Obstacle crossing wheel mechanism, robot chassis and robot

Abstract

The utility model is suitable for the technical field of robots, and discloses an obstacle crossing wheel mechanism, a robot chassis and a robot, the obstacle crossing wheel mechanism comprises at least two obstacle crossing wheels, and each obstacle crossing wheel is rotationally connected to a chassis body; in the first direction, the at least two obstacle crossing wheels are arranged in at least two rows, and the obstacle crossing wheels in the two adjacent rows are arranged in a staggered mode. In two adjacent obstacle crossing wheels in the first direction, the orthographic projection of one obstacle crossing wheel in the second direction comprises a first part, and the orthographic projection of the other obstacle crossing wheel in the second direction comprises a second part; the first part and the second part are overlapped along the second direction; in the third direction, the height difference between the first radial lowest point of the previous obstacle crossing wheel and the third radial lowest point of the advancing wheel is H1, the height difference between the second radial lowest point of the next obstacle crossing wheel and the third radial lowest point of the advancing wheel is H2, and H1 is larger than H2. According to the obstacle crossing wheel mechanism, the obstacle crossing ability of the robot chassis can be improved.

Description

TECHNICAL FIELD

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

[0002] With the development of science and technology, robots can be used to replace manual work in more and more scenarios, for example, in the scenario of building delivery, a delivery robot delivers goods between buildings.

[0003] It can be understood that the robot needs to face some obstacles during the travel process, but the obstacle crossing (such as crossing a ridge) ability of the robot is low, and generally the robot can cross a ridge with a height of 2cm, and the robot shakes a lot and has poor stability during the obstacle crossing process. CONTENT OF THE UTILITY MODEL

[0004] The first object of the present application is to provide an obstacle wheel mechanism, which aims to solve the technical problem of low obstacle crossing ability of the robot.

[0005] To achieve the above object, the present application provides the following scheme:

[0006] An obstacle wheel mechanism applied to a robot chassis, the robot chassis comprising a chassis body and a travel wheel, the travel wheel being rotatably arranged on the chassis body, in a first direction, the center of the obstacle wheel mechanism and the center of the travel wheel being arranged front and back, the first direction being the travel direction of the travel wheel, the obstacle wheel mechanism comprising:

[0007] At least two obstacle wheels, each of the obstacle wheels being rotatably connected to the chassis body;

[0008] In the first direction, the at least two obstacle wheels are arranged to form at least two rows, and each of the obstacle wheels in adjacent two rows is arranged in a staggered manner;

[0009] In the first direction, among the two adjacent obstacle wheels, the orthographic projection of one of the obstacle wheels in the second direction comprises a first part, and the orthographic projection of the other obstacle wheel in the second direction comprises a second part; along the second direction, the first part and the second part overlap, and the second direction is the axial direction of the travel wheel;

[0010] In the first direction, among the two adjacent obstacle wheels, along a third direction, a first radial lowest point is arranged on the front obstacle wheel, and a second radial lowest point is arranged on the rear obstacle wheel, and a third radial lowest point is arranged on the travel wheel, and the third direction is the radial direction of the travel wheel;

[0011] In the third direction, a height difference H1 between the first radial lowest point and the third radial lowest point, a height difference H2 between the second radial lowest point and the third radial lowest point, wherein H1 is greater than H2.

[0012] A second object of the present application is to provide a robot chassis comprising a chassis body, a traveling wheel and the above-mentioned obstacle wheel mechanism.

[0013] A third object of the present application is to provide a robot comprising a robot body and the above-mentioned robot chassis, wherein the robot body is arranged on the chassis body.

[0014] The obstacle wheel mechanism provided by the present application has the following beneficial effects:

[0015] In the embodiment, in the traveling direction of the traveling wheel, the obstacle wheel mechanism and the traveling wheel are arranged in front and back, so that when the robot chassis overcomes the obstacle, the obstacle wheel mechanism overcomes the obstacle first, and then the traveling wheel overcomes the obstacle, thereby reducing the difficulty of the robot chassis to overcome the obstacle and improving the obstacle overcoming ability of the robot chassis.

[0016] Moreover, in the traveling direction of the traveling wheel, the distance between the obstacle wheel closer to the front and the supporting surface (i.e. the ground clearance) is higher, and the ground clearance of each obstacle wheel is reasonably designed, so that in the traveling direction of the traveling wheel, the adjacent two obstacle wheels can overcome the obstacle in turn, so that in the plurality of obstacle wheels arranged in the traveling direction of the traveling wheel, the obstacle can be overcome in turn from the obstacle wheel closest to the front, thereby improving the obstacle overcoming ability of the obstacle wheel mechanism, reducing the difficulty of the robot chassis to overcome the obstacle, and improving the obstacle overcoming ability of the robot chassis. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0018] Figure 1 is a structural schematic view of the robot chassis provided by the present application in a first perspective view;

[0019] Figure 2 is a structural schematic view of the robot chassis provided by the present application in a second perspective view; Figure 1 is a local enlarged view of i in

[0020] Figure 3 is a structural schematic view of the robot chassis provided by the present application in a first perspective view;

[0021] Figure 4 is a structural schematic view of the robot chassis provided by the present application in a second perspective view; Figure 3A local enlarged schematic view at ii in FIG. 1;

[0022] Figure 5 is a structural schematic view of a robot chassis in a third perspective view provided by an embodiment of the present application;

[0023] Figure 6 is Figure 5 A local enlarged schematic view at iii in FIG. 1;

[0024] Figure 7 is a structural schematic view of an assembly structure of an obstacle wheel mechanism and a traveling wheel provided by an embodiment of the present application;

[0025] Figure 8 is a structural schematic view of an obstacle wheel mechanism provided by an embodiment of the present application.

