 according to a specific embodiment of this application is shown. The flowchart details the steps of the aforementioned method. Based on this flowchart, it can be understood that this lightweighting method is applicable to the robot chassis 10, primarily achieving the acquisition of the robot chassis 10 through a secondary progressive topology optimization based on the original chassis 1a.

[0083] Taking a logistics automation robot as an example, a logistics automation robot can be specifically a stealthy mobile robot. The following text will provide a detailed example of the application of the lightweight method on the chassis 10 of the stealthy mobile robot. Of course, it is understood that the application scenarios of the lightweight method of this application are not limited to the chassis 10 of the stealthy mobile robot listed, or even to the chassis 10 of the logistics automation robot.

[0084] Understandably, stealth mobile robots are widely used for flexible transport of typical loads such as industrial shelves and pallets due to their flat, small size and high load capacity. Furthermore, stealth mobile robots have strict requirements on size. Within the limited space of the chassis 10, a reasonable layout of the lifting mechanism 20, drive wheels 30, casters, and various electronic control components (such as batteries, controllers, and LiDAR) is required. The chassis 10 must also be as lightweight as possible to improve battery utilization efficiency and thus enhance the robot's endurance.

[0085] Combination Figure 1 Understandable. Figure 1 Part of the robot's structure is shown.

[0086] For example, the robot may include a chassis 10 and a lifting mechanism 20 connected to the chassis 10, drive wheels 30 located on the left and right sides of the chassis 10, casters located on the left and right front sides of the chassis 10 via a front suspension mechanism 53, casters located on the left rear side of the chassis 10 via a left suspension mechanism 52, casters located on the right rear side of the chassis 10 via a right suspension mechanism 51, a load tray, and other components. Specifically, the load tray may be located above the lifting mechanism 20, and the load tray can move up and down under the drive of the lifting mechanism 20.

[0087] Regarding the lifting mechanism 20, it can specifically adopt a series four-bar linkage configuration, with up to seven connection points between the lifting mechanism 20 and the chassis, resulting in highly complex stress on the chassis. Furthermore, the robot operates under various conditions, leading to significant variations in the stress on the chassis under these conditions. The chassis design also needs to consider issues such as sealing, heat dissipation, and support for various electronic control components, ensuring overall integrity. Therefore, in this field, it is common practice to treat the chassis as a single casting, for example, by using sand casting or die casting processes to integrally form the chassis. Please refer to [link to relevant documentation]. Figure 7 , Figure 7 The structure of the original chassis 1a in one embodiment of this application is shown. The original chassis 1a can be a single integral casting. Due to the aforementioned factors, the second topology optimization of this lightweighting method is particularly important. Specifically, for a single integral casting, the effect of the first topology optimization on improving the mechanical properties of the first topology-optimized chassis structure 3a is significantly greater than the weight reduction effect of the first topology-optimized chassis structure 3a. The second topology optimization can ensure the reliability of the mechanical properties of the second topology-optimized chassis structure while making the weight reduction effect of the second topology-optimized chassis structure more significant.

[0088] Given the numerous operating conditions of stealth mobile robots and the highly complex stresses on their chassis, step S1 involves performing a mechanical analysis on the original chassis 1a. Based on the results of this analysis, loads are defined, which may include:

[0089] Step S11: Extract the forces or moments of the original chassis 1a under multiple typical working conditions, weight the forces or moments of the original chassis 1a under multiple typical working conditions, and define loads for the original chassis 1a based on the weighted forces or moments.

[0090] By extracting the forces or moments of the original chassis 1a under multiple typical working conditions, and defining loads for the original chassis 1a based on weighted forces or moments, the mechanical performance of the first topology-optimized chassis structure 3a can be improved by topology optimization, taking into account the load-bearing requirements of the original chassis 1a under different typical working conditions. This results in a better improvement effect on the mechanical performance of the first topology-optimized chassis structure 3a, and better ensures that the load-bearing capacity of the first topology-optimized chassis structure 3a obtained by topology optimization of the original chassis 1a meets the actual working condition requirements. It also makes the first topology optimization iteration highly efficient.

