Robot chassis and robot

Abstract

The utility model is suitable for the technical field of robots, and discloses a robot chassis and a robot, the robot chassis comprises a chassis body, advancing wheels and an obstacle crossing wheel mechanism, the advancing wheels are rotatably arranged on the chassis body, and the obstacle crossing wheel mechanism is arranged on the chassis body; in the first direction, the obstacle crossing wheel mechanism and the advancing wheels are arranged front and back, and the first direction is the advancing direction of the advancing wheels; the orthographic projection of the obstacle crossing wheel mechanism in the second direction comprises a first part, the orthographic projection of the advancing wheel in the second direction comprises a second part, the first part and the second part are overlapped, and the second direction intersects with the first direction; in the third direction, when the advancing wheels make contact with the supporting face, a gap is formed between the obstacle crossing wheel mechanism and the supporting face, and the third direction is the radial direction of the advancing wheels. According to the embodiment, 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 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 a robot chassis, which aims to solve the technical problem of low obstacle crossing ability of the robot.

[0005] To achieve the above object, the scheme provided by the present application is:

[0006] A robot chassis comprises:

[0007] a chassis body;

[0008] a travel wheel rotatably arranged on the chassis body;

[0009] an obstacle wheel mechanism arranged on the chassis body and arranged in front of and behind the travel wheel along a first direction, the first direction being the travel direction of the travel wheel;

[0010] a first part included in the orthographic projection of the obstacle wheel mechanism in a second direction, a second part included in the orthographic projection of the travel wheel in the second direction, the first part and the second part overlapping, and the second direction intersecting the first direction;

[0011] along a third direction, the obstacle wheel mechanism and the support surface form a gap therebetween when the travel wheel contacts the support surface, the third direction being the radial direction of the travel wheel.

[0012] The second object of the present application is to provide a robot comprising a robot body and the above-mentioned robot chassis, the robot body being arranged on the robot chassis.

[0013] The robot chassis provided by the present application has the following beneficial effects:

[0014] The obstacle wheel mechanism and the traveling wheel are arranged in front and back in the first direction in the robot chassis of the embodiment, and when the traveling wheel contacts the support surface at the radial bottom end, a gap is formed between the obstacle wheel mechanism and the support surface, that is, the obstacle wheel mechanism is suspended, so that the ground clearance of the obstacle wheel mechanism is greater than the ground clearance of the traveling wheel, and when the robot chassis overcomes the obstacle, the obstacle wheel mechanism overcomes the obstacle first, and then the traveling wheel overcomes the obstacle, which reduces the difficulty of the robot chassis to overcome the obstacle and improves the obstacle overcoming capability of the robot chassis.

[0015] Meanwhile, in the second direction, the part of the obstacle wheel mechanism orthographic projection and the part of the traveling wheel orthographic projection overlap each other, which can improve the arrangement compactness between the obstacle wheel mechanism and the traveling wheel. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0017] Figure 1 is a structural schematic diagram of a robot chassis in a first group of embodiments provided by the embodiment of the present application;

[0018] Figure 2 is Figure 1 is a local enlarged schematic diagram at i in

[0019] Figure 3 is an assembly structural schematic diagram of the obstacle wheel mechanism and the traveling wheel in the first group of embodiments provided by the embodiment of the present application;

[0020] Figure 4 is an obstacle overcoming state schematic diagram of the obstacle wheel mechanism in the first group of embodiments provided by the embodiment of the present application;

[0021] Figure 5 is a structural schematic diagram of a robot chassis in a second group of embodiments provided by the embodiment of the present application in one view;

[0022] Figure 6 is Figure 5 is a local enlarged schematic diagram at ii in

[0023] Figure 7 is a structural schematic diagram of a robot chassis in the second group of embodiments provided by the embodiment of the present application in another view;

[0024] Figure 8 is Figure 7 is a local enlarged schematic diagram at iii in

[0025] Figure 9 is an assembly structure diagram of the obstacle wheel mechanism and the traveling wheel provided in the second group of embodiments of the present application;

[0026] Figure 10 is a structure diagram of the obstacle wheel mechanism provided in the second group of embodiments of the present application.

