Chassis and robot

Abstract

The utility model provides a chassis and a robot, the chassis comprises a chassis framework, a front wheel driving mechanism and a rear wheel driving mechanism, the front wheel driving mechanism comprises two front wheels arranged oppositely and a front wheel driving part, the front wheels are rotatably connected relative to the chassis framework, and the front wheel driving part can drive the front wheels to rotate; the rear wheel driving mechanism comprises two rear wheels arranged oppositely, a rear wheel driving part and a one-way rotating part, the rear wheels are rotatably connected relative to the chassis framework, the rear wheel driving part is used for driving the rear wheels to rotate, and the one-way rotating part is used for enabling the rear wheels to rotate forwards in a one-way mode; when the chassis runs in the first state, the front wheel driving piece drives the front wheels to rotate, and the rear wheels are driven; when the chassis runs in the second state, the rear wheel driving piece drives the rear wheels to rotate so as to provide forward torque for the chassis. According to the chassis, the chassis can simultaneously have the functions of fast running and large torque without increasing the number of motors or improving the power of the motors, and cost reduction is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to chassis manufacturing technology, in particular to a chassis and a robot. BACKGROUND

[0002] For a robot, the chassis is not only the basic support structure of the robot, but also used to drive the robot to walk. High speed and large torque are the performances pursued by most robot chassis.

[0003] The chassis is generally powered by a motor. Under the premise that the power of the motor is certain, the speed and torque of the motor are inversely proportional. In order to make the chassis not only fast but also have strong torque, the number of motors or the power of the motor can be increased in the related technical solution.

[0004] However, the above solution will increase the weight of the chassis and increase the cost. SUMMARY

[0005] In order to overcome the above-mentioned defects in the related art, the purpose of the present application is to provide a chassis and a robot. The present application changes the driving mode of the chassis, so that the chassis has the functions of fast driving and large torque, which is beneficial to reduce the cost.

[0006] In one aspect, the present application provides a chassis, comprising:

[0007] a chassis frame;

[0008] a front wheel driving mechanism, the front wheel driving mechanism is arranged close to a first end of the chassis frame, the front wheel driving mechanism comprises two oppositely arranged front wheels and a front wheel driving member, the front wheels are rotatably connected relative to the chassis frame, and the front wheel driving member can drive the front wheels to rotate;

[0009] a rear wheel driving mechanism, the rear wheel driving mechanism is arranged close to a second end of the chassis frame, the rear wheel driving mechanism comprises two oppositely arranged rear wheels, a rear wheel driving member and a one-way rotating member, the rear wheels are rotatably connected relative to the chassis frame, the rear wheel driving member is used to drive the rear wheels to rotate, and the one-way rotating member is used to make the rear wheels rotate in one direction forward;

[0010] wherein, when the chassis is running in a first state, the front wheel driving member drives the front wheels to rotate, and the rear wheels are driven; when the chassis is running in a second state, the rear wheel driving member drives the rear wheels to rotate to provide forward torque for the chassis.

[0011] In one possible implementation, the one-way rotating member comprises a one-way bearing, the rear wheels are fixedly connected with the outer ring of the one-way bearing, and the inner ring of the one-way bearing is connected with the rotating shaft of the rear wheels.

[0012] In a possible implementation, the rear wheel driving member is arranged in the rear wheel; the rear wheel driving member comprises a first wheel hub motor, and a motor shaft of the first wheel hub motor is connected to an inner ring of the one-way bearing as a rotation shaft of the rear wheel.

[0013] In a possible implementation, the rear wheel driving member further comprises a first reduction mechanism, the first reduction mechanism comprises a gear seat and a gear assembly arranged on the gear seat, the gear seat of the first reduction mechanism is fixedly connected to the motor shaft of the first wheel hub motor, and the gear assembly of the first reduction mechanism is matched with an inner side of the rear wheel.

[0014] In a possible implementation, a stator of the first wheel hub motor is fixedly connected to the motor shaft of the first wheel hub motor, and a rotor of the first wheel hub motor is rotatably sleeved on an outer side of the stator of the first wheel hub motor.

[0015] The gear assembly comprises a plurality of planetary gears, the plurality of planetary gears are rotatably arranged on the gear seat, the motor shaft is arranged through the gear seat and fixedly connected to the gear seat, and one side of the rotor is further provided with an engagement gear, the engagement gear is sleeved on the motor shaft and engaged with the plurality of planetary gears.