[0091] Optionally, specific working conditions that significantly impact the impact resistance and fatigue life characteristics of the original chassis 1a can be selected as components of the typical working conditions. For example, typical working conditions may include: robot full-load lifting, robot full-load obstacle crossing (ditch crossing, ridge crossing), etc. The following will illustrate this with an example of the full-load lifting condition:

[0092] There are approximately seven connection points between the lifting mechanism 20 and the original chassis 1a. When the lifting mechanism is lifted to 60mm, the stress situation at the connection points (seven in total) between the lifting mechanism 20 and the original chassis 1a is analyzed.

[0093] Please see Figure 8 , Figure 8 It shows the basis Figure 7 The schematic diagram of the mechanical analysis of the original chassis 1a model is shown.

[0094] When the lifting mechanism 20 is raised to 60mm, based on the force analysis at the connection between the lifting mechanism 20 and the original chassis 1a, the following can be roughly referred to: Figure 8 The table below shows the location and direction of the forces, and correspondingly, under full load, when the chassis 1a is lifted 60mm, the force / torque at each hinge point is as follows:

[0095] Summary table of forces (F) and torques (M) at each of the 10 hinge points of the chassis when lifted 60mm under full load

[0096] Unit: N / Nm

[0097] coordinate F-DJF M-DJT F-FRJ F-FLJ F-BRJ F-BLJ F-RGF F-LGF X 8952 54 -989 424 -1693 -1322 -2846 -2527 Y 172 348 171 171 -257 -257 0 0 Z -5016 118 -352 -1209 -3970 -4322 0 0

[0098] Similar to the multibody dynamics analysis of the typical working conditions at the above stress points, three typical positions during the lifting process can be further selected and added to the typical working conditions, for example: 1. Lifting to position 20mm (corresponding to the position where the load is just contacted), 2. Lifting to position 40mm (corresponding to the middle position between the position where the load is just contacted and the top position), 3. Lifting to position 60mm (corresponding to the top position); and / or selecting four typical positions during the obstacle crossing process as typical working conditions; or, in other embodiments, other working conditions besides those listed above can also be included based on commonly used working scenarios, which will not be listed exhaustively here.

[0099] Using the drive wheel 30 and the support of the omnidirectional wheel as reference displacement constraints, and based on the d'Alembert principle, the dynamic analysis of each typical working condition is transformed into the static analysis boundary conditions of the original chassis 1a. The force and torque values ​​under each typical working condition are obtained. After weighting the obtained force and torque values ​​of the typical working conditions, a comprehensive working condition for the first topology optimization is formed, which is used as the external input for the first topology optimization to define the load for the original chassis 1a.

[0100] Optionally, the forces or moments of the original chassis 1a under multiple typical working conditions can be weighted. The weighting coefficients corresponding to each typical working condition can be determined according to the degree of influence of the corresponding typical working condition on the impact resistance and fatigue life characteristics of the original chassis 1a, and no special limitation is made here.

[0101] To give a further example, step S2 specifically includes:

[0102] Step S21: With minimum compliance as the objective and volume fraction as the constraint, perform topology optimization on the original chassis 1a based on the variable density method to obtain the first chassis topology map;

[0103] Step S22: Based on the first chassis topology diagram, refine the design to obtain the first topology optimized chassis structure 3a.

[0104] Among them, based on the variable density method, with minimum compliance as the objective and volume fraction as the constraint, the original chassis 1a is topologically optimized to obtain the optimal material layout under given load and boundary conditions. The optimization iteration is more efficient and accurate. Moreover, the optimal layout is based on the first chassis topology map as the optimization result. Based on the first chassis topology map, the first topology-optimized chassis structure 3a can be obtained by refining the design through stiffening or drilling, thereby obtaining a first topology-optimized chassis structure 3a that meets mechanical performance requirements and has a lightweight effect.

[0105] To illustrate more specifically, when performing topology optimization on the original chassis 1a based on the variable density method, the mathematical model for topology optimization can be selected as the topology optimization model of the variable density method, and the specific mathematical model for topology optimization can be as follows:

[0106] x = (x1, x1, x1, ..., x1) n ) T ∈R;

[0107]

[0108] 0 < x min ≤x i ≤x max ≤1, i=1,2,...,n;

[0109] Where C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; u i k is the element displacement vector; i v is the interpolated element stiffness; p is the penalty factor; k0 is the initial element stiffness; i V is the unit volume; f is the optimized volume; v0 is the retained volume fraction; x is the initial volume. min The lower limit of the design variable's value; x max is the upper limit of the design variable's value; n is the number of units within the subdomain.