[0026] Explanation of reference numerals:

[0027] 100, robot chassis; β, support surface; A1, first radial lowest point; A2, second radial lowest point; A3, third radial lowest point; A4, fourth radial lowest point; A5, fifth radial lowest point; A6, sixth radial lowest point; A7, seventh radial lowest point; A8, eighth radial lowest point; B1, first profile intersection point; B2, second profile intersection point;

[0028] 10, obstacle wheel mechanism; 1, obstacle wheel; 1a, obstacle wheel one; 1b, obstacle wheel two; 1c, obstacle wheel three; 1d, first obstacle wheel; 1e, second obstacle wheel; 11, first part; 12, second part; 13, first shaft hole; 14, second shaft hole;

[0029] 20, chassis body; 30, traveling wheel; 30a, first traveling wheel; 30b, second traveling wheel;

[0030] 40, mounting portion; 41, first opening; 42, second opening; 43, first mounting shaft; 44, second mounting shaft; 50, driving wheel;

[0031] 60, first connecting mechanism; 61, connecting rod mechanism; 611, first connecting plate; 612, first mounting seat; 613, first branch arm; 62, elastic member; 63, fixing seat; 64, connecting shaft; 65, first connecting seat;

[0032] 70, second connecting mechanism; 71, second connecting seat; 72, second branch arm; 73, second connecting plate; 74, second mounting seat. DETAILED DESCRIPTION

[0033] With reference to the drawings and the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present application.

[0034] It should be noted that all directional indications, such as upper, lower, left, right, front, back, and the like, are intended to facilitate the description of the relative position relationship, movement condition, and the like between components in a certain specific posture, and if the specific posture changes, the directional indications also change accordingly.

[0035] It should also be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or can have a middle element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or can be indirectly connected to the other element through a middle element.

[0036] In addition, the description involving "first", "second", and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection claimed by the present application.

[0037] In some related technologies, such as delivery robots, service robots and the like, especially delivery robots, often travel between buildings to deliver goods, however, the chassis of the robot has low ability to cross the ridge during travel, and generally all cross ridges of 2cm high, and the robot shakes a lot during obstacle crossing, and has poor stability.

[0038] Therefore, as Figures 1 to 3As shown, the embodiment provides an obstacle wheel mechanism 10 applied to a robot chassis 100, which can improve the obstacle crossing ability of the robot chassis 100, thereby improving the obstacle crossing ability of the robot. Wherein the robot chassis 100 comprises a chassis body 20 and a traveling wheel 30, the traveling wheel 30 is rotatably arranged on the chassis body 20, and in the first direction, the center of the obstacle wheel mechanism 10 and the center of the traveling wheel 30 are arranged in front and back. It can be understood that in the first direction, the center of the obstacle wheel mechanism 10 in the second direction and the center of the traveling wheel 30 in the second direction are arranged in front and back, so that when crossing obstacles, the obstacle wheel mechanism 10 crosses the obstacles first, and then the traveling wheel 30 crosses the obstacles, thereby reducing the difficulty of the robot chassis 100 crossing obstacles and improving the obstacle crossing ability of the robot chassis 100. Wherein the first direction is the traveling direction of the traveling wheel 30, and the second direction is the axial direction of the traveling wheel 30.

[0039] Specifically, as shown, Figures 1 to 3 The obstacle wheel mechanism 10 comprises at least two obstacle wheels 1, such as two, three, four, five, etc. The embodiment does not specifically limit the number of obstacle wheels 1, and each obstacle wheel 1 is rotatably connected to the chassis body 20, so that the plurality of obstacle wheels 1 can rotate relative to the chassis body 20.

[0040] Further, in the first direction, the at least two obstacle wheels 1 are arranged to form at least two rows, and each obstacle wheel 1 of the adjacent two rows is arranged in staggered arrangement; in the first direction, among the two adjacent obstacle wheels 1, along the third direction, the first obstacle wheel 1 has a first radial lowest point A1, the second obstacle wheel 1 has a second radial lowest point A2, and the traveling wheel 30 has a third radial lowest point A3. It can be understood that along the third direction, the first obstacle wheel 1 (i.e. the obstacle wheel 1 away from the traveling wheel 30 side) has a first radial lowest point A1 in the second direction, the second obstacle wheel 1 (i.e. the obstacle wheel 1 close to the traveling wheel 30 side) has a second radial lowest point A2 in the second direction, and the traveling wheel 30 has a third radial lowest point A3 in the second direction. The third direction is the radial direction of the traveling wheel 30; along the third direction, the height difference H1 between the first radial lowest point A1 and the third radial lowest point A3, the height difference H2 between the second radial lowest point A2 and the third radial lowest point A3, and H1 is greater than H2; in combination Figure 8 In the first direction, among the two adjacent obstacle wheels 1, the projection of one of the obstacle wheels 1 in the second direction comprises a first part 11, and the projection of the other obstacle wheel 1 in the second direction comprises a second part 12. The second direction is the axial direction of the obstacle wheel 1, and along the second direction, the first part 11 and the second part 12 overlap.