[0016] The rear wheel further comprises an outer hub, an inner gear is arranged on an inner wall of the outer hub, and the inner gear is engaged with the plurality of planetary gears.

[0017] At least one of two ends of the motor shaft of the first wheel hub motor is provided with the one-way bearing, and an outer ring of the one-way bearing is fixedly connected to the outer hub.

[0018] In a possible implementation, the rear wheel driving member is arranged on the chassis framework; the rear wheel driving member comprises a rear wheel driving motor, a second reduction mechanism, and a transmission assembly, the second reduction mechanism is a reduction box, the rear wheel driving motor is connected to the reduction box, the rear wheel driving motor is further connected to the transmission assembly, and the transmission assembly is connected to a rotation shaft of the rear wheel.

[0019] In a possible implementation, the front wheel driving member comprises a second wheel hub motor, and the second wheel hub motor is arranged in the front wheel.

[0020] In a possible implementation, the front wheel driving member further comprises a front wheel steering system, and the front wheel steering system comprises an Ackermann steering system.

[0021] In a possible implementation, the Ackermann steering system comprises a steering motor and a steering driving mechanism, and an output end of the steering motor is connected to the steering driving mechanism.

[0022] The front wheel is connected to the chassis frame through a wheel seat, and the steering driving mechanism is connected to the wheel seat.

[0023] The wheel seat comprises a wheel seat body and a swing arm, the wheel seat body is arranged on the chassis frame, the front wheel is rotatably connected to the wheel seat body, and the swing arm is located at an end of the wheel seat body away from the front wheel, and the steering driving mechanism is connected to the swing arm.

[0024] In a possible implementation, the steering driving mechanism comprises a steering connecting rod, two ends of the steering connecting rod are respectively hinged to the swing arms of the two wheel seats, a lead screw is arranged on the steering connecting rod, and an output end of the steering motor is connected to the lead screw.

[0025] In a possible implementation, the steering driving mechanism comprises a steering crank, a connecting rod and a steering synchronous rod, an output end of the steering motor is hinged to the steering crank, the steering crank is hinged to the connecting rod, and two ends of the steering synchronous rod are respectively hinged to the swing arms of the two wheel seats.

[0026] In a possible implementation, the chassis frame further comprises a first connecting rod and a second connecting rod arranged oppositely, the first connecting rod and the second connecting rod are both hinged to the wheel seat body, and a shock absorber is arranged between the first connecting rod and the second connecting rod.

[0027] In another aspect, the application provides a robot comprising the chassis as described above.

[0028] In a possible implementation, the robot further comprises:

[0029] A road surface detection device, the road surface detection device is used for detecting the concave-convex condition of the road surface.

[0030] A control device, the control device is electrically connected to the road surface detection device, the front wheel driving mechanism of the chassis and the rear wheel driving mechanism of the chassis; the control device controls the front wheel driving mechanism and / or the rear wheel driving mechanism based on the signal fed back by the road surface detection device.

[0031] The application provides a chassis and a robot, the chassis comprising a chassis framework, a front wheel driving mechanism and a rear wheel driving mechanism, the front wheel driving mechanism being arranged close to a first end of the chassis framework, the front wheel driving mechanism comprising two oppositely arranged front wheels and a front wheel driving part, the front wheels being rotatably connected relative to the chassis framework, and the front wheel driving part being capable of driving the front wheels to rotate; the rear wheel driving mechanism being arranged close to a second end of the chassis framework, the rear wheel driving mechanism comprising two oppositely arranged rear wheels, a rear wheel driving part and a one-way rotating part, the rear wheels being rotatably connected relative to the chassis framework, the rear wheel driving part being used for driving the rear wheels to rotate, and the one-way rotating part being used for driving the rear wheels to rotate in one direction; wherein, when the chassis is running in a first state, the front wheel driving part drives the front wheels to rotate, and the rear wheels are driven; when the chassis is running in a second state, the rear wheel driving part drives the rear wheels to rotate to provide a forward torque for the chassis. The front wheel driving mechanism and the rear wheel driving mechanism capable of being independently driven are arranged on the chassis framework, so that the front wheel driving mechanism or the rear wheel driving mechanism can be selected to drive the chassis to move forward according to requirements; when the chassis is running in the first state, the front wheel driving part of the front wheel driving mechanism drives the front wheels to rotate, and the rear wheels are driven, so that the chassis can run in a high-speed state; when the chassis is running in the second state, the rear wheel driving part of the rear wheel driving mechanism drives the rear wheels to rotate to provide a forward torque for the chassis, so that the chassis can run in a low-speed and high-torque state. Through the above structure, the chassis of the application can simultaneously have the functions of fast running and high torque without increasing the number of motors or improving the power of the motors, which is beneficial to reducing the cost. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the application or the related art, below will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0033] Figure 1 The structural diagram of the chassis provided by an embodiment of the application is shown in the figure;