[0110] Based on this mathematical model, by inputting the minimum compliance target constraint and the volume fraction constraint, the optimal layout of the material under given load and boundary conditions can be obtained. This achieves the goal of weight reduction of the optimization result while ensuring the mechanical properties of the optimization result, and has the advantage of iterative efficiency.

[0111] Optionally, after step S2, the lightweighting method further includes: performing stress verification on the first topology-optimized chassis structure 3a, and determining whether to adjust the volume fraction constraint when optimizing the original chassis 1a based on the stress verification result.

[0112] Thus, if the volume fraction constraint is set too small, the amount of material removed in the first topology optimization result will be relatively large, which may cause the stress verification result to fail. In this case, based on the conclusion that the stress verification result fails, the volume fraction constraint can be appropriately increased to redo the first topology optimization. Conversely, if the volume fraction constraint is set too large, the amount of material removed in the first topology optimization result will be relatively small, which may cause the stress verification result to show a large load-bearing margin. In this case, based on the conclusion that the stress verification result has a large margin, the volume fraction constraint can be appropriately decreased to redo the first topology optimization. In this way, the optimal volume fraction constraint that meets the stress verification result can be explored to achieve a better weight reduction effect.

[0113] For example, based on different volume fraction constraints, different first topology-optimized chassis structures 3a with different volume fractions can be obtained through topology optimization iterations. For instance, examples are given with volume fraction constraints of 70% and 50%.

[0114] Please see Figure 9 , Figure 9 The diagram shows the first chassis topology obtained by topology optimization based on the original chassis 1a when the volume fraction constraint is 70%.

[0115] Please see Figure 10 , Figure 10 The diagram shows the first chassis topology obtained by topology optimization based on the original chassis 1a when the volume fraction constraint is 50%.

[0116] Comparison Appendix Figure 9 and Figure 10 It is evident that a 50% volume fraction constraint removes more material compared to a 70% volume fraction constraint, resulting in a smaller volume displayed in the first chassis topology diagram and achieving better weight reduction. In this case, detailed design can be performed on the first chassis topology diagrams obtained with and without a 70% volume fraction constraint to obtain corresponding optimized first topology chassis structures 3a. Stress checks can then be performed on each of these optimized first topology chassis structures 3a. For example, the forces or moments of the optimized first topology chassis structure 3a under multiple typical operating conditions are extracted, weighted, and loads are defined for the optimized first topology chassis structure 3a based on the weighted forces or moments. It is then determined whether the loads on the optimized first topology chassis structure 3a are within its yield limit or stiffness limit. If so, the stress check result of the optimized first topology chassis structure 3a is considered to be passed. Thus, if the stress verification results for both the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 70% and the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 50% pass, then for the purpose of lightweighting, a volume fraction constraint of 50% can be selected as a better volume fraction constraint than 70%. If the stress verification result for the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 70% passes, while the stress verification result for the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 50% fails, then it is considered that the volume fraction constraint of 50% is slightly too small. The optimal volume fraction constraint that meets the stress verification results can be re-explored between 50% and 70%, or a volume fraction constraint of 70% can be selected as a better volume fraction constraint than 50%.

[0117] Of course, it is understandable that the volume fraction constraint selected for topology optimization based on the original chassis 1a can also be reasonably selected within the range of 100% based on the material and working conditions of the original chassis 1a, rather than being limited to the 50% or 70% mentioned in the example.

[0118] Let's continue with an example where the volume fraction constraint is 50%. Figure 10 The first chassis topology diagram shown can be directly used for the integrated lightweight design of chassis 10. However, considering that the manufacturing process of robot chassis 10 is mostly casting, and that robot chassis 10 needs to meet the installation requirements of electrical components (such as batteries, controllers, radar, switches, displays, etc.), as well as dustproof, waterproof, and appearance requirements, the final chassis that can be used for production often requires a large amount of structural backfilling. For example... Figure 11 As shown, this is a first new chassis 2a that is integrated, lightweight, and practical, formed by backfilling the structure based on the structure of the first chassis topology diagram.

