Movable chassis and robot with same

Abstract

The movable chassis comprises two chassis bodies, a telescopic structure and driving structures, the two chassis bodies are movably connected through the telescopic structure, the driving structures are arranged at the bottom ends of the two chassis bodies respectively, and the driving structures are used for driving the chassis bodies to walk and steer. The driving structure is further used for adjusting the distance between the two chassis bodies. By the adoption of the mobile chassis, the driving structure can not only drive the mobile chassis to move and steer, but also adjust the distance between the two chassis bodies in the mobile chassis, so that the robot provided with the mobile chassis can achieve the purposes of changing the moving posture and changing the moving area occupied by moving.

Description

Technical Field

[0001] This utility model relates to the field of robot chassis technology, and in particular to a mobile chassis and a robot having the chassis. Background Technology

[0002] With the rapid development of artificial intelligence, automatic control, communication, and computer technology, robots are increasingly being used in many fields such as medical assistance, logistics, and daily life. The robot chassis is a key component for controlling the robot's movement, and it has a decisive impact on the robot's stability, safety, and walking posture.

[0003] In related technologies, the robot chassis is usually designed as an integrated unit with the robot body. In actual use, the chassis can only move the robot through its drive wheels. It cannot adjust the robot's movement posture or the area occupied by the movement, and cannot guarantee the robot's normal movement in special road conditions. Utility Model Content

[0004] The purpose of this invention is to provide a mobile chassis and a robot with the chassis, so as to solve the technical problem that the robot cannot adjust its movement posture and the area occupied by the movement, thus making it unable to move normally under special road conditions.

[0005] In one respect, to achieve the above objectives, this utility model provides a mobile chassis, including: two chassis bodies, a telescopic structure, and a drive structure;

[0006] The two chassis bodies are movably connected by the telescopic structure;

[0007] The drive structure is respectively disposed at the bottom end of the two chassis bodies. The drive structure is used to drive the chassis bodies to perform walking and steering operations. The drive structure is also used to adjust the distance between the two chassis bodies.

[0008] In this embodiment of the invention, the mobile chassis further includes a distance sensor, which is disposed on the side wall of any of the chassis bodies and is used to detect the distance between the two chassis bodies.

[0009] In this embodiment of the invention, the drive structure includes at least two sets of steering wheel sets, which are evenly distributed at the bottom of the chassis body.

[0010] In this embodiment of the invention, each group of steering wheels is equipped with at least two motors, and the two motors are used to control the steering wheels in the steering wheel group to move and turn.

[0011] In this embodiment of the utility model, the mobile chassis further includes a seesaw structure, which is disposed at the bottom end of the target chassis body. At least two sets of steering wheel groups are evenly distributed at opposite ends of the seesaw structure. The seesaw structure is used to make the steering wheel group at at least one end of the seesaw structure contact the ground by lever principle. The target chassis body is any one of the two chassis bodies.

[0012] In this embodiment of the utility model, the seesaw structure includes a fixing component and a concave seesaw. The fixing component includes two fixing plates, the movable ends of the two fixing plates are movably connected around the through holes arranged opposite to each other, the fixed ends of the two fixing plates are respectively fixedly connected to the central concave point of the concave seesaw and the bottom end of the target chassis body, and at least one set of steering wheel groups are respectively provided at the opposite ends of the concave seesaw.

[0013] In this embodiment of the invention, the steering wheel assembly includes at least two steering wheels.

[0014] In this embodiment of the utility model, the telescopic structure includes a connecting rod, which is movably connected to at least one of the chassis bodies. The connecting rod is used to reciprocate linearly within the chassis body movably connected to the connecting rod along its length direction, thereby movably connecting the two chassis bodies.

[0015] In this embodiment of the utility model, the telescopic structure includes a telescopic rod, the two ends of which are respectively fixedly connected to the two chassis bodies. The telescopic rod is used to movably connect the two chassis bodies by contracting and extending its length.

[0016] On the other hand, in order to achieve the above objectives, this utility model embodiment also provides a robot, which is equipped with the mobile chassis described in any of the above embodiments.

[0017] This utility model embodiment provides a mobile chassis and a robot equipped with the chassis. By setting drive structures at the bottom of the two chassis bodies respectively, not only can the two chassis bodies realize the walking and turning functions, but the distance between the two chassis bodies can also be adjusted, so that the robot equipped with the mobile chassis provided in this embodiment can change its movement posture and change the movement area occupied by the movement, thereby ensuring that the robot can adapt to more special road conditions. Attached Figure Description

[0018] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0019] Figure 1This is a schematic diagram of a mobile chassis provided in an embodiment of the present utility model;

[0020] Figure 2 This is another structural schematic diagram of the mobile chassis provided in this embodiment of the utility model;