[0034] Figure 2 The bottom view of the chassis provided by an embodiment of the application is shown in the figure; Figure 1

[0035] Figure 3 The connection structure diagram of the rear wheel, the rear wheel driving part and the one-way rotating part provided by an embodiment of the application is shown in the figure;

[0036] Figure 4 The exploded view of the chassis provided by an embodiment of the application is shown in the figure; Figure 3

[0037] Figure 5 The structural diagram of the outer hub provided by an embodiment of the application is shown in the figure;

[0038] ​​Figure 6 A structural diagram of a chassis provided for another embodiment of the present application;

[0039] Figure 7 An exploded view of a rear wheel and a one-way rotating member provided for another embodiment of the present application;

[0040] Figure 8 A flow chart of a driving control method provided for an embodiment of the present application.

[0041] Reference signs:

[0042] 100-chassis frame; 110-first connecting rod; 120-second connecting rod; 130-shock absorber; 140-battery;

[0043] 200-front wheel driving mechanism; 210-front wheel; 211-wheel seat; 2111-wheel seat body; 2112-swinging arm;

[0044] 300-rear wheel driving mechanism; 310-rear wheel; 311-outer wheel hub; 3111-inner gear; 312-end cover; 313-fastener; 320-rear wheel driving member; 321-first wheel hub motor; 3211-motor shaft; 3212-stator; 3213-rotor; 32131-engaging gear; 322-first speed reduction mechanism; 3221-gear seat; 3222-gear assembly; 323-rear wheel driving motor; 324-second speed reduction mechanism; 325-transmission assembly; 3251-transmission shaft; 3252-driving sprocket; 3253-following sprocket; 3254-chain; 330-one-way rotating member;

[0045] 410-steering motor; 421-steering connecting rod; 422-steering crank; 423-adapter rod; 424-steering synchronization rod. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0047] Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0048] As described in the background, in the related art, the chassis of the robot is generally configured to increase the number of motors or increase the power of the motors to meet the requirements of fast driving and large torque. However, the above solution increases the weight of the chassis, increases the manufacturing and maintenance costs, and the increase in the number of motors also increases the control difficulty and the failure rate.

[0049] Specifically, in the related art, the chassis of the robot is generally configured to adopt two-wheel drive or four-wheel drive. Regardless of the driving mode, the motors on the chassis need to be driven at the same time. Based on the relationship between speed and torque T=9550P / n, when the total power of the motors on the chassis is constant, the ratio of speed and torque is constant, and the speed and torque performance that can be provided by the chassis is limited. If the chassis is required to meet the requirements of fast driving and large torque at the same time, the number of motors needs to be increased or the power of the motors needs to be increased, and therefore the weight of the chassis and the corresponding cost are also increased.

[0050] Therefore, the embodiments of the present application aim to provide a chassis and a robot. The front-wheel driving mechanism and the rear-wheel driving mechanism that can be independently driven are arranged on the chassis frame, so that the front-wheel driving mechanism or the rear-wheel driving mechanism can be selected to drive the chassis to move forward according to the requirements. When the chassis moves in a first state, the front-wheel driving member of the front-wheel driving mechanism drives the front wheels to rotate, and the rear wheels are driven, so that the chassis moves at a high speed. When the chassis moves in a second state, the rear-wheel driving member of the rear-wheel driving mechanism drives the rear wheels to rotate to provide forward torque for the chassis, so that the chassis moves at a low speed and large torque. The chassis of the embodiments of the present application can simultaneously have the functions of fast driving and large torque without increasing the number of motors or increasing the power of the motors, which is beneficial to reduce the cost.

[0051] The content of the embodiments of the present application will be described in detail below with reference to the drawings, so that those skilled in the art can understand the content of the present application in more detail.

[0052] Please refer to Figures 1-7 The present embodiment provides a chassis, comprising:

[0053] The chassis frame 100 provides a mounting base for other parts on the chassis.