[0119] based on Figure 11 It is evident that the first new chassis 2a can only apply a small portion of the topology optimization results. Specifically, compared to the original chassis 1a, the first new chassis 2a has a mass reduction of about 10% and a strength increase of about 30% under full load. Although the first new chassis 2a has achieved a certain degree of lightweighting compared to the original chassis 1a, the lightweighting effect is not very significant.

[0120] Based on this, this specific embodiment proposes the idea of ​​a two-stage progressive topology, which will be described below.

[0121] Based on this specific embodiment, after obtaining the first chassis topology diagram in step S21, structural backfilling is not performed. Instead, step S22 is executed to refine the design based on the first chassis topology diagram. This refinement design can be based on the actual assembly relationship on the original chassis 1a and the first chassis topology diagram to obtain a first topology-optimized chassis structure 3a (the first topology-optimized chassis structure 3a can be as follows). Figure 12 (As shown).

[0122] The first chassis topology diagram used in step S22 can be selected as the topology optimization result that minimizes the volume fraction constraint while meeting the mechanical performance requirements in the first topology optimization.

[0123] Using steps S1 and S2, the main force transmission parts and areas with high mechanical performance requirements in the original chassis 1a are re-integrated through topology optimization to obtain a first chassis topology map. Based on the structure of the first chassis topology map, a detailed design is carried out to obtain a first topology-optimized chassis structure 3a. This facilitates the subsequent execution of steps S3 to S4 based on the first topology-optimized chassis structure 3a to carry out a secondary progressive topology.

[0124] Optionally, before steps S3 to S4, the method for lightweighting the robot's chassis 10 may further include:

[0125] S2.5 Reconstruct the area in the original chassis 1a that is located outside the first topology-optimized chassis structure 3a to obtain the outer structure 200;

[0126] Accordingly, after step S4, step S5 is also included: combining the load-bearing part 100 with the peripheral structure 200 to form the robot's chassis 10.

[0127] Please continue reading Figure 7 and Figure 12 By comparison Figure 12 The first topology-optimized chassis structure 3a shown is 3a and Figure 7 The original chassis 1a shown can be understood as the area outside the first topology-optimized chassis structure 3a in the original chassis 1a being the non-load-bearing area of ​​the chassis 10. In step S5, by directly using the outer structure 200 reconstructed based on the first topology-optimized chassis structure 3a and combining it with the load-bearing part 100, the mechanical performance of the robot's chassis 10 is satisfied, while saving the secondary reconstruction process of the outer structure 200. The lightweighting method is simpler and more efficient, and the weight reduction effect is better than that of direct backfilling.

[0128] For example, reconstructing the area in the original chassis 1a that is located outside the first topology-optimized chassis structure 3a to obtain the peripheral structure 200 includes: reconstructing the area in the original chassis 1a that is located outside the first topology-optimized chassis structure 3a using a plate-like covering 202 and / or a frame structure 201 to obtain the peripheral structure 200.

[0129] That is, the outer structure 200 may include at least one of the plate-like cover 202 and the frame structure 201.

[0130] Please see Figure 12 , Figure 12 A schematic diagram of a three-dimensional model of the first topology-optimized chassis structure 3a is shown.

[0131] Please see Figure 13 , Figure 13 A schematic diagram of a three-dimensional model of the first topology-optimized chassis structure 3a and the frame structure 201 assembled is shown.

[0132] Please see Figure 14 , Figure 14 A schematic diagram of a three-dimensional model of the first topology-optimized chassis structure 3a assembled with the plate-type cover 202 is shown.

[0133] Figure 13 and Figure 14The area where the frame structure 201 or plate-like covering 202 is set is the area in the original chassis 1a that is located outside the first topology-optimized chassis structure 3a. The outer structure 200 formed by the frame structure 201 and / or plate-like covering 202 can be used to meet the installation requirements of electrical components on the chassis 10, while also taking into account the waterproof, dustproof, and aesthetic requirements of the chassis 10. By combining the outer structure 200 with the first topology-optimized chassis structure 3a, a practical second new chassis can be formed.