[0027] Explanation of reference signs:

[0028] 100, robot chassis; β, support surface;

[0029] 10, obstacle wheel mechanism; 1, obstacle wheel; 1a, first obstacle wheel; 1b, second obstacle wheel; 1c, obstacle wheel one; 1d, obstacle wheel two; 1e, obstacle wheel three; 2, annular obstacle part; 2a, obstacle surface; 3, outer ring gear; 4, third part; 5, fourth part;

[0030] 20, chassis body; 21, mounting plate;

[0031] 30, traveling wheel; 30a, first traveling wheel; 30b, second traveling wheel;

[0032] 40, mounting part; 41, mounting opening; 42, connecting shaft; 43, first opening; 44, second opening; 45, first mounting shaft; 46, second mounting shaft; 50, drive wheel;

[0033] 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. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. 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 in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0036] It should also be noted that when an element is referred to as being "on" or "set on" another element, it can be directly on the other element or can be present with an intervening 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 an intervening element.

[0037] In addition, the description in the present application involving "first", "second" and the like 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 with "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 realization of the person skilled in the art, when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0038] As shown in Figure 1 The robot chassis 100 and the robot with the robot chassis 100 are provided, and the obstacle wheel mechanism 10 is arranged on the chassis body 20 to improve the obstacle crossing ability of the robot chassis 100.

[0039] The following will be combined with the drawings Figure 1 to the drawings Figure 10 Some embodiments of the present application are described in detail. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0040] First group of embodiments:

[0041] The robot chassis 100 provided by the embodiment can refer to Figures 1 to 4 .

[0042] As shown in Figure 1 and Figure 3As shown, the robot chassis 100 provided by the embodiment of the present application comprises an obstacle wheel mechanism 10, a chassis body 20, and a traveling wheel 30. The traveling wheel 30 is rotatably arranged on the chassis body 20, and the obstacle wheel mechanism 10 is arranged on the chassis body 20. In a first direction, the obstacle wheel mechanism 10 and the traveling wheel 30 are arranged in front of and behind each other. The first direction is the traveling direction of the traveling wheel 30, and can also be understood as the traveling direction of the chassis body 20. The orthogonal projection of the obstacle wheel mechanism 10 in a second direction comprises a first part (not shown in the figure), and the orthogonal projection of the traveling wheel 30 in the second direction comprises a second part (not shown in the figure). The first part (not shown in the figure) and the second part (not shown in the figure) overlap each other. The second direction intersects the first direction. The second direction can be the axial direction of the traveling wheel 30, and can also be understood as the left-right direction of the chassis body 20. In a third direction, when the traveling wheel 30 contacts a support surface β, a gap is formed between the obstacle wheel mechanism 10 and the support surface β. It can be understood that when the robot chassis 100 is located on a horizontal support surface β, the radial bottom end of the traveling wheel 30 contacts the horizontal support surface β, and the obstacle wheel mechanism 10 is suspended. The height difference between the bottom of the obstacle wheel mechanism 10 and the support surface β in the third direction is H. The third direction is the radial direction of the traveling wheel 30, and can also be understood as the up-down direction of the chassis body 20.

[0043] It can be understood that in the robot chassis 100 of the embodiment, the obstacle wheel mechanism 10 and the traveling wheel 30 are arranged in front of and behind each other in the first direction. When the radial bottom end of the traveling wheel 30 contacts the support surface β, a gap is formed between the obstacle wheel mechanism 10 and the support surface β, that is, the obstacle wheel mechanism 10 is suspended, so that the ground clearance of the obstacle wheel mechanism 10 is greater than the ground clearance of the traveling wheel 30. Therefore, when the robot chassis 100 overcomes an obstacle (such as a step), the obstacle wheel mechanism 10 first overcomes the obstacle, and then the traveling wheel 30 overcomes the obstacle, thereby reducing the difficulty of overcoming obstacles for the robot chassis 100 and improving the obstacle overcoming ability of the robot chassis 100. At the same time, in the second direction, the part of the orthogonal projection of the obstacle wheel mechanism 10 and the part of the orthogonal projection of the traveling wheel 30 overlap each other, which can improve the compactness of the arrangement between the obstacle wheel mechanism 10 and the traveling wheel 30. The traveling wheel 30 can be a front wheel or a rear wheel.