[0054] The front-wheel driving mechanism 200 is arranged close to the first end of the chassis frame 100, for example, can be arranged at the front end in the forward direction of the chassis. The front-wheel driving mechanism 200 comprises two oppositely arranged front wheels 210 and a front-wheel driving member (not shown in the figure). The two front wheels 210 are arranged on the two sides in the width direction of the chassis, and the front wheels 210 are rotatably connected relative to the chassis frame 100. The front-wheel driving member can drive the front wheels 210 to rotate, thereby driving the chassis to move.

[0055] The rear wheel driving mechanism 300 is arranged close to the second end of the chassis frame 100, for example, at the rear end of the chassis in the forward direction. The rear wheel driving mechanism 300 comprises two oppositely arranged rear wheels 310, a rear wheel driving member 320 and a one-way rotating member 330. The two rear wheels 310 are arranged at the two sides in the width direction of the chassis, and are rotatably connected to the chassis frame 100. The rear wheel driving member 320 is used to drive the rear wheels 310 to rotate, thereby driving the chassis to move. The one-way rotating member 330 is used to drive the rear wheels 310 to rotate in one direction, i.e., forward direction. It can be understood that, by arranging the one-way rotating member 330, the rear wheels 310 can only rotate in the forward direction and cannot rotate in the reverse direction.

[0056] The front wheel driving mechanism 200 and the rear wheel driving mechanism 300 of the chassis in the embodiment can be driven separately, thereby enabling the chassis to have a first state and a second state based on different driving states. When the chassis is driven in the first state, the front wheel driving member drives the front wheels 210 to rotate, and the rear wheels 310 are driven, thereby enabling the chassis to be driven at high speed. When the chassis is driven in the second state, the rear wheel driving member 320 drives the rear wheels 310 to rotate, thereby providing forward torque to the chassis, and enabling the chassis to be driven at low speed and high torque. When the chassis is driven in the second state, the front wheel driving mechanism 200 can also be driven synchronously with the rear wheel driving mechanism 300, thereby enabling the chassis to obtain greater torque.

[0057] As described above, by arranging the front wheel driving mechanism 200 and the rear wheel driving mechanism 300 which can be driven independently on the chassis frame 100, the front wheel driving mechanism 200 or the rear wheel driving mechanism 300 can be selected to drive the chassis to move forward as needed. When the chassis is driven in the first state, the front wheel driving member of the front wheel driving mechanism 200 drives the front wheels 210 to rotate, and the rear wheels 310 are driven, thereby enabling the chassis to be driven at high speed. When the chassis is driven in the second state, the rear wheel driving member 320 of the rear wheel driving mechanism 300 drives the rear wheels 310 to rotate, thereby providing forward torque to the chassis, and enabling the chassis to be driven at low speed and high torque. Through the above structure, the chassis in the embodiment can simultaneously have the functions of fast driving and high torque without increasing the number of motors or improving the power of the motors, which is conducive to reducing the cost.

[0058] In the embodiment, the one-way rotating member 330 comprises a one-way bearing (also known as overrunning clutch, check bearing or clutch bearing). The rear wheels 310 are fixedly connected to the outer ring of the one-way bearing, and the inner ring of the one-way bearing is connected to the rotating shaft of the rear wheels 310, so that the rotating shaft of the rear wheels 310 can only drive the rear wheels 310 to rotate in one direction, i.e., forward direction, and cannot move in the reverse direction.

[0059] Please continue to refer to Figures 3-5In one possible implementation, the rear wheel driving member 320 of the present embodiment is arranged in the rear wheel 310, so as to reduce the number of components on the chassis frame 100, so that the chassis is more lightweight, and the endurance of the chassis is improved. The rear wheel driving member 320 comprises a first hub motor 321, and a motor shaft 3211 of the first hub motor 321 is connected to an inner ring of a one-way bearing as a rotating shaft of the rear wheel 310.

[0060] Further, the rear wheel driving member 320 further comprises a first speed reduction mechanism 322, the first speed reduction mechanism 322 comprises a gear seat 3221 and a gear assembly 3222 arranged on the gear seat 3221, the gear seat 3221 of the first speed reduction mechanism 322 is fixedly connected to the motor shaft 3211 of the first hub motor 321, and the gear assembly 3222 of the first speed reduction mechanism 322 is matched with the inner side of the rear wheel 310. Through the above structure, the first speed reduction mechanism 322 can be used to reduce the output rotating speed of the first hub motor 321, increase the output torque, and reduce the wear rate of the components, so as to improve the service life of the rear wheel driving member 320.