[0041] It can be understood that, during the movement of the robot chassis 100 on the support surface β (such as a horizontal surface), the radial lowest point of the traveling wheel 30 contacts the support surface β, and in the two adjacent obstacle wheels 1 in the first direction, the height of the radial lowest point of the front obstacle wheel 1 from the support surface β can be understood as the height difference H1, and the height of the radial lowest point of the rear obstacle wheel 1 from the support surface β can be understood as the height difference H2, and H1 is greater than H2. Thus, in the obstacle wheels 1 arranged in the first direction, the height of the front obstacle wheel 1 from the support surface β in the third direction is greater than the height of the rear obstacle wheel 1 from the support surface β, so that in the first direction, the height (i.e. the ground clearance) of the obstacle wheel 1 closer to the front is higher. By reasonably designing the ground clearance of each obstacle wheel 1, the adjacent two obstacle wheels 1 in the first direction can successively pass over the obstacles when passing over the obstacles, so that in the plurality of obstacle wheels 1 arranged in the first direction, the obstacle wheels 1 can successively pass over the obstacles (such as the steps) from the front obstacle wheel 1, thereby improving the obstacle passing ability of the obstacle wheel mechanism 10, reducing the difficulty of the robot chassis 100 in passing over obstacles, and improving the obstacle passing ability of the robot chassis 100.

[0042] At the same time, in combination with Figure 2 and Figure 8 , in the two adjacent obstacle wheels 1 in the first direction, the part of the orthogonal projection of one of the obstacle wheels 1 in the obstacle wheel 1 axial direction covers the part of the orthogonal projection of the other obstacle wheel 1 in the obstacle wheel 1 axial direction, that is, the orthogonal projection parts of the two obstacle wheels 1 in the obstacle wheel 1 axial direction overlap each other, which can improve the compactness of the arrangement of the plurality of obstacle wheels 1, and in the case of the same number of obstacle wheels 1, the chassis space occupied by the obstacle wheel mechanism 10 can be reduced.

[0043] It should be noted that the traveling direction (i.e. the first direction) of the traveling wheel 30 is the same as the traveling direction of the obstacle wheel 1, and the traveling direction of the traveling wheel 30 and the traveling direction of the obstacle wheel 1 can be understood as the front-rear direction of the robot chassis 100, i.e. the traveling direction of the robot chassis 100. The axial direction (i.e. the second direction) of the traveling wheel 30 is the same as the axial direction of the obstacle wheel 1, and the axial direction of the traveling wheel 30 and the axial direction of the obstacle wheel 1 can be understood as the left-right direction of the robot chassis 100. The radial direction (i.e. the third direction) of the traveling wheel 30 is the same as the radial direction of the obstacle wheel 1, and the radial direction of the traveling wheel 30 and the radial direction of the obstacle wheel 1 can be understood as the up-down direction of the robot chassis 100, i.e. the height direction of the robot chassis 100.

[0044] As Figure 1 , Figure 2 and Figure 7As shown in some embodiments, in the first direction, the two adjacent obstacle wheels 1, one of which is overlapped with the other in the second direction to form a first profile intersection B1; in the first direction, the radial lowest point of the former obstacle wheel 1 is arranged in front of the first profile intersection B1.

[0045] In the embodiment, the two adjacent obstacle wheels 1 in the first direction are overlapped in the axial projection of the obstacle wheel 1 to form a first profile intersection B1, and in the traveling direction of the obstacle wheel 1, the radial lowest point of the former obstacle wheel 1 is located in front of the first profile intersection B1, so that the former obstacle wheel 1 can first pass over the obstacle (such as a ridge), and then the latter obstacle wheel 1 can pass over the obstacle, thereby effectively ensuring that the plurality of obstacle wheels 1 can pass over the obstacles in turn, and further improving the obstacle passing ability of the robot chassis 100 and the obstacle passing ability of the robot chassis 100.

[0046] As shown in some embodiments, the diameters of the obstacle wheels 1 are the same, and in the first direction, the former obstacle wheel 1 is provided with a first shaft hole 13, and the latter obstacle wheel 1 covers the part of the first shaft hole 13 in the second direction, so that the radial lowest point of the former obstacle wheel 1 is located in front of the first profile intersection B1, thereby effectively ensuring that the plurality of obstacle wheels 1 can pass over the obstacles in turn. Figure 7 As shown in some embodiments, the diameters of the obstacle wheels 1 are the same, and in the first direction, the former obstacle wheel 1 is provided with a first shaft hole 13, and the latter obstacle wheel 1 covers the part of the first shaft hole 13 in the second direction, so that the radial lowest point of the former obstacle wheel 1 is located in front of the first profile intersection B1, thereby effectively ensuring that the plurality of obstacle wheels 1 can pass over the obstacles in turn.

[0047] Figure 8 As shown in some embodiments, the diameters of the obstacle wheels 1 are the same, and in the first direction, the former obstacle wheel 1 is provided with a first shaft hole 13, and the latter obstacle wheel 1 covers the part of the first shaft hole 13 in the second direction, so that the radial lowest point of the former obstacle wheel 1 is located in front of the first profile intersection B1, thereby effectively ensuring that the plurality of obstacle wheels 1 can pass over the obstacles in turn.

[0048] ​In the embodiment, the ground clearance between the first obstacle wheel 1a and the second obstacle wheel 1b and the ground clearance between the second obstacle wheel 1b and the third obstacle wheel 1c are kept the same, and the ground clearances of the obstacle wheels 1 are reasonably designed, which is beneficial for the plurality of obstacle wheels 1 to pass through the obstacles in turn.