[0044] As shown in FIG. 1, the robot chassis 100 comprises an obstacle wheel mechanism 10, a chassis body 20, and a traveling wheel 30. The traveling wheel 30 is rotatably arranged on the chassis body 20, and the obstacle wheel mechanism 10 is arranged on the chassis body 20. In a first direction, the obstacle wheel mechanism 10 and the traveling wheel 30 are arranged in front of and behind each other. The first direction is the traveling direction of the traveling wheel 30, and can also be understood as the traveling direction of the chassis body 20. The orthogonal projection of the obstacle wheel mechanism 10 in a second direction comprises a first part (not shown in the figure), and the orthogonal projection of the traveling wheel 30 in the second direction comprises a second part (not shown in the figure). The first part (not shown in the figure) and the second part (not shown in the figure) overlap each other. The second direction intersects the first direction. The second direction can be the axial direction of the traveling wheel 30, and can also be understood as the left-right direction of the chassis body 20. In a third direction, when the traveling wheel 30 contacts a support surface β, a gap is formed between the obstacle wheel mechanism 10 and the support surface β. It can be understood that when the robot chassis 100 is located on a horizontal support surface β, the radial bottom end of the traveling wheel 30 contacts the horizontal support surface β, and the obstacle wheel mechanism 10 is suspended. The height difference between the bottom of the obstacle wheel mechanism 10 and the support surface β in the third direction is H. The third direction is the radial direction of the traveling wheel 30, and can also be understood as the up-down direction of the chassis body 20. Figure 1 and Figure 3As shown, as an implementation, the obstacle wheel mechanism 10 comprises at least two obstacle wheels 1, the at least two obstacle wheels 1 are arranged along a first direction, each obstacle wheel 1 is rotationally connected to the chassis body 20, among two adjacent obstacle wheels 1 in the first direction, when the traveling wheel 30 contacts the support surface β along a third direction, a first distance is formed between the front obstacle wheel 1 and the support surface β, and a second distance is formed between the rear obstacle wheel 1 and the support surface β, the first distance is greater than the second distance. In this way, when the robot chassis 100 travels on the ground, among two adjacent obstacle wheels 1 in the first direction, the ground clearance of the front obstacle wheel 1 is greater than that of the rear obstacle wheel 1, so that when the obstacle is crossed, the front obstacle wheel 1 crosses the obstacle first, and the rear obstacle wheel 1 crosses the obstacle second.

[0045] As shown in Figure 1 and Figure 2 shown, in a specific embodiment, 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 traveling wheels 30 in the second direction, specifically, the mounting portion 40 comprises a mounting opening 41, two connecting shafts 42 arranged along the first direction are arranged in the mounting opening 41, and the two obstacle wheels 1 are respectively rotationally mounted on the two connecting shafts 42, so as to realize that the two obstacle wheels 1 are respectively rotationally mounted on the chassis body 20. Further, the bottom surface of the chassis body 20 is also provided with two mounting plates 21, the two mounting plates 21 are arranged along the second direction, and a receiving space for accommodating the obstacle wheel mechanism 10 is formed between the two mounting plates 21, the mounting opening 41 is in communication with the receiving space, and the two ends of the connecting shaft 42 are respectively fixed with the two mounting plates 21.

[0046] As shown in Figure 1 and Figure 2 shown, as an implementation, the obstacle wheel mechanism 10 further comprises a ring-shaped obstacle piece 2, the ring-shaped obstacle piece 2 is arranged around the at least two obstacle wheels 1, the ring-shaped obstacle piece 2 has an obstacle surface 2a, the obstacle surface 2a is located on the side of the ring-shaped obstacle piece 2 away from the chassis body 20, and the obstacle surface 2a is used to contact the obstacle, so that when the obstacle is crossed, the ring-shaped obstacle piece 2 contacts the obstacle through the plane, compared with only the obstacle wheel 1 contacting the obstacle, the obstacle crossing stability can be improved; along the third direction, when the traveling wheel 30 contacts the support surface β, the obstacle surface 2a and the support surface β form a spacing, that is, when the robot chassis 100 is located on the horizontal support surface β, the bottom end of the traveling wheel 30 contacts the support surface β, and the ring-shaped obstacle piece 2 is suspended, so that the ground clearance of the ring-shaped obstacle piece 2 is greater than that of the traveling wheel 30, and further, when the obstacle is crossed, the obstacle surface 2a of the ring-shaped obstacle piece 2 contacts and crosses the obstacle first.

[0047] As shown in Figure 1 and Figure 3As shown, in one specific embodiment, the annular obstacle-crossing component 2 is a track, which is connected to two obstacle-crossing wheels 1. When crossing an obstacle, the moving robot chassis 100 drives the annular obstacle-crossing component 2 to contact the obstacle, such as a ledge. In this way, during the process of the annular obstacle-crossing component 2 climbing the ledge, the ledge can exert a reaction force on the obstacle-crossing surface 2a of the annular obstacle-crossing component 2, causing the two obstacle-crossing wheels 1 of the annular obstacle-crossing component 2 to rotate. After the annular obstacle-crossing component 2 rotates and climbs over the ledge, the obstruction height of the ledge to the traveling wheel 30 decreases, reducing the difficulty for the traveling wheel 30 to cross the ledge, and allowing the traveling wheel 30 to cross the ledge smoothly.