[0021] Figure 3 This is a schematic diagram of a seesaw structure provided in an embodiment of the present utility model;

[0022] Figure 4 This is a schematic diagram of a seesaw structure with a steering wheel assembly provided in an embodiment of the present utility model;

[0023] The labels in the attached diagram are as follows:

[0024] 100. Mobile chassis; 110. Chassis body; 120. Telescopic structure; 130. Drive structure; 140. Distance sensor; 150. Seesaw structure; 160. Connecting groove;

[0025] 131. Steering wheel assembly;

[0026] 151. Fixing component; 152. Concave rocker; 1511. Fixing plate;

[0027] H, through hole. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] It should be noted that the directional terms used in this application, such as [up], [down], [front], [back], [left], [right], [inside], [outside], and [side], are only for reference to the accompanying drawings. Therefore, the directional terms used are for the purpose of explaining and understanding this application, and not for limiting this application. In the drawings, structurally similar units are represented by the same reference numerals. Furthermore, the thickness and shape in the accompanying drawings of this application do not reflect actual proportions, and are only intended to illustrate the embodiments of this application.

[0030] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] In this embodiment of the invention, with the rapid development of artificial intelligence, automatic control, communication, and computer technology, robots are increasingly being applied in many fields such as medical assistance, logistics, and daily life. The robot chassis is a key component for controlling the robot's movement, and it has a decisive influence on the robot's stability, safety, and walking posture.

[0032] In related technologies, the robot chassis is usually designed as an integrated unit with the robot body. In actual use, the chassis can only move the robot through its drive wheels. It cannot adjust the robot's movement posture or the area occupied by the movement, and cannot guarantee the robot's normal movement in special road conditions.

[0033] To solve the above-mentioned technical problems, this utility model provides a mobile chassis 100, which will be described in detail below.

[0034] Please see Figure 1 , Figure 1 This is a schematic diagram of a mobile chassis provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the mobile chassis 100 includes two chassis bodies 110, a telescopic structure 120, and a drive structure 130.

[0035] The two chassis bodies 110 are movably connected by the telescopic structure 120; the drive structure 130 is respectively disposed at the bottom end of the two chassis bodies 110, the drive structure 130 is used to drive the chassis bodies 110 to perform walking and steering operations, and the drive structure 130 is also used to adjust the distance between the two chassis bodies 110.

[0036] In one embodiment, the telescopic structure 120 can be a connecting rod of fixed length, which is movably connected to at least one of the chassis bodies 110. The connecting rod is used to reciprocate linearly within the chassis body 110 movably connected to it along its length, thereby movably connecting the two chassis bodies 110. In one embodiment, one end of the connecting rod can be fixedly connected to one chassis body 110, and the other end can be movably connected to another chassis body 110. By retracting the connecting rod into the movably connected chassis body 110, the distance between the two chassis bodies 110 is reduced. In another embodiment, the connecting rod can also be movably connected to two chassis bodies 110 at both ends. By retracting the connecting rod into either movably connected chassis body 110, or simultaneously into both movably connected chassis bodies 110, the distance between the two chassis bodies 110 is reduced. When actually adjusting the distance between the two chassis bodies 110, the drive structure 130 drives the two chassis bodies 110 to move towards each other along the length of the connecting rod, causing the connecting rod to move towards the interior of the movable chassis body 110, reducing the exposed length of the connecting rod. This is equivalent to retracting the connecting rod into the interior of at least one movable chassis body 110, thereby reducing the distance between the two chassis bodies 110. Conversely, by driving the two chassis bodies 110 to move in opposite directions along the length of the connecting rod, the drive structure 130 causes the connecting rod to move towards the exterior of the movable chassis body 110, increasing the exposed length of the connecting rod. This is equivalent to extending the connecting rod outwards from at least one movable chassis body 110, thereby increasing the distance between the two chassis bodies 110.

[0037] In other cases, the telescopic structure 120 can also be a telescopic rod with a preset telescopic distance, which can be set according to actual application requirements. The two ends of the telescopic rod are fixedly connected to the two chassis bodies 110 respectively. The telescopic rod is used to movably connect the two chassis bodies 110 by contracting and extending its length. The telescopic rod can be a passive telescopic rod, meaning that when the drive structure 130 adjusts the distance between the two chassis bodies 110, the drive structure 130 drives the telescopic rod to contract or extend. Alternatively, the telescopic rod can be an active telescopic rod, in which case a drive motor can be installed. When the drive structure 130 adjusts the distance between the two chassis bodies 110, the drive motor drives the telescopic rod to contract or extend. The specific telescopic method of the telescopic rod can be set according to actual needs, as long as it can adjust the distance between the two chassis bodies 110; no specific limitations are made here.