[0049] As shown in Figure 1 , Figure 2 and Figure 7 , in some embodiments, the at least two obstacle wheels 1 include a first obstacle wheel 1d and a second obstacle wheel 1e, the first obstacle wheel 1d includes any obstacle wheel 1 except the second obstacle wheel 1e among the at least two obstacle wheels 1. The first obstacle wheel 1d has a seventh radial lowest point A7 along the third direction, and the second obstacle wheel 1e has an eighth radial lowest point A8, and it can be understood that the first obstacle wheel 1d has the seventh radial lowest point A7 along the third direction in the orthogonal projection of the second direction, and the second obstacle wheel 1e has the eighth radial lowest point A8 along the third direction in the orthogonal projection of the second direction, the height difference h3 between the seventh radial lowest point A7 and the third radial lowest point A3, the height difference h4 between the eighth radial lowest point A8 and the third radial lowest point A3, wherein h3 is greater than h4; the height difference h5 between the first radial lowest point A1 and the second radial lowest point A2 along the third direction, wherein h4 is equal to h5.

[0050] In the embodiment, when the robot chassis 100 travels on the ground, the ground clearance h3 between the first obstacle wheel 1d and the traveling wheel 30 is greater than the ground clearance h4 between the second obstacle wheel 1e and the traveling wheel 30, so that the second obstacle wheel 1e is closer to the traveling wheel 30 than the first obstacle wheel 1d, and it can be considered that the second obstacle wheel 1e is the last obstacle wheel 1 among the plurality of obstacle wheels 1 arranged in front and back, that is, the first obstacle wheel 1d, the second obstacle wheel 1e and the traveling wheel 30 are arranged in turn along the traveling direction of the obstacle wheel 1, and the ground clearance between the adjacent two obstacle wheels 1 is kept the same as the ground clearance between the second obstacle wheel 1e and the traveling wheel 30, which is beneficial for the plurality of obstacle wheels 1 and the traveling wheel 30 to pass through the obstacles in turn.

[0051] As shown in Figure 1 and Figure 7As shown, in some embodiments, at least two obstacle-crossing wheels 1 include a first obstacle-crossing wheel 1d and a second obstacle-crossing wheel 1e. The first obstacle-crossing wheel 1d includes any obstacle-crossing wheel 1 other than the second obstacle-crossing wheel 1e. Along the third direction, the first obstacle-crossing wheel 1d has a seventh radial lowest point A7, and the second obstacle-crossing wheel 1e has an eighth radial lowest point A8. It can be understood that, along the third direction, the orthographic projection of the first obstacle-crossing wheel 1d in the second direction has the seventh radial lowest point A7, and the orthographic projection of the second obstacle-crossing wheel 1e in the second direction has the eighth radial lowest point A8. The height difference h3 between the seventh radial lowest point A7 and the third radial lowest point A3, and the height difference h4 between the eighth radial lowest point A8 and the third radial lowest point A3, wherein h3 is greater than h4; in the second direction, a portion of the orthographic projection of the second obstacle-crossing wheel 1e overlaps with a portion of the orthographic projection of the traveling wheel 30.

[0052] In this embodiment, when the robot chassis 100 travels on the ground, the ground clearance difference h3 between the first obstacle-crossing wheel 1d and the traveling wheel 30 is greater than the ground clearance difference h4 between the second obstacle-crossing wheel 1e and the traveling wheel 30. Therefore, compared to the first obstacle-crossing wheel 1d, the second obstacle-crossing wheel 1e is closer to the traveling wheel 30. It can be considered that the second obstacle-crossing wheel 1e is the last obstacle-crossing wheel 1 among a plurality of obstacle-crossing wheels 1 arranged in a front-to-back configuration. That is, the first obstacle-crossing wheel 1d, the second obstacle-crossing wheel 1e, and the traveling wheel 30 are arranged sequentially along the traveling direction of the obstacle-crossing wheels 1. Simultaneously, along the axial direction of the obstacle-crossing wheels 1, the orthographic projection of the second obstacle-crossing wheel 1e overlaps with the orthographic projection of the traveling wheel 30. This facilitates the timely passage of the traveling wheel 30 over obstacles after the second obstacle-crossing wheel 1e has passed over them, thereby improving the obstacle-crossing capability of the robot chassis 100.

[0053] like Figure 1 and Figure 7 As shown, in some embodiments, at least two obstacle-crossing wheels 1 include a first obstacle-crossing wheel 1d and a second obstacle-crossing wheel 1e. The first obstacle-crossing wheel 1d includes any obstacle-crossing wheel 1 other than the second obstacle-crossing wheel 1e. Along the third direction, the first obstacle-crossing wheel 1d has a seventh radial lowest point A7, and the second obstacle-crossing wheel 1e has an eighth radial lowest point A8. It can be understood that along the third direction, the orthographic projection of the first obstacle-crossing wheel 1d in the second direction has the seventh radial lowest point A7, and the orthographic projection of the second obstacle-crossing wheel 1e in the second direction has the eighth radial lowest point A8. The height difference h3 between the seventh radial lowest point A7 and the third radial lowest point A3, and the height difference h4 between the eighth radial lowest point A8 and the third radial lowest point A3, wherein h3 is greater than h4. In the second direction, the orthographic projection of the first obstacle-crossing wheel 1d overlaps with the orthographic projection of the traveling wheel 30 to form a second contour intersection point B2. In the first direction, the eighth radial lowest point A8 and the second contour intersection point B2 are arranged in a front-to-back manner.