[0048] like Figure 3 As shown, in one embodiment, the angle between the obstacle-crossing surface 2a and the supporting surface β is an acute angle, so that along the end of the annular obstacle-crossing member 2 away from the traveling wheel 30 to the end of the annular obstacle-crossing member 2 close to the traveling wheel 30, the obstacle-crossing surface 2a is inclined downward, which makes it easier for the annular obstacle-crossing member 2 to cross the obstacle, thereby facilitating the traveling wheel 30 to cross the obstacle.

[0049] like Figure 1 and Figure 3 As shown, in one embodiment, the inner circumferential surface of the annular obstacle-crossing member 2 is provided with annular internal teeth (not shown in the figure), and the outer circumferential surface of each obstacle-crossing wheel 1 is provided with annular external teeth 3. The annular internal teeth and the annular external teeth 3 mesh to realize that the annular obstacle-crossing member 2 is connected to two obstacle-crossing wheels 1 respectively. Thus, when the annular obstacle-crossing member 2 is subjected to the reaction force of the obstacle, it drives the two obstacle-crossing wheels 1 respectively. In this way, the obstacle-crossing wheel mechanism 10 can rotate when crossing the obstacle, which is conducive to the annular obstacle-crossing member 2 crossing the obstacle.

[0050] like Figure 1 and Figure 3 As shown, in one embodiment, there are two obstacle-crossing wheels 1, which are arranged at intervals along a first direction. The first part (not shown) includes the portion of the annular obstacle-crossing member 2 projected orthogonally in the second direction. The first part (not shown) also includes the portion of the obstacle-crossing wheel 1 projected orthogonally in the second direction near the side of the traveling wheel 30.

[0051] It is understood that one of the two obstacle-crossing wheels 1 is far away from the traveling wheel 30 and the other is close to the traveling wheel 30. The portion of the obstacle-crossing wheel 1 close to the traveling wheel 30 in the second direction and the portion of the annular obstacle-crossing member 2 in the second direction are both covered on the annular obstacle-crossing member 2 in the second direction. Thus, after the annular obstacle-crossing member 2 drives the two obstacle-crossing wheels 1 to cross the obstacle, the traveling wheel 30 crosses the obstacle in time, effectively ensuring the obstacle-crossing continuity of the obstacle-crossing wheel mechanism 10 and the traveling wheel 30.

[0052] like Figure 1 and Figure 3As shown, as an embodiment, the number of the traveling wheels 30 is two, and in the second direction, the two traveling wheels 30 are arranged in a spaced manner, and the obstacle wheel mechanism 10 is arranged between the two traveling wheels 30, so that the compactness of the obstacle wheel mechanism 10 and the two traveling wheels 30 can be improved.

[0053] As shown, as an embodiment, the number of the traveling wheels 30 is two, and in the second direction, the two traveling wheels 30 are arranged in a spaced manner, and the obstacle wheel mechanism 10 is arranged between the two traveling wheels 30, so that the compactness of the obstacle wheel mechanism 10 and the two traveling wheels 30 can be improved. Figure 1 and Figure 4 As shown, as an embodiment, the number of the traveling wheels 30 is two, and in the second direction, the two traveling wheels 30 are arranged in a spaced manner, and the obstacle wheel mechanism 10 is arranged between the two traveling wheels 30, so that the compactness of the obstacle wheel mechanism 10 and the two traveling wheels 30 can be improved.

[0054] It can be understood that when the robot chassis 100 travels on the horizontal support surface β, the first traveling wheels 30a, the driving wheel 50 and the second traveling wheels 30b all contact the horizontal support surface β, and the obstacle wheel mechanism 10 is suspended. When the robot chassis 100 encounters an obstacle (such as a bump), the obstacle wheel mechanism 10 between the two first traveling wheels 30a first contacts the obstacle, and under the action of the driving wheel 50, the obstacle wheel mechanism 10 climbs over the obstacle. Specifically, the annular obstacle member 2 of the obstacle wheel mechanism 10 climbs over the obstacle, and the annular obstacle member 2 drives the two obstacle wheels 1 to rotate under the reaction of the obstacle, so that the obstacle wheel mechanism 10 itself rotates and drives the robot chassis 100 to climb over the obstacle. Then the first traveling wheels 30a contact the obstacle, and since the height of the obstacle hindering the first traveling wheels 30a has decreased, the first traveling wheels 30a can pass over the obstacle under the pushing action of the driving wheel 50. Then the driving wheel 50 with a large wheel diameter contacts the obstacle and passes over the obstacle. Subsequently, the obstacle wheel mechanism 10 between the two second traveling wheels 30b contacts the obstacle, and under the action of the driving wheel 50, the obstacle wheel mechanism 10 climbs over the obstacle. Specifically, the annular obstacle member 2 of the obstacle wheel mechanism 10 climbs over the obstacle, and the annular obstacle member 2 drives the two obstacle wheels 1 to rotate under the reaction of the obstacle, so that the obstacle wheel mechanism 10 itself rotates and drives the robot chassis 100 to climb over the obstacle. Finally, the second traveling wheels 30b contact the obstacle, and since the height of the obstacle hindering the second traveling wheels 30b has decreased, the second traveling wheels 30b can pass over the obstacle under the action of the driving wheel 50.