[0134] Furthermore, based on step S2, a second topology optimization can be performed on the first topology-optimized chassis structure 3a using steps S3 to S4, which are the same as or similar to steps S1 to S2. Specifically, for example:

[0135] Step S3 may specifically include:

[0136] Extract the forces or moments of the first topology-optimized chassis structure 3a under multiple typical working conditions, weight the forces or moments of the first topology-optimized chassis structure 3a under multiple typical working conditions, and define loads for the first topology-optimized chassis structure 3a based on the weighted forces or moments.

[0137] By extracting the forces or moments of the first topology-optimized chassis structure 3a under multiple typical working conditions, and defining loads for the first topology-optimized chassis structure 3a based on the weighted forces or moments, it is possible to better ensure that the load-bearing capacity of the second topology-optimized chassis structure under different working conditions meets the actual working condition requirements, and also to make the iteration of the second topology optimization highly efficient.

[0138] It is understandable that the typical working conditions faced by the original chassis 1a, the first topology-optimized chassis structure 3a, or the robot's chassis 10 are roughly the same. Therefore, it can be assumed that the typical working conditions extracted during the multi-working-condition mechanical analysis in steps S1 and S3 are roughly the same. The difference lies in the different models used for the multi-working-condition mechanical analysis. Specifically, the model used for the multi-working-condition mechanical analysis in step S1 is the original chassis 1a, while the model used in step S3 is the first topology-optimized chassis structure 3a. Detailed examples of step S3 can be referenced in a non-conflicting manner to the specific examples in step S1, and will not be repeated here.

[0139] Of course, this application is not limited to this. That is, the mechanical analysis of the first topology-optimized chassis structure 3a is not limited to the example of extracting multiple typical working conditions for mechanical analysis and weighting the mechanical analysis results of multiple typical working conditions. In other embodiments, the mechanical analysis of the first topology-optimized chassis structure 3a can also be performed by extracting extreme working conditions. Alternatively, one of the original chassis 1a and the first topology-optimized chassis structure 3a can be subjected to mechanical analysis by extracting multiple typical working conditions and weighting the mechanical analysis results of multiple typical working conditions, while the other of the original chassis 1a and the first topology-optimized chassis structure 3a can be subjected to mechanical analysis by extracting extreme working conditions, etc.

[0140] Step S4 may specifically include:

[0141] Step S41: With minimum compliance as the objective and volume fraction as the constraint, perform topology optimization on the first topology-optimized chassis structure 3a based on the variable density method to obtain the second chassis topology map.

[0142] Optionally, when performing topology optimization on the first topology-optimized chassis structure 3a based on the variable density method, the mathematical model for topology optimization can be selected as the topology optimization model of the variable density method, and the specific mathematical model for topology optimization can be as follows:

[0143] x = (x1, x1, x1, ..., x1) n ) T ∈R;

[0144]

[0145] 0 < x min ≤x i ≤x max ≤1, i=1,2,...,n;

[0146] Where C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; u i k is the element displacement vector; i v is the interpolated element stiffness; p is the penalty factor; k0 is the initial element stiffness; i V is the unit volume; f is the optimized volume; v0 is the retained volume fraction; X is the initial volume. min The lower limit of the design variable's value; x max is the upper limit of the design variable's value; n is the number of units within the subdomain.

[0147] Based on this mathematical model, by inputting the minimum compliance target constraint and the volume fraction constraint, the optimal layout of the material under given load and boundary conditions can be obtained. This not only ensures the mechanical properties of the optimized result but also achieves the goal of weight reduction, and has the advantage of iterative efficiency.

[0148] In this embodiment, the variable density method is used to optimize the topology of both the original chassis 1a and the first topology-optimized chassis structure 3a. That is, the mathematical models of the two optimizations are roughly the same. In this way, the connection from macroscopic topology to microscopic topology is better, which can better ensure the mechanical performance of the resulting robot chassis 10. At the same time, the two progressive topology iterations result in a better weight reduction effect in the microscopic topology results.

[0149] Step S42: Refine the design based on the second chassis topology diagram to obtain the second topology optimized chassis structure.