[0054] In the embodiment, when the robot chassis 100 travels on the ground, the ground clearance difference h3 between the first obstacle wheel 1d and the traveling wheel 30 is greater than the ground clearance difference h4 between the second obstacle wheel 1e and the traveling wheel 30, so that the second obstacle wheel 1e is closer to the traveling wheel 30 than the first obstacle wheel 1d, and it can be considered that the second obstacle wheel 1e is the last obstacle wheel 1 in the plurality of obstacle wheels 1 arranged in front and back, that is, the first obstacle wheel 1d, the second obstacle wheel 1e and the traveling wheel 30 are arranged in sequence along the traveling direction of the obstacle wheel 1. Moreover, along the axial direction of the obstacle wheel 1, the orthographic projection of the second obstacle wheel 1e overlaps with the orthographic projection of the traveling wheel 30 to form a second contour intersection point B2, and the radial lowest point of the orthographic projection of the second obstacle wheel 1e is located in front of the second contour intersection point B2, which can effectively ensure that the second obstacle wheel 1e passes over the obstacle first, thereby effectively ensuring that the plurality of obstacle wheels 1 and the traveling wheel 30 pass over the obstacle in sequence to form multi-stage obstacle crossing and improve the obstacle crossing ability of the robot chassis 100.

[0055] As shown in Figure 7 , in some embodiments, the second obstacle wheel 1e is provided with a second shaft hole 14, and the traveling wheel 30 covers part of the second shaft hole 14 in the second direction, so that the radial lowest point of the orthographic projection of the second obstacle wheel 1e is located in front of the second contour intersection point B2, thereby effectively ensuring that the second obstacle wheel 1e and the traveling wheel 30 pass over the obstacle in sequence.

[0056] As shown in Figure 1 , Figure 4 and Figure 7 , in some embodiments, the at least two obstacle wheels 1 include the first obstacle wheel 1d and the second obstacle wheel 1e, in the first direction, the first obstacle wheel 1d is located in front of the second obstacle wheel 1e, and the first obstacle wheel 1d and the second obstacle wheel 1e are staggered, the second obstacle wheel 1e is located in front of the traveling wheel 30, and the second obstacle wheel 1e and the traveling wheel 30 are staggered, the height difference h3 between the radial lowest point of the first obstacle wheel 1d and the radial lowest point of the traveling wheel 30, the height difference h4 between the radial lowest point of the second obstacle wheel 1e and the radial lowest point of the traveling wheel 30, wherein h3>h4, so that when crossing a certain height of the ridge, the first obstacle wheel 1d contacts and crosses the ridge first, then the second obstacle wheel 1e contacts and crosses the ridge, and then the traveling wheel 30 contacts and crosses the ridge, forming a three-stage obstacle crossing, which can not only simplify the structure of the obstacle wheel mechanism 10, but also improve the obstacle crossing ability of the robot chassis 100. Further, in the second direction, the orthographic projection part of the first obstacle wheel 1d overlaps with the orthographic projection part of the second obstacle wheel 1e, so that the first obstacle wheel 1d and the second obstacle wheel 1e can pass over the obstacle in sequence and continuously, effectively ensuring the obstacle crossing continuity of the obstacle wheel mechanism 10.

[0057] As shown in Figure 7 and Figure 8As shown, in specific applications, the number of obstacle wheels 1 can be designed to increase by one according to actual needs, and the obstacle height of the obstacle wheel mechanism 10 can increase by about 1 cm, for example, when the obstacle wheel mechanism 10 includes two obstacle wheels 1, the two obstacle wheels 1 and one travel wheel 30 can form a three-stage obstacle, and can cross a ridge with a height of about 3 cm, and when the number of obstacle wheels 1 is increased to three, the three obstacle wheels 1 and one travel wheel 30 can form a four-stage obstacle, and can cross a ridge with a height of about 4 cm, thereby improving the obstacle crossing ability and obstacle crossing stability. It should be understood that the number of obstacle wheels 1 is not limited by the embodiment.

[0058] As shown in Figure 1 and Figure 3 As shown, the embodiment also provides a robot chassis 100, which includes a chassis body 20, a travel wheel 30, and the above-described obstacle wheel mechanism 10. The obstacle wheel mechanism 10 and the travel wheel 30 are both mounted on the chassis body 20, and the obstacle wheel mechanism 10 and the travel wheel 30 are arranged in front of and behind each other along the first direction.

[0059] The robot chassis 100 of the embodiment, since the above-described obstacle wheel mechanism 10 is used, when the robot chassis 100 moves on a flat support surface β, the travel wheel 30 contacts the support surface β, and the obstacle wheels 1 are suspended. When the robot chassis 100 encounters an obstacle (such as a ridge), in the travel direction of the chassis body 20, the plurality of obstacle wheels 1 can sequentially cross the obstacle (such as the ridge) from the frontmost obstacle wheel 1, and then the travel wheel 30 crosses the obstacle, thereby reducing the degree of shaking of the robot chassis 100 when crossing the obstacle, improving the obstacle crossing ability and passability of the robot chassis 100, and further improving the obstacle crossing ability of the robot.

[0060] As shown in Figure 3 In some embodiments, the travel wheel 30 includes a first travel wheel 30a and a second travel wheel 30b arranged in front of and behind each other. The number of the first travel wheel 30a is two, and the number of the second travel wheel 30b is two. In the second direction, the two first travel wheels 30a are arranged in a spaced manner, the two second travel wheels 30b are arranged in a spaced manner, and the obstacle wheel mechanism 10 is arranged between the two first travel wheels 30a.

[0061] In the embodiment, the two first travel wheels 30a are both front wheels, and the two second travel wheels 30b are both rear wheels. In the travel direction of the robot chassis 100, the two first travel wheels 30a are located in front of the two second travel wheels 30b, and the obstacle wheel mechanism 10 is located in front of the two first travel wheels 30a, so that all the obstacle wheels 1 are located in front of the first travel wheel 30a, and the obstacle wheels 1 are located in front of the first travel wheel 30a. Furthermore, the plurality of obstacle wheels 1 and the first travel wheel 30a can sequentially cross the obstacle. Moreover, arranging the obstacle wheel mechanism 10 between the two first travel wheels 30a can improve the structural compactness of the obstacle wheel mechanism 10 and the two first travel wheels 30a.