[0061] Please continue to refer to Figure 4 In the present embodiment, the stator 3212 of the first hub motor 321 is fixedly connected to the motor shaft 3211 of the first hub motor 321, and the rotor 3213 of the first hub motor 321 is rotatably sleeved on the outer side of the stator 3212 of the first hub motor 321.

[0062] The gear assembly 3222 comprises a plurality of planetary gears (three planetary gears are shown in the figure), and the plurality of planetary gears are rotatably arranged on the gear seat 3221, for example, the planetary gears are rotatably connected to the gear seat 3221 through rotating shafts. The motor shaft 3211 penetrates the gear seat 3221 and is fixedly connected to the gear seat 3221. One side of the rotor 3213 is further provided with an engagement gear 32131, the engagement gear 32131 is sleeved on the motor shaft 3211 and is engaged with the plurality of planetary gears. Through the above structure, the first hub motor 321 can realize speed reduction through the gear assembly 3222, so as to adjust the output rotating speed of the first hub motor 321 and increase the output torque.

[0063] Please continue to refer to Figure 5 The rear wheel 310 of the present embodiment further comprises an outer hub 311, and an inner gear 3111 is arranged on the inner wall of the outer hub 311, the inner gear 3111 is engaged with the plurality of planetary gears, and the first hub motor 321 transmits output power to the outer hub 311 through the first speed reduction mechanism 322, so as to drive the rear wheel 310 to rotate.

[0064] Optionally, in this embodiment, at least one of the two ends of the motor shaft 3211 of the first hub motor 321 is provided with a one-way bearing, and the outer ring of the one-way bearing is fixedly connected to the outer hub 311. Exemplarily, the rear wheel 310 also includes an end cap 312, which can be fastened to one end of the outer hub 311 by a fastener 313. One-way bearings can be provided at both ends of the motor shaft 3211, with one one-way bearing fixedly connected to the outer hub 311 and the other one-way bearing fixedly connected to the end cap 312, thereby controlling the rear wheel 310 to only move forward in one direction.

[0065] Please refer to Figure 6 and Figure 7 In another possible implementation, the rear-wheel drive component 320 of this embodiment is mounted on the chassis frame 100. The rear-wheel drive component 320 includes a rear-wheel drive motor 323, a second reduction mechanism 324, and a transmission assembly 325. The second reduction mechanism 324 is a reduction gearbox, and the rear-wheel drive motor 323 is connected to the reduction gearbox. The reduction gearbox can reduce the output speed of the rear-wheel drive motor 323 and increase its output torque. The rear-wheel drive motor 323 is also connected to the transmission assembly 325 via the reduction gearbox. The transmission assembly 325 is connected to the axle of the rear wheel 310, thereby transmitting the output power of the rear-wheel drive motor 323 to the rear wheel 310.

[0066] In this embodiment, the structure of the transmission assembly 325 can be configured as needed. For example, the transmission assembly 325 may include a transmission shaft 3251, a drive sprocket 3252, a driven sprocket 3253, and a chain 3254. The transmission shaft 3251 serves as the shaft of the rear wheel 310. The chain 3254 is sleeved on the drive sprocket 3252 and the driven sprocket 3253. The output end of the rear wheel drive motor 323 is connected to the reduction gearbox. The output end of the reduction gearbox is connected to the drive sprocket 3252. The driven sprocket 3253 is sleeved on the transmission shaft 3251. A one-way bearing is disposed at the end of the transmission shaft 3251 and connected to the rear wheel 310.

[0067] like Figure 6 As shown, in this embodiment, two one-way bearings can be installed inside the rear wheel 310, and the two one-way bearings are respectively located on the drive shafts 3251 on both sides of the rear wheel 310.

[0068] In this embodiment, the front-wheel drive component includes a second hub motor, which is disposed within the front wheel 210. The use of a second hub motor integrated into the front wheel reduces the number of components on the chassis frame 100, making the chassis lighter and improving its range. For example, the second hub motor can be a gearless high-speed hub motor, meaning it does not integrate a gear reduction mechanism. The second hub motor can rotate forward or backward.