[0055] It can be seen that the embodiment sets the obstacle wheel mechanism 10 on the chassis body, and the obstacle wheel mechanism 10 is located in front of the traveling wheels 30, which can reduce the obstacle difficulty of the traveling wheels 30, reduce the obstacle difficulty of the robot chassis 100, and improve the obstacle ability of the robot chassis 100.

[0056] Second group of embodiments:

[0057] The robot chassis 100 provided by the embodiment can be referred to Figures 5 to 10 .

[0058] The main difference between the embodiment and the first group of embodiments is that the specific structure of the obstacle wheel mechanism 10 and the specific mounting structure of the obstacle wheel mechanism 10 and the chassis body 20 are different.

[0059] As Figure 5 and Figure 6As shown, in one embodiment, the obstacle-crossing wheel mechanism 10 includes at least two obstacle-crossing wheels 1, such as two or three, each obstacle-crossing wheel 1 being rotatably connected to the chassis body 20, and at least two obstacle-crossing wheels 1 being arranged along a first direction; in two adjacent obstacle-crossing wheels 1 in the first direction, along a third direction, when the traveling wheel 30 contacts the support surface β, a first distance is formed between the first obstacle-crossing wheel 1 and the support surface β, and a second distance is formed between the second obstacle-crossing wheel 1 and the support surface β, the first distance being greater than the second distance.

[0060] It can be understood that the radial bottom end of the traveling wheel 30 contacts the support surface β, and along the third direction, the orthographic projection of the previous obstacle-crossing wheel 1 (i.e. the obstacle-crossing wheel 1 away from the traveling wheel 30) in the second direction has a first radial lowest point A1, the orthographic projection of the next obstacle-crossing wheel 1 (i.e. the obstacle-crossing wheel 1 close to the traveling wheel 30) in the second direction has a second radial lowest point A2, and the orthographic projection of the traveling wheel 30 in the second direction has a third radial lowest point A3. The height difference H1 between the first radial lowest point A1 and the third radial lowest point A3 can be understood as the first spacing, and the height difference H2 between the second radial lowest point A2 and the third radial lowest point A3 can be understood as the second spacing, wherein H1 is greater than H2.

[0061] In this way, when the robot chassis 100 travels on a horizontal surface (such as a flat road), the ground clearance of the first obstacle-crossing wheel 1 is greater than that of the second obstacle-crossing wheel 1 in two adjacent obstacle-crossing wheels 1. Thus, in the first direction, the obstacle-crossing wheel 1 that is further forward has a higher ground clearance. By rationally designing the ground clearance of each obstacle-crossing wheel 1, two adjacent obstacle-crossing wheels 1 in the first direction can cross obstacles one after another when crossing obstacles. This allows multiple obstacle-crossing wheels 1 arranged along the first direction to cross obstacles (such as ledges) sequentially, starting from the foremost obstacle-crossing wheel 1. This improves the obstacle-crossing ability of the obstacle-crossing wheel mechanism 10, reduces the obstacle-crossing difficulty of the robot chassis 100, and enhances the obstacle-crossing capability of the robot chassis 100.

[0062] like Figure 7 As shown, in one embodiment, in the first direction, at least two obstacle-crossing wheels 1 are arranged to form at least two rows, and the obstacle-crossing wheels 1 in adjacent rows are staggered to improve the compactness of the arrangement among the multiple obstacle-crossing wheels 1.

[0063] like Figure 7 and Figure 10As shown in FIG. 1, as an embodiment, in two adjacent obstacle wheels 1 in the first direction, one of the obstacle wheels 1 includes the third part 5 in the second direction, and the other of the obstacle wheels 1 includes the fourth part 6 in the second direction. The second direction is the axial direction of the obstacle wheels 1. Along the second direction, the third part 5 and the fourth part 6 overlap, which can improve the arrangement compactness between the plurality of obstacle wheels 1, and thus can reduce the chassis space occupied by the obstacle wheel mechanism 10 in the case of the same number of obstacle wheels 1.