[0062] As shown in Figure 3 and Figure 4 , in some embodiments, the chassis body 20 is provided with a mounting portion 40 for mounting the obstacle wheel mechanism 10, the mounting portion 40 is located between the two first travel wheels 30a in the second direction. Specifically, the mounting portion 40 includes a first opening 41 and a second opening 42, the first opening 41 is provided with at least one first mounting shaft 43 for mounting the obstacle wheel 1, and the second opening 42 is provided with at least one second mounting shaft 44 for mounting the obstacle wheel 1. In the embodiment where two obstacle wheels 1 are provided, one of the two obstacle wheels 1 is rotatably mounted on the first mounting shaft 43, and the other obstacle wheel 1 is rotatably mounted on the second mounting shaft 44, the first mounting shaft 43 and the second mounting shaft 44 are arranged in a staggered manner in the first direction, so that the two obstacle wheels 1 can pass over the obstacles in turn when passing over the obstacles.

[0063] As shown in Figure 3 , Figure 5 and Figure 6 , and in combination with Figure 1 , in some embodiments, the robot chassis 100 further includes two drive wheels 50 and two first connecting mechanisms 60, the two drive wheels 50 correspond to the two second travel wheels 30b one by one, each drive wheel 50 is rotatably arranged on the chassis body 20, and the two drive wheels 50 are arranged in a spaced manner in the second direction; in the first direction, the drive wheel 50 is located between the first travel wheel 30a and the second travel wheel 30b; the two first connecting mechanisms 60 correspond to the two second travel wheels 30b one by one, the first connecting mechanism 60 includes a connecting rod mechanism 61 and an elastic member 62, the second travel wheel 30b is connected to the chassis body 20 through the connecting rod mechanism 61, one end of the elastic member 62 is connected to the chassis body 20, and the other end of the elastic member 62 is connected to the connecting rod mechanism 61; under the action of an external force, the second travel wheel 30b drives the connecting rod mechanism 61 to rotate around a designated rotation center, and causes the connecting rod mechanism 61 to compress the elastic member 62.

[0064] In this embodiment, the robot chassis 100 further comprises a first connecting mechanism 60 and a driving wheel 50, the driving wheel 50 can provide driving force to drive the chassis body 20 to move, the driving wheel 50 can use a driving wheel 50 with a large wheel diameter to improve the obstacle crossing ability of the driving wheel 50. Moreover, each second traveling wheel 30b is correspondingly provided with a first connecting mechanism 60, when the second traveling wheel 30b contacts with the obstacle, the second traveling wheel 30b can drive the connecting rod mechanism 61 to rotate around the set rotation center under the action of the external force applied by the obstacle, in this process, the connecting rod mechanism 61 compresses the elastic member 62, and the second traveling wheel 30b can move away from the support surface β to cross the obstacle under the dragging of the driving wheel 50, which is beneficial to the robot chassis 100 to cross the obstacle stably, improves the obstacle crossing stability of the robot chassis 100, and effectively avoids the phenomenon that the whole robot shakes greatly when crossing the obstacle.

[0065] In this way, when the robot chassis 100 travels on the support surface β (such as a horizontal surface), the first traveling wheel 30a, the driving wheel 50 and the second traveling wheel 30b all contact with the support surface β, while the obstacle wheel 1 is suspended; when the robot chassis 100 encounters an obstacle (such as a bump), the plurality of obstacle wheels 1 sequentially contact the obstacle in turn, and under the pushing of the driving wheel 50, the plurality of obstacle wheels 1 sequentially cross the obstacle in turn, and then the first traveling wheel 30a contacts the obstacle, and under the pushing of the driving wheel 50, the first traveling wheel 30a crosses the obstacle.

[0066] Subsequently, the driving wheel 50 contacts and crosses the obstacle, and then the second traveling wheel 30b contacts the obstacle, the second traveling wheel 30b is pressed by the obstacle, which will promote the second traveling wheel 30b to move away from the support surface β, so that the second traveling wheel 30b drives the connecting rod mechanism 61 to rotate around the set rotation center (such as counterclockwise rotation) and compresses the elastic member 62, at this time, the height of the second traveling wheel 30b from the support surface β increases, since the driving wheel 50 always travels forward, under the dragging of the driving wheel 50, the second traveling wheel 30b crosses the obstacle. After the second traveling wheel 30b crosses the obstacle, the elastic member 62 has elasticity, the elastic member 62 elastically elongates and pushes the connecting rod mechanism 61 to rotate around the set rotation center (such as clockwise rotation), so that the second traveling wheel 30b moves towards the support surface β, and then the second traveling wheel 30b recontacts the support surface β.

[0067] As Figure 3 , Figure 4 and Figure 7As shown, in an embodiment where the obstacle-crossing wheel 1 includes a first obstacle-crossing wheel 1d and a second obstacle-crossing wheel 1e, the first obstacle-crossing wheel 1d is located in front of the second obstacle-crossing wheel 1e. When the robot chassis 100 encounters an obstacle (such as a ledge), the first obstacle-crossing wheel 1d first contacts the ledge, and under the push of the drive wheel 50, the first obstacle-crossing wheel 1d crosses the ledge. Then, the second obstacle-crossing wheel 1e contacts the ledge, and under the push of the drive wheel 50, the second obstacle-crossing wheel 1e crosses the ledge. Then, the first traveling wheel 30a contacts the ledge, and under the push of the drive wheel 50, the first traveling wheel 30a crosses the ledge, thereby reducing the obstacle-crossing difficulty of the robot chassis 100 and improving the obstacle-crossing capability of the robot chassis 100.