[0069] Please continue to refer toFigure 1 、 Figure 2 and Figure 6 The chassis of the embodiment further comprises a front wheel steering system, which comprises an Ackerman steering system capable of reducing the space required for wheel steering and ensuring that the paths of the four wheels of the chassis intersect at a point when the chassis is turning, thereby improving the stability of the chassis.

[0070] As shown in Figure 2 and Figure 6 , in the embodiment, the Ackerman steering system comprises a steering motor 410 and a steering driving mechanism, and the output end of the steering motor 410 is connected to the steering driving mechanism, so as to drive the front wheels 210 to steer through the steering driving mechanism.

[0071] Specifically, the front wheels 210 are connected to the chassis frame 100 through wheel seats 211, and the steering driving mechanism is connected to the wheel seats 211. The wheel seat 211 comprises a wheel seat body 2111 and a swing arm 2112, the wheel seat body 2111 is arranged on the chassis frame 100, and the front wheels 210 are rotatably connected to the wheel seat body 2111, the swing arm 2112 is located at the end of the wheel seat body 2111 away from the front wheels 210, and the steering driving mechanism is connected to the swing arm 2112. Through the above mechanism, the steering motor 410 can drive the steering driving mechanism to move, and then drive the front wheels 210 to steer through the swing arm 2112.

[0072] Please continue to refer to Figure 2 In one possible implementation, the steering driving mechanism of the embodiment comprises a steering connecting rod 421, the two ends of the steering connecting rod 421 are respectively hinged to the swing arms 2112 of the two wheel seats 211, a lead screw is arranged on the steering connecting rod 421, and the output end of the steering motor 410 is connected to the lead screw. Exemplarily, the steering motor 410 can be connected to the lead screw through parts such as a shaft coupling, so as to drive the lead screw to move, so that the steering connecting rod 421 moves in the width direction of the chassis, thereby realizing the steering of the front wheels 210.

[0073] Please continue to refer to Figure 6 In another possible implementation, the steering driving mechanism of the embodiment comprises a steering crank 422, a connecting rod 423 and a steering synchronization rod 424, the output end of the steering motor 410 is hinged to the steering crank 422, the steering crank 422 is hinged to the connecting rod 423, and the two ends of the steering synchronization rod 424 are respectively hinged to the swing arms 2112 of the two wheel seats 211. The steering motor 410 can drive the swing arm 2112 on one side connected to the connecting rod 423 to produce deflection, and since the swing arms 2112 of the two wheel seats 211 are connected as a whole through the steering synchronization rod 424, the swing arm 2112 on the other side can be driven to deflect synchronously through the steering synchronization rod 424, thereby realizing the steering of the two front wheels 210.

[0074] Please continue to refer toFigure 1 and Figure 2 The chassis frame 100 of the embodiment further comprises a first connecting rod 110 and a second connecting rod 120 arranged oppositely, the first connecting rod 110 and the second connecting rod 120 are both hinged with the wheel seat body 2111, and a shock absorber 130 is arranged between the first connecting rod 110 and the second connecting rod 120. By arranging the shock absorber 130 on the chassis, the impact and vibration can be buffered, and the ride comfort of the chassis is improved.

[0075] A battery 140 can also be arranged on the chassis in the embodiment, the battery 140 can be electrically connected with each motor on the chassis, thereby providing a power source for the chassis.

[0076] Please refer to Figure 8 The embodiment further provides a driving control method for driving and controlling the chassis, the method comprises the following steps:

[0077] Step S110, detecting the concave-convex condition of the road surface.

[0078] Exemplarily, the concave-convex condition of the road surface can be obtained by analyzing and processing the image information collected by the camera; or the concave-convex condition of the road surface can be obtained by analyzing and processing the received radar wave signals.

[0079] Step S120, determining the driving state of the chassis based on the concave-convex condition of the road surface. The concave-convex condition of the road surface includes flat road surface and obstacle road surface. In the case that the concave-convex condition of the road surface is flat road surface, the driving state of the chassis is determined as the first state. In the case that the concave-convex condition of the road surface is obstacle road surface, the driving state of the chassis is determined as the second state.

[0080] Exemplarily, a preset value of the concave-convex condition of the road surface can be set in advance, the detected value of the concave-convex condition of the road surface is compared with the preset value, if the detected value of the concave-convex condition of the road surface is greater than the preset value, it can be determined as obstacle road surface; otherwise, it can be determined as flat road surface.