[0038] In order to precisely adjust the distance between the two chassis bodies 110, such as Figure 1 As shown, the mobile chassis 100 provided in this embodiment may further include a distance sensor 140, which is disposed on the side wall of any of the chassis bodies 110. The distance sensor 140 is used to detect the distance between the two chassis bodies 110. When the distance sensor 140 detects that the actual distance does not match the preset distance, it will automatically feed back a signal to the drive structure 130. The drive structure 130 then adjusts the length of the telescopic rod to ensure that the distance between the chassis bodies 110 accurately matches the set value, thereby improving the robot's mobility and stability in complex environments. In addition, the mobile chassis 100 may also be equipped with an intelligent control system, which can analyze road condition information in real time, automatically adjust the distance between the chassis bodies 110, and the walking posture of the robot equipped with the mobile chassis 100 provided in this embodiment, ensuring that the robot can maintain an efficient and stable movement state on different terrains.

[0039] In some embodiments, to enable the drive structure 130 to simultaneously have both movement and steering functions, please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is another structural schematic diagram of the mobile chassis provided in this embodiment of the utility model, as shown below. Figure 2 As shown, the drive structure 130 provided in this embodiment may include at least two sets of steering wheel groups 131. These at least two sets of steering wheel groups 131 are evenly distributed at the bottom end of the chassis body 110. Each set of steering wheel groups 131 can be controlled by an independent motor, enabling not only independent movement of each set of steering wheel groups 131 but also independent 360-degree free turning. Thus, by providing at least two sets of steering wheel groups 131 on each of the two chassis bodies 110, the coordinated operation of multiple sets of steering wheel groups 131 enables both overall chassis movement and flexible turning, greatly improving the operational accuracy and adaptability of the robot equipped with the mobile chassis 100 provided in this embodiment in narrow or complex environments. Furthermore, the independent control mechanism of each set of steering wheel groups 131 allows the chassis to quickly adjust its posture when encountering obstacles, avoiding collisions and ensuring the robot's walking safety.

[0040] Optionally, each group of steering wheel assemblies 131 may be equipped with at least two motors. The two motors are used to control the steering wheels in each group 131 for walking and steering, thereby achieving more precise motion control. Each steering wheel assembly 131 may include at least two steering wheels, each driven by an independent motor. The steering wheels in each group 131 can be connected via a synchronous belt or gears to ensure synchronized rotation. The design of the steering wheel assemblies 131 allows each group to rotate independently in different directions, enabling multi-directional movement and precise steering of the chassis. Thus, the independent motor configuration of each steering wheel assembly 131 allows for fine-tuning based on real-time road conditions, enhancing the adaptability of the mobile chassis 100 in different environments. This ensures the robot maintains efficient movement and precise positioning in varied terrain, further optimizing overall operational performance.

[0041] As an optional embodiment, in order to enable the mobile chassis 100 provided in this embodiment to adapt to different road conditions, please refer to... Figure 3 and Figure 4 , Figure 3 This is a schematic diagram of a seesaw structure provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of a seesaw structure with a steering wheel assembly provided in an embodiment of the present invention, as shown below. Figure 3 and 4 As shown, the mobile chassis 100 provided in this embodiment may further include a seesaw structure 150. The seesaw structure 150 is disposed at the bottom end of the target chassis body 110. At least two sets of steering wheel assemblies 131 are evenly distributed at opposite ends of the seesaw structure 150. The seesaw structure 150 is used to utilize the lever principle to make the steering wheel assembly 131 at at least one end of the seesaw structure 150 contact the ground. The target chassis body 110 is any one of the two chassis bodies 110. Specifically, Figure 3 The basic structure of the seesaw structure 150 is shown. Figure 4The diagram details the combination of the steering wheel assembly 131 and the seesaw. Thus, when the mobile chassis 100 provided in this embodiment travels on normal road conditions (flat surfaces), the coordinated work between the seesaw structure 150 and the steering wheel assembly 131 ensures that both ends of the steering wheel assembly 131 of the seesaw structure 150 simultaneously contact the ground. Simultaneously, the seesaw structure 150 also provides vibration damping, effectively improving the stability and safety of the mobile chassis 100. Furthermore, when the mobile chassis 100 provided in this embodiment travels on complex road conditions (e.g., slopes, uneven ground), the coordinated work between the seesaw structure 150 and the steering wheel assembly 131 ensures that at least one end of the steering wheel assembly 131 of the seesaw structure 150 contacts the ground. This allows the mobile chassis 100 to contact the ground through at least three ends of the steering wheel assembly 131 in complex road conditions, greatly improving the mobility, adaptability, and stability of the mobile chassis 100 in complex road conditions.

[0042] The seesaw structure 150 provided in this embodiment uses the lever principle to adjust the center of gravity of the chassis, ensuring that the steering wheel assembly 131 maintains optimal contact under different terrains, increasing the grip of the steering wheel assembly 131, and ensuring the stable movement of the mobile chassis 100. Simultaneously, the seesaw structure 150 can automatically adjust its angle according to changes in terrain, ensuring that the steering wheel assembly 131 always maintains optimal contact with the ground.