[0068] like Figure 3 , Figure 5 and Figure 6 As shown, and in combination Figure 1 In some embodiments, the first connecting mechanism 60 further includes a fixed seat 63, a connecting shaft 64, and a first connecting seat 65. The fixed seat 63 is mounted on the chassis body 20, and the first connecting seat 65 is penetrated by the connecting shaft 64 and rotates around the connecting shaft 64. The connecting shaft 64 can be understood as a set rotation center. The linkage mechanism 61 is connected to the first connecting seat 65. When the second traveling wheel 30b contacts an obstacle, the second traveling wheel 30b, under the action of the external force applied by the obstacle, drives the linkage mechanism 61 to rotate counterclockwise around the set rotation center. During this process, the linkage mechanism 61 compresses the elastic element 62, causing the second traveling wheel 30b to move upward. For example, the elastic element 62 is selected to be composed of a spring and a damper.

[0069] like Figure 3 , Figure 5 and Figure 6 As shown, and in combination Figure 1 In some embodiments, the robot chassis 100 further includes a second connecting mechanism 70 disposed on the chassis body 20, one end of the elastic member 62 is connected to the second connecting mechanism 70, and the other end of the elastic member 62 is connected to the linkage mechanism 61.

[0070] Specifically, the connecting rod mechanism 61 comprises a first connecting plate 611, a first mounting base 612 and a first supporting arm 613, the second connecting mechanism 70 comprises a second connecting base 71, a second supporting arm 72, a second connecting plate 73 and a second mounting base 74, the first connecting plate 611 is connected with the first connecting base 65 and the first mounting base 612 respectively, the first connecting base 65 and the first mounting base 612 are located on the same side of the first connecting plate 611, and the second traveling wheel 30b is rotatably mounted on the first mounting base 612. The second connecting base 71 is penetrated by the connecting shaft 64, the second connecting plate 73 is connected with the second connecting base 71 and the second mounting base 74 respectively, the second connecting base 71 and the second mounting base 74 are located on the same side of the second connecting plate 73, and the driving wheel 50 is rotatably mounted on the second mounting base 74. The first supporting arm 613 is mounted on the side of the first connecting plate 611 away from the first mounting base 612, the second supporting arm 72 is mounted on the side of the second connecting plate 73 away from the second mounting base 74, one end of the elastic member 62 is connected with the second supporting arm 72, and the other end of the elastic member 62 is connected with the first supporting arm 613.

[0071] When the second traveling wheel 30b contacts the obstacle, the second traveling wheel 30b drives the first mounting base 612, the first connecting plate 611 and the first supporting arm 613 to rotate counterclockwise under the action of the external force applied by the obstacle, in this process, the first supporting arm 613 compresses the elastic member 62, so that the second traveling wheel 30b moves upward, after the second traveling wheel 30b is dragged by the driving wheel 50 to cross the obstacle, the elastic member 62 is elastically stretched to push the first supporting arm 613, so that the first supporting arm 613, the first connecting plate 611 and the first mounting base 612 rotate clockwise, so that the second traveling wheel 30b recontacts the support surface β.

[0072] In combination with Figure 1 and Figure 2 , the embodiment also provides a robot (not shown in the figure), which comprises a robot body (not shown in the figure) and the robot chassis 100 described above, and the robot body is arranged on the chassis body 20.

[0073] The robot of the embodiment is arranged in a manner that the robot body is mounted on the chassis body 200, so that the robot body is driven by the chassis body 20 to travel on the support surface β. The robot of the embodiment can use the robot chassis 100 described above, so that the robot can be sequentially crossed by the plurality of obstacle wheels 1 in the obstacle wheel mechanism 10 and then crossed by the traveling wheel 30, which reduces the shaking degree of the robot when crossing the obstacle and improves the obstacle-crossing ability and passability of the robot.

[0074] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent structural changes made according to the content of the present application specification and drawings, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An obstacle wheel mechanism applied to a robot chassis, the robot chassis comprising a chassis body and a traveling wheel, the traveling wheel being rotatably provided to the chassis body, a center of the obstacle wheel mechanism and a center of the traveling wheel being arranged in front and back in a first direction, the first direction being a traveling direction of the traveling wheel, characterized in that, The obstacle wheel mechanism comprises: at least two obstacle wheels, each of which is rotationally connected to the chassis body; in the first direction, the at least two obstacle wheels are arranged to form at least two rows, and each of the obstacle wheels of adjacent two rows is arranged in staggered arrangement; in the first direction, among the two adjacent obstacle wheels, the orthographic projection of one of the obstacle wheels in the second direction comprises a first part, and the orthographic projection of the other obstacle wheel in the second direction comprises a second part; along the second direction, the first part and the second part overlap, and the second direction is the axial direction of the traveling wheel; in the first direction, among the two adjacent obstacle wheels, along the third direction, the first obstacle wheel has a first radial lowest point, the second obstacle wheel has a second radial lowest point, and the traveling wheel has a third radial lowest point, and the third direction is the radial direction of the traveling wheel; along the third direction, the height difference H1 between the first radial lowest point and the third radial lowest point, and the height difference H2 between the second radial lowest point and the third radial lowest point, wherein H1 is greater than H2.