[0081] Step S130, in the case that the driving state of the chassis is determined as the first state, the front wheel driving member of the chassis is controlled to drive the corresponding front wheel to rotate, and the rear wheel of the chassis is controlled to be driven. In the case that the driving state of the chassis is determined as the second state, the rear wheel driving member of the chassis is controlled to drive the corresponding rear wheel to rotate to provide forward torque for the chassis.

[0082] For example, when the driving state of the chassis is determined to be the first state, the front wheel driving mechanism can be controlled to drive the chassis alone to make the chassis run in the high speed state. When the driving state of the chassis is determined to be the second state, the rear wheel driving mechanism can be controlled to drive the chassis alone to make the chassis run in the low speed and large torque state. When the chassis runs in the second state, the front wheel driving mechanism can also be driven synchronously with the rear wheel driving mechanism to make the chassis obtain greater torque.

[0083] The driving control method of the embodiment can control the front wheel driving mechanism or the rear wheel driving mechanism to drive the chassis alone to make the chassis run in the high speed state or the low speed and large torque state, so that the chassis can simultaneously have the functions of fast running and large torque without increasing the number of motors or improving the power of the motors, which is conducive to reducing the cost.

[0084] The embodiment also provides a robot including the chassis.

[0085] It can be understood that, since the robot adopts the chassis, the robot can run in the high speed state or the low speed and large torque state, so that the robot can simultaneously have the functions of fast running and large torque without increasing the number of motors or improving the power of the motors, which is conducive to reducing the cost.

[0086] Specifically, the robot of the embodiment further includes:

[0087] The road surface detection device is configured to detect the concave-convex condition of the road surface.

[0088] For example, the road surface detection device can include a camera, a radar or the like. The concave-convex condition of the road surface can be obtained by analyzing the image information collected by the camera, or can be obtained by analyzing the received radar wave signals.

[0089] The control device is electrically connected with the road surface detection device, the front wheel driving mechanism of the chassis and the rear wheel driving mechanism of the chassis. The control device controls the front wheel driving mechanism and / or the rear wheel driving mechanism based on the signal fed back by the road surface detection device.

[0090] For example, when the control device analyzes the signal fed back by the road surface detection device and determines that the road surface is flat, the control device can send a corresponding control signal to the front wheel driving mechanism to control the front wheel driving mechanism to drive the chassis alone to make the chassis run in the high speed state. When the control device analyzes the signal fed back by the road surface detection device and determines that the road surface is an obstacle, the control device can send a corresponding control signal to the rear wheel driving mechanism to control the rear wheel driving mechanism to drive the chassis alone to make the chassis run in the low speed and large torque state. When the chassis runs on the obstacle road surface, the front wheel driving mechanism can also be driven synchronously with the rear wheel driving mechanism to make the chassis obtain greater torque.

[0091] The robot of the embodiment can control the front-wheel driving mechanism or the rear-wheel driving mechanism to drive the chassis alone, so that the chassis can run in a high-speed state or a low-speed large-torque state, and the robot can have the functions of fast running and large torque at the same time without increasing the number of motors or improving the power of the motors, which is beneficial to reduce the cost.

[0092] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0093] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0094] It should be noted that in the description of the present application, the terms "first", "second" are only used for the convenience of describing different parts, and cannot be understood as indicating or implying the sequence relationship, relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features.

[0095] The embodiments or implementation manners in the present application are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0096] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the present application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples.

[0097] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A chassis, characterized in that The chassis frame comprises: a front wheel driving mechanism arranged close to the first end of the chassis frame, the front wheel driving mechanism comprising two oppositely arranged front wheels and a front wheel driving member, the front wheels being rotatably connected with respect to the chassis frame, and the front wheel driving member being configured to drive the front wheels to rotate; a rear wheel driving mechanism arranged close to the second end of the chassis frame, the rear wheel driving mechanism comprising two oppositely arranged rear wheels, a rear wheel driving member and a one-way rotating member, the rear wheels being rotatably connected with respect to the chassis frame, the rear wheel driving member being configured to drive the rear wheels to rotate, and the one-way rotating member being configured to drive the rear wheels to rotate in one direction forward; wherein, when the chassis is in a first state and travels, the front wheel driving member drives the front wheels to rotate, and the rear wheels are driven to rotate; and when the chassis is in a second state and travels, the rear wheel driving member drives the rear wheels to rotate to provide forward torque for the chassis. The one-way rotating member comprises a one-way bearing, the outer ring of the one-way bearing is fixedly connected with the rear wheels, and the inner ring of the one-way bearing is connected with the rotating shaft of the rear wheels.