[0064] As shown in FIG. 1, as an embodiment, in two adjacent obstacle wheels 1 in the first direction, one of the obstacle wheels 1 includes the third part 5 in the second direction, and the other of the obstacle wheels 1 includes the fourth part 6 in the second direction. The second direction is the axial direction of the obstacle wheels 1. Along the second direction, the third part 5 and the fourth part 6 overlap, which can improve the arrangement compactness between the plurality of obstacle wheels 1, and thus can reduce the chassis space occupied by the obstacle wheel mechanism 10 in the case of the same number of obstacle wheels 1. Figure 7 Figure 9 As shown in FIG. 1, as an embodiment, in two adjacent obstacle wheels 1 in the first direction, one of the obstacle wheels 1 includes the third part 5 in the second direction, and the other of the obstacle wheels 1 includes the fourth part 6 in the second direction. The second direction is the axial direction of the obstacle wheels 1. Along the second direction, the third part 5 and the fourth part 6 overlap, which can improve the arrangement compactness between the plurality of obstacle wheels 1, and thus can reduce the chassis space occupied by the obstacle wheel mechanism 10 in the case of the same number of obstacle wheels 1.

[0065] As shown in FIG. 1, as an embodiment, in two adjacent obstacle wheels 1 in the first direction, one of the obstacle wheels 1 includes the third part 5 in the second direction, and the other of the obstacle wheels 1 includes the fourth part 6 in the second direction. The second direction is the axial direction of the obstacle wheels 1. Along the second direction, the third part 5 and the fourth part 6 overlap, which can improve the arrangement compactness between the plurality of obstacle wheels 1, and thus can reduce the chassis space occupied by the obstacle wheel mechanism 10 in the case of the same number of obstacle wheels 1. Figure 7 Figure 9 As shown in FIG. 1, as an embodiment, in two adjacent obstacle wheels 1 in the first direction, one of the obstacle wheels 1 includes the third part 5 in the second direction, and the other of the obstacle wheels 1 includes the fourth part 6 in the second direction. The second direction is the axial direction of the obstacle wheels 1. Along the second direction, the third part 5 and the fourth part 6 overlap, which can improve the arrangement compactness between the plurality of obstacle wheels 1, and thus can reduce the chassis space occupied by the obstacle wheel mechanism 10 in the case of the same number of obstacle wheels 1.

[0066] ​​In this embodiment, when the robot chassis 100 travels on the ground, the ground clearance difference h3 between the first obstacle wheel 1a and the traveling wheel 30 is greater than the ground clearance difference h4 between the second obstacle wheel 1b and the traveling wheel 30, so that the second obstacle wheel 1b is closer to the traveling wheel 30 than the first obstacle wheel 1a. It can be considered that the second obstacle wheel 1b is the last obstacle wheel 1 in the plurality of obstacle wheels 1 arranged in front and back, that is, the first obstacle wheel 1a, the second obstacle wheel 1b and the traveling wheel 30 are arranged in sequence along the traveling direction of the obstacle wheel 1.

[0067] As shown in Figure 7 and Figure 9 , further, on the basis of the first obstacle wheel 1a, the second obstacle wheel 1b and the traveling wheel 30 arranged in sequence, in combination with Figure 3 , h4 is equal to H, that is, the ground clearance of the second obstacle wheel 1b is greater than that of the traveling wheel 30, and the orthogonal projection of the second obstacle wheel 1b in the second direction includes a first part (not shown in the figure), that is, in the second direction, the part of the orthogonal projection of the second obstacle wheel 1b overlaps with the part of the orthogonal projection of the traveling wheel 30, so that in the process of crossing the obstacle, the second obstacle wheel 1b and the traveling wheel 30 cross the obstacle in sequence.

[0068] As shown in Figure 7 and Figure 9 , further, on the basis of the first obstacle wheel 1a, the second obstacle wheel 1b and the traveling wheel 30 arranged in sequence, in the second direction, the orthogonal projection of the second obstacle wheel 1b overlaps with the orthogonal projection of the traveling wheel 30 to form a second contour intersection B2; in the first direction, the radial lowest point of the second obstacle wheel 1b is arranged in front of the second contour intersection B2, that is, the fifth radial lowest point A5 is located in front of the second contour intersection B2, which can effectively ensure that the second obstacle wheel 1b crosses the obstacle first, thereby effectively ensuring that the plurality of obstacle wheels 1 and the traveling wheel 30 cross the obstacle in sequence to form multi-stage obstacle crossing and improve the obstacle crossing ability of the robot chassis 100.