2. The obstacle wheel mechanism according to claim 1, characterized in that, in the first direction, among the two adjacent obstacle wheels, the orthographic projection of one of the obstacle wheels in the second direction overlaps with the orthographic projection of the other obstacle wheel in the second direction to form a first profile intersection point; in the first direction, the radial lowest point of the orthographic projection of the first obstacle wheel is arranged in front of and behind the first profile intersection point.

3. The obstacle wheel mechanism of claim 1, wherein, The at least two obstacle wheels comprise an obstacle wheel one, an obstacle wheel two and an obstacle wheel three, the obstacle wheel one and the obstacle wheel two are arranged adjacent in the first direction, and the obstacle wheel two and the obstacle wheel three are arranged adjacent in the first direction; along the third direction, the obstacle wheel one has a fourth radial lowest point, the obstacle wheel two has a fifth radial lowest point, and the obstacle wheel three has a sixth radial lowest point, the height difference h1 between the fourth radial lowest point and the fifth radial lowest point, and the height difference h2 between the fifth radial lowest point and the sixth radial lowest point, wherein h1 is equal to h2.

4. The obstacle wheel mechanism of claim 1, wherein The at least two obstacle wheels comprise a first obstacle wheel and a second obstacle wheel, the first obstacle wheel comprises any of the obstacle wheels of the at least two obstacle wheels except the second obstacle wheel; along the third direction, the first obstacle wheel has a seventh radial lowest point, and the second obstacle wheel has an eighth radial lowest point, the height difference h3 between the seventh radial lowest point and the third radial lowest point, and the height difference h4 between the eighth radial lowest point and the third radial lowest point, wherein h3 is greater than h4; along the third direction, the height difference h5 between the first radial lowest point and the second radial lowest point, wherein h4 is equal to h5.

5. The obstacle wheel mechanism of claim 1, wherein, The at least two obstacle wheels comprise a first obstacle wheel and a second obstacle wheel, the first obstacle wheel comprises any of the obstacle wheels of the at least two obstacle wheels except the second obstacle wheel; In the third direction, the first obstacle wheel has a seventh radial lowest point, the second obstacle wheel has an eighth radial lowest point, a height difference h3 between the seventh radial lowest point and the third radial lowest point, a height difference h4 between the eighth radial lowest point and the third radial lowest point, wherein h3 is greater than h4; In the second direction, the part of the second obstacle wheel orthographic projection overlaps the part of the traveling wheel orthographic projection.

6. The obstacle wheel mechanism of claim 1, wherein, The at least two obstacle wheels include a first obstacle wheel and a second obstacle wheel, the first obstacle wheel including any of the obstacle wheels in the at least two obstacle wheels except the second obstacle wheel; In the third direction, the first obstacle wheel has a seventh radial lowest point, the second obstacle wheel has an eighth radial lowest point, a height difference h3 between the seventh radial lowest point and the third radial lowest point, a height difference h4 between the eighth radial lowest point and the third radial lowest point, wherein h3 is greater than h4; In the second direction, the orthographic projection of the second obstacle wheel overlaps the orthographic projection of the traveling wheel to form a second contour intersection point; in the first direction, the eighth radial lowest point is arranged in front of the second contour intersection point.

7. A robot chassis, characterized in that The robot chassis further includes two drive wheels and two first connecting mechanisms, the two drive wheels corresponding to the two second traveling wheels one by one, each drive wheel being rotatably arranged on the chassis body, the two drive wheels being arranged in a spaced manner in the second direction, and the drive wheels being located between the first traveling wheels and the second traveling wheels in the first direction; 8. The robot chassis of claim 7, wherein, The two first connecting mechanisms correspond to the two second traveling wheels one by one, the first connecting mechanism including a connecting rod mechanism and an elastic member, the second traveling wheel being connected to the chassis body through the connecting rod mechanism, one end of the elastic member being connected to the chassis body, and the other end of the elastic member being connected to the connecting rod mechanism; under the action of an external force, the second traveling wheel drives the connecting rod mechanism to rotate around a designated rotation center and causes the connecting rod mechanism to compress the elastic member. The robot chassis further includes two drive wheels and two first connecting mechanisms, the two drive wheels corresponding to the two second traveling wheels one by one, each drive wheel being rotatably arranged on the chassis body, the two drive wheels being arranged in a spaced manner in the second direction, and the drive wheels being located between the first traveling wheels and the second traveling wheels in the first direction; 9. The robot chassis of claim 8, wherein, The two first connecting mechanisms correspond to the two second traveling wheels one by one, the first connecting mechanism including a connecting rod mechanism and an elastic member, the second traveling wheel being connected to the chassis body through the connecting rod mechanism, one end of the elastic member being connected to the chassis body, and the other end of the elastic member being connected to the connecting rod mechanism; under the action of an external force, the second traveling wheel drives the connecting rod mechanism to rotate around a designated rotation center and causes the connecting rod mechanism to compress the elastic member. The robot chassis further includes two drive wheels and two first connecting mechanisms, the two drive wheels corresponding to the two second traveling wheels one by one, each drive wheel being rotatably arranged on the chassis body, the two drive wheels being arranged in a spaced manner in the second direction, and the drive wheels being located between the first traveling wheels and the second traveling wheels in the first direction; 10. A robot, characterized in that The two first connecting mechanisms correspond to the two second traveling wheels one by one, the first connecting mechanism including a connecting rod mechanism and an elastic member, the second traveling wheel being connected to the chassis body through the connecting rod mechanism, one end of the elastic member being connected to the chassis body, and the other end of the elastic member being connected to the connecting rod mechanism; under the action of an external force, the second traveling wheel drives the connecting rod mechanism to rotate around a designated rotation center and causes the connecting rod mechanism to compress the elastic member.

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