[0150] In step S41, based on the variable density method, with minimum compliance as the objective and volume fraction as the constraint, topology optimization is performed on the first topology-optimized chassis structure 3a. This can obtain the optimal material layout under given load and boundary conditions. The optimization iteration is more efficient and accurate, and the optimal layout is based on the second chassis topology map as the optimization result.

[0151] It is understandable that, based on different volume fraction constraints, different second topology-optimized chassis structures with different volume fractions can be obtained through topology optimization iterations. For example, examples are given with volume fraction constraints of 80%, 60%, and 40%.

[0152] Please see Figure 15 , Figure 15 The diagram shows the second chassis topology obtained by topology optimization based on the first topology-optimized chassis structure 3a when the volume fraction constraints are 80% (A), 60% (B), and 40% (C).

[0153] Compared to Figure 9 and Figure 10 , Figure 15 The second chassis topology diagram shown provides a more microscopic view of the chassis topology. Furthermore, comparing A, B, and C, different levels of material removal are achieved based on different volume fraction constraints. While meeting the chassis's mechanical performance requirements (or stress verification standards), the volume fraction constraint can be selectively chosen to be smaller.

[0154] Of course, it is understandable that the volume fraction constraint selected for topology optimization based on the first topology optimization chassis structure 3a can also be reasonably selected within the range of 100% based on the materials and working conditions of the first topology optimization chassis structure 3a, rather than being limited to the 80%, 60% or 40% mentioned above.

[0155] Further optionally, after step S4, the lightweighting method may further include: performing a stress check on the second topologically optimized chassis structure, and determining whether to adjust the volume fraction constraint when topologically optimizing the load-bearing part 100 according to the stress check result, so as to explore and obtain the optimal volume fraction constraint that meets the stress check result, thereby achieving a better weight reduction effect.

[0156] In step S42, for the chassis 10 structure given based on the topological map of the load-bearing part 100, further structural refinement design is performed to obtain the second topologically optimized chassis structure. Among them, the second topologically optimized chassis structure can be specifically designed for lightweighting in a large number of rib-added forms according to the characteristics of the casting process and the topological map of the load-bearing part 100. Since the second topologically optimized chassis structure is a thin-walled part, it is further preferably to adopt the "yao" - shaped rib layout with better bending ability to better ensure the mechanical properties of the second topologically optimized chassis structure while achieving the purpose of lightweighting.

[0157] Please refer to Figure 16 , Figure 16 which shows the back schematic diagram of the three-dimensional model of the chassis 10 of the robot (including the second topologically optimized chassis structure, the frame structure 201 and the plate - like covering part 202).

[0158] Please refer to Figure 17 , Figure 17 which shows the back structure schematic diagram of the chassis 10 of the robot (including the second topologically optimized chassis structure, the frame structure 201 and the plate - like covering part 202).

[0159] From Figure 17 and Figure 18 it can be seen that a large number of "yao" - shaped ribs are formed on the back of the second topologically optimized chassis structure, the frame structure 201 is arranged on the periphery of the second topologically optimized chassis structure, the plate - like covering part 202 is arranged on the periphery of the second topologically optimized chassis structure, and is located on the side of the frame structure 201 closer to the front.

[0160] Please refer to Figure 19 , Figure 19 which shows the front schematic diagram of the three-dimensional model of the chassis 10 of the robot (including the second topologically optimized chassis structure, the frame structure 201 and the plate - like covering part 202).

[0161] Please refer to Figure 20 , Figure 20 which shows the front structure schematic diagram of the chassis 10 of the robot (including the second topologically optimized chassis structure, the frame structure 201 and the plate - like covering part 202).

[0162] Figure 19 and Figure 20In this design, the panel-like cover 202 is displayed in a semi-transparent form, and the frame structure 201 located on the back of the panel-like cover 202 is visible through the area covered by the cover. Of course, in other embodiments, the panel-like cover 202 may be an opaque structure.

[0163] The second topology-optimized chassis structure, after being refined in step S4, achieves better lightweighting. The chassis 10 of the robot, which includes the second topology-optimized chassis structure and the peripheral structure 200, obtained in step S5, has the advantages of being practical and lighter.