[0069] As shown in Figure 6 , Figure 7 and Figure 9 , further, on the basis of the first obstacle wheel 1a, the second obstacle wheel 1b and the traveling wheel 30 arranged in sequence, along the third direction, the height difference h5 between the first radial lowest point A1 and the second radial lowest point A2, wherein h4 is equal to h5, that is, the ground clearance difference between the adjacent two obstacle wheels 1 and the ground clearance difference between the second obstacle wheel 1b and the traveling wheel 30 are kept the same, which is conducive to the plurality of obstacle wheels 1 and the traveling wheel 30 crossing the obstacle in sequence.

[0070] As shown in Figure 6 , Figure 7 and Figure 9As shown in the embodiment, the at least two obstacle wheels 1 include a first obstacle wheel 1a and a second obstacle wheel 1b, in the first direction, the first obstacle wheel 1a is located in front of the second obstacle wheel 1b, and the first obstacle wheel 1a and the second obstacle wheel 1b are staggered, the second obstacle wheel 1b is located in front of the traveling wheel 30, and the second obstacle wheel 1b and the traveling wheel 30 are staggered, the height difference h3 between the radial lowest point of the first obstacle wheel 1a and the radial lowest point of the traveling wheel 30, the height difference h4 between the radial lowest point of the second obstacle wheel 1b and the radial lowest point of the traveling wheel 30, wherein h3>h4, so that when passing over a certain height of the bump, the first obstacle wheel 1a contacts the bump first, then the second obstacle wheel 1b contacts the bump, and then the traveling wheel 30 contacts the bump, forming a three-stage obstacle, 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 1a overlaps the orthographic projection part of the second obstacle wheel 1b, so that the first obstacle wheel 1a and the second obstacle wheel 1b can pass over the obstacles in turn and continuously, effectively ensuring the obstacle crossing continuity of the obstacle wheel mechanism 10.

[0071] As shown in the embodiment, Figure 6 In specific applications, the number of obstacle wheels 1 can be designed to increase by one according to actual needs, and the obstacle crossing 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 traveling wheel 30 can form a three-stage obstacle and can cross over a bump 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 traveling wheel 30 can form a four-stage obstacle and can cross over a bump with a height of about 4 cm, 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.

[0072] As shown in the embodiment, Figure 10 As an embodiment, the at least two obstacle wheels 1 include an obstacle wheel one 1c, an obstacle wheel two 1d, and an obstacle wheel three 1e, the obstacle wheel one 1c and the obstacle wheel two 1d are arranged adjacent to each other along the first direction, and the obstacle wheel two 1d and the obstacle wheel three 1e are arranged adjacent to each other along the first direction; in the third direction, the orthographic projection of the obstacle wheel one 1c in the second direction has a sixth radial lowest point A6, the orthographic projection of the obstacle wheel two 1d in the second direction has a seventh radial lowest point A7, and the orthographic projection of the obstacle wheel three 1e in the second direction has an eighth radial lowest point A8; the height difference h1 between the sixth radial lowest point A6 and the seventh radial lowest point A7, and the height difference h2 between the seventh radial lowest point A7 and the eighth radial lowest point A8, wherein h1 is equal to h2.

[0073] In the embodiment, the ground clearance difference between the first obstacle wheel 1c and the second obstacle wheel 1d, and the ground clearance difference between the second obstacle wheel 1d and the third obstacle wheel 1e are kept the same, and the ground clearance of each obstacle wheel 1 is reasonably designed, which is conducive to the plurality of obstacle wheels 1 to pass through the obstacles in turn.

[0074] As can be seen, the embodiment sets the obstacle wheel mechanism 10 on the chassis body, and the obstacle wheel mechanism 10 is located in front of the traveling wheel 30, which can reduce the difficulty of the traveling wheel 30 to pass through the obstacles, reduce the difficulty of the robot chassis 100 to pass through the obstacles, and improve the obstacle passing ability of the robot chassis 100.

[0075] As shown in Figure 7 , as an embodiment, the traveling wheel 30 is a front wheel, and the number of the traveling wheel 30 is two. In the second direction, the two traveling wheels 30 are arranged at intervals, and the obstacle wheel mechanism 10 is arranged between the two traveling wheels 30.