2. The base pan of claim 1, wherein, The rear wheel driving member is arranged in the rear wheels; the rear wheel driving member comprises a first hub motor, the motor shaft of the first hub motor is connected with the inner ring of the one-way bearing as the rotating shaft of the rear wheels.

3. The base pan of claim 2, wherein, The rear wheel driving member further comprises a first speed reduction mechanism, the first speed reduction mechanism comprises a gear seat and a gear assembly arranged on the gear seat, the gear seat of the first speed reduction mechanism is fixedly connected with the motor shaft of the first hub motor, and the gear assembly of the first speed reduction mechanism is matched with the inner side of the rear wheels.

4. The base pan of claim 3, wherein, The stator of the first hub motor is fixedly connected with the motor shaft of the first hub motor, and the rotor of the first hub motor is rotatably sleeved on the outer side of the stator of the first hub motor.

5. The base pan of claim 4, wherein, The gear assembly comprises a plurality of planetary gears, the plurality of planetary gears are rotatably arranged on the gear seat, the motor shaft is arranged in the gear seat and is fixedly connected with the gear seat, and one side of the rotor is further provided with a meshing gear, the meshing gear is sleeved on the motor shaft and is engaged with the plurality of planetary gears. The rear wheels further comprise an outer hub, an inner gear is arranged on the inner wall of the outer hub, and the inner gear is engaged with the plurality of planetary gears. At least one of the two ends of the motor shaft of the first hub motor is provided with the one-way bearing, and the outer ring of the one-way bearing is fixedly connected with the outer hub. The rear wheel driving member is arranged on the chassis frame; the rear wheel driving member comprises a rear wheel driving motor, a second speed reduction mechanism and a transmission assembly, the second speed reduction mechanism is a speed reduction box, the rear wheel driving motor is connected with the speed reduction box, the rear wheel driving motor is further connected with the transmission assembly, and the transmission assembly is connected with the rotating shaft of the rear wheels.

6. The base pan of claim 2, wherein, The front wheel driving member comprises a second hub motor, and the second hub motor is arranged in the front wheels.

7. The base pan of any one of claims 1-6, wherein, The front wheel driving member further comprises a front wheel steering system, and the front wheel steering system comprises an Ackerman steering system.

8. The base pan of any one of claims 1-6, wherein, ​ 9. The base pan of claim 8, wherein, The Ackerman steering system comprises a steering motor and a steering driving mechanism, and an output end of the steering motor is connected with the steering driving mechanism; The front wheels are connected with the chassis frame through wheel seats, and the steering driving mechanism is connected with the wheel seats; The wheel seat comprises a wheel seat body and a swing arm, the wheel seat body is arranged on the chassis frame, the front wheel is rotatably connected with the wheel seat body, the swing arm is arranged at an end of the wheel seat body away from the front wheel, and the steering driving mechanism is connected with the swing arm.

10. The base pan of claim 9, wherein, The steering driving mechanism comprises a steering connecting rod, two ends of the steering connecting rod are respectively hinged with the swing arms of two wheel seats, and a lead screw is arranged on the steering connecting rod, and an output end of the steering motor is connected with the lead screw.

11. The base pan of claim 9, wherein, The steering driving mechanism comprises a steering crank, a connecting rod and a steering synchronous rod, an output end of the steering motor is hinged with the steering crank, the steering crank is hinged with the connecting rod, and two ends of the steering synchronous rod are respectively hinged with the swing arms of two wheel seats.

12. The base pan of claim 9, wherein, The chassis frame further comprises a first connecting rod and a second connecting rod arranged oppositely, the first connecting rod and the second connecting rod are both hinged with the wheel seat body, and a shock absorber is arranged between the first connecting rod and the second connecting rod.

13. A robot, characterized in that The chassis comprises the chassis frame as claimed in any one of claims 1-12.

14. The robot of claim 13, wherein, Further comprising: A road surface detection device for detecting the concave-convex condition of the road surface; A control device electrically connected with the road surface detection device, the front wheel driving mechanism of the chassis and the rear wheel driving mechanism of the chassis; The control device controls the front wheel driving mechanism and / or the rear wheel driving mechanism based on the signal fed back by the road surface detection device.

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