[0164] The lightweighting method in this specific embodiment employs two progressive topology optimizations. The first topology optimization obtains the minimum topology chassis 10 structure (i.e., the first topology optimized chassis structure 3a), and replaces the parts of the original chassis 1a that are located outside the first topology optimized chassis structure 3a with the reconstructed peripheral structure 200 (such as the frame structure 201 and / or the plate-like covering 202). The second topology optimization only performs topology optimization on the first topology optimized chassis structure 3a. The obtained minimum topology chassis 10 with micro-topology results (i.e., the second topology optimized chassis structure) is combined with the aforementioned non-load-bearing peripheral structure 200 to form the final robot chassis 10. A comparison of the original chassis 1a, the first new chassis 2a, and the robot chassis 10 in terms of mass, strength, and price shows that the first new chassis 2a reduces mass by approximately 10%, increases strength by approximately 30%, and reduces price by approximately 8% compared to the original chassis 1a. The robot chassis 10 reduces mass by more than 30% compared to the original chassis 1a, achieving a weight reduction of approximately 35%, increasing strength by approximately 30%, and reducing price by approximately 33%. Therefore, the robot chassis 10 obtained using this lightweighting method has a more significant lightweighting effect compared to the first new chassis 2a obtained through a single topology iteration.

[0165] Although this application has been described with reference to several typical embodiments, it should be understood that the terminology used is descriptive and exemplary, and not restrictive. Since this application can be embodied in many forms without departing from the spirit or essence of the utility model, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A robot, characterized in that, include: The chassis includes a load-bearing part and an outer structure. The load-bearing part is a topology-optimized structure, and the outer structure is located on the side of the load-bearing part and connected to the load-bearing part. The lifting mechanism is installed on the load-bearing part.

2. The robot according to claim 1, characterized in that, The load-bearing part includes a base and reinforcing ribs. The reinforcing ribs are distributed on one side of the base. The lifting mechanism is located on the side of the load-bearing part opposite to the reinforcing ribs. The peripheral structure is connected to the base and located on the side of the base.

3. The robot according to claim 2, characterized in that, The substrate includes a first main body, a second main body, and a connecting body. The connecting body is located between the first main body and the second main body and is connected to the first main body and the second main body. The first main body, the second main body, and the connecting body form two grooves, which are distributed on opposite sides of the connecting body. The first main body, the second main body, and the connecting body are all provided with the reinforcing ribs. The front two ends of the lifting mechanism are respectively connected to the second main body, and the rear two ends of the lifting mechanism are respectively connected to the first main body.

4. The robot according to claim 3, characterized in that, The lifting mechanism is provided with a left guide seat and a right guide seat, which are located between the two ends of the front side of the lifting mechanism and are respectively connected to the second main body.

5. The robot according to claim 3, characterized in that, It also includes the front suspension mechanism, the left rear suspension mechanism, and the right rear suspension mechanism; The left rear suspension mechanism and the right rear suspension mechanism are respectively connected to the two ends of the first main body. The second main body has a protrusion at the end opposite to the first main body, and the front suspension mechanism is connected to the protrusion.

6. The robot according to claim 5, characterized in that, The reinforcing rib is provided on the side of the protrusion facing away from the front suspension mechanism.

7. The robot according to claim 3, characterized in that, The peripheral structure includes a first peripheral portion and a second peripheral portion. The first peripheral portion is connected to the first main body, and the second peripheral portion is connected to the second main body. A gap is formed between the first peripheral portion and the second peripheral portion. The gap between the first peripheral portion and the second peripheral portion corresponds to the groove. The robot also includes a drive wheel, which is located in the groove and the gap between the first peripheral portion and the second peripheral portion.

8. The robot according to claim 7, characterized in that, Also includes: The cover has one end connected to the first peripheral portion and the other end connected to the second peripheral portion. The cover has an opening at one end, and the opening of the cover corresponds to the interval between the first peripheral portion and the second peripheral portion.

9. The robot according to any one of claims 1 to 8, characterized in that, The peripheral structure includes at least one of a frame structure and a plate-like covering.

10. The robot according to any one of claims 1 to 8, characterized in that, The peripheral structure and the load-bearing part are integrally formed and connected, or welded, riveted, screwed, or snapped together.

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