[0076] As shown in Figure 7 and Figure 8 , in a specific embodiment, the chassis body 20 is provided with a mounting portion 40 for mounting the obstacle wheel mechanism 10. In the second direction, the mounting portion 40 is located between the two traveling wheels 30. Specifically, the mounting portion 40 includes a first opening 43 and a second opening 44, the first opening 43 and the second opening 44 are arranged along the second direction, at least one first mounting shaft 45 is arranged in the first opening 43, the first mounting shaft 45 is used to mount the obstacle wheel 1, and at least one second mounting shaft 46 is arranged in the second opening 44, the second mounting shaft 46 is used to mount the obstacle wheel 1.

[0077] As shown in Figure 1 and Figure 5 , the embodiment also provides a robot, which includes a robot body (not shown in the figure) and the robot chassis 100 of the first group of embodiments or the second group of embodiments, and the robot body is arranged on the chassis body 20. The robot of the embodiment drives the robot body to travel on the support surface β by arranging the robot body on the chassis body 20. The robot of the embodiment uses the robot chassis 100 described above, so that the robot can pass through the obstacles by the obstacle wheel mechanism 10 first, and then pass through the obstacles by the traveling wheel 30, which reduces the shaking degree of the robot when passing through the obstacles, and improves the obstacle passing ability and the passability of the robot.

[0078] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the present application specification and drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A robot chassis, characterized in that, The utility model relates to a kind of obstacle wheel mechanism of obstacle wheel mechanism, including: Chassis body; Traveling wheel, rotatably disposed in the chassis body; Obstacle wheel mechanism is arranged on the chassis body, along first direction, the obstacle wheel mechanism is arranged in front and back with the traveling wheel, the first direction is the traveling direction of the traveling wheel; Orthographic projection of the obstacle wheel mechanism in second direction includes first part, orthographic projection of the traveling wheel in second direction includes second part, the first part and the second part overlap, the second direction intersects with the first direction; Along third direction, the traveling wheel contacts support surface, and interval is formed between the obstacle wheel mechanism and the support surface, the third direction is the radial direction of the traveling wheel.

2. The robot chassis of claim 1, wherein, The obstacle wheel mechanism includes at least two obstacle wheels, and the at least two obstacle wheels are arranged along the first direction, and each of the obstacle wheels is rotatably connected to the chassis body; In the first direction, the first distance is greater than the second distance, when the traveling wheel contacts the support surface along the third direction, the first interval is formed between the front obstacle wheel and the support surface, and the second interval is formed between the rear obstacle wheel and the support surface.

3. The robot chassis of claim 2, wherein, The obstacle wheel mechanism further includes a ring-shaped obstacle member, and the ring-shaped obstacle member is arranged around the at least two obstacle wheels; The ring-shaped obstacle member has an obstacle surface, and the obstacle surface is located on a side of the ring-shaped obstacle member away from the chassis body.

4. The robot chassis of claim 3, wherein, The angle between the obstacle surface and the support surface is an acute angle.

5. The robot chassis of claim 3, wherein, The inner periphery of the ring-shaped obstacle member is provided with an annular inner tooth, and the outer periphery of each of the obstacle wheels is provided with an annular outer tooth.

6. The robot chassis of claim 3, wherein, The number of the obstacle wheels is two, the first part includes the part of the orthographic projection of the ring-shaped obstacle member in the second direction, and the first part further includes the part of the orthographic projection of the obstacle wheel close to the traveling wheel side in the second direction.

7. The robot chassis of claim 2, wherein, In the first direction, the radial lowest point of the orthographic projection of the front obstacle wheel is arranged in front of and behind the first profile intersection point. The at least two obstacle wheels include a first obstacle wheel and a second obstacle wheel, and the first obstacle wheel includes any obstacle wheel except the second obstacle wheel in the at least two obstacle wheels.

8. The robot chassis of claim 2, wherein, Along the third direction, the third distance is greater than the fourth distance, when the traveling wheel contacts the support surface, the third interval is formed between the first obstacle wheel and the support surface, and the fourth interval is formed between the second obstacle wheel and the support surface. In the second direction, the orthographic projection of the first obstacle wheel overlaps the orthographic projection of the traveling wheel to form a second profile intersection point. In the first direction, the radial lowest point of the second obstacle wheel is arranged in front of and behind the second profile intersection point. ​ 9. The robot chassis of claim 1, wherein, The number of the traveling wheels is two, and the two traveling wheels are arranged in a spaced manner in the second direction, and the obstacle wheel mechanism is arranged between the two traveling wheels.

10. A robot, characterized in that A robot comprising a robot body and a robot chassis according to any one of claims 1-9, the robot body being arranged on the robot chassis.

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