[0043] For details, please continue reading. Figure 3 The seesaw structure 150 provided in this embodiment includes a fixing component 151 and a concave seesaw 152. The fixing component 151 includes two fixing plates 1511. The movable ends of the two fixing plates 1511 are movably connected around the through holes H that are arranged opposite to each other. The fixed ends of the two fixing plates 1511 are respectively fixedly connected to the central concave point of the concave seesaw 152 and the bottom end of the target chassis body 110. At least one set of steering wheel assembly 131 is provided at each of the opposite ends of the concave seesaw 152.

[0044] In this embodiment, a pin can pass through the oppositely arranged through hole H, allowing the movable ends of the two fixed plates 1511 to be movably connected, thereby enabling the two fixed plates 1511 to rotate around the through hole H. After the fixed plates 1511 are respectively connected to the chassis body 110 and the steering wheel assembly 131, the tilting / lowering angle of the concave rocker 152 can be adjusted by rotating the two fixed plates 1511. This ensures that at least one set of steering wheel assemblies 131 on the concave rocker 152 can maintain optimal contact under different terrain conditions. In other words, it ensures that the mobile chassis 100 provided in this embodiment can ensure that at least three sets of steering wheel assemblies 131 are on the ground and maintain optimal contact when facing different complex road conditions, thereby improving the stability and passability of the chassis and ensuring that the mobile chassis 100 operates efficiently in complex environments.

[0045] For ease of connection between the mobile chassis 100 provided in this embodiment and the robot, please refer to [link to previous document]. Figure 1 The top of the mobile chassis 100 provided in this embodiment may be provided with a connecting groove 160, which is used to connect with the robot body. By connecting the mobile chassis 100 and the robot through the connecting groove 160, it is possible to ensure that the robot can perform tasks flexibly and efficiently in various complex environments, effectively expanding the application scenarios of the robot.

[0046] To ensure the safety of the mobile chassis 100 during movement, the mobile chassis 100 provided in this embodiment may further include a collision-resistant structure (not shown in the figure), which is arranged circumferentially along the chassis body 110. The collision-resistant structure can be made of high-strength materials, thereby effectively absorbing impact forces and reducing damage to the chassis and robot body from collisions. Specifically, the collision-resistant structure provided in this embodiment can be a buffer pad. Simultaneously, the collision-resistant structure can be designed to be detachable, facilitating maintenance and replacement, further improving the service life and reliability of the mobile chassis 100. By providing a collision-resistant structure on the mobile chassis 100, the mobile chassis 100 provided in this embodiment can not only maintain efficient movement in complex environments but also ensure safe and stable movement, providing a solid guarantee for the robot to perform diverse tasks.

[0047] This concludes the full description of the mobile chassis provided in this embodiment.

[0048] In summary, this utility model embodiment provides a mobile chassis, including two chassis bodies, a telescopic structure, and a drive structure. The two chassis bodies are movably connected via the telescopic structure. The drive structure is respectively disposed at the bottom end of the two chassis bodies. The drive structure is used to drive the chassis bodies to perform walking and turning operations, and also to adjust the distance between the two chassis bodies. Using this utility model, the drive structure can not only drive the mobile chassis to move and turn, but also adjust the distance between the two chassis bodies, enabling the robot equipped with the mobile chassis provided in this embodiment to change its movement posture and the area occupied by the movement.

[0049] By employing the embodiments of this utility model, the following beneficial effects can be achieved:

[0050] 1) By coordinating the drive structure with the distance sensor to precisely adjust the distance between the chassis bodies, the walking posture of the robot equipped with the mobile chassis provided in this embodiment can be changed, ensuring that the robot can maintain an efficient and stable movement state on different terrains.

[0051] 2) Through the independent control mechanism of each set of steering wheels, the chassis can quickly adjust its posture when encountering obstacles to avoid collisions and ensure the safety of robot movement;

[0052] 3) Through the coordinated work between the seesaw structure and the steering wheel assembly, the mobile chassis can ensure that at least 3 steering wheel assemblies are in contact with the ground even under complex road conditions, maintaining the best contact state, thereby improving the stability and passability of the chassis and ensuring the efficient operation of the mobile chassis in complex environments.

[0053] In another embodiment, in order to solve the same technical problem, this utility model embodiment also provides a robot, which can be equipped with the mobile chassis described in any of the above embodiments, and can achieve the beneficial effects that any of the above embodiments can achieve. For specific implementation methods and beneficial effects, please refer to the corresponding embodiments above, which will not be repeated here.

[0054] Optionally, the robot body can be equipped with cameras and sensors, so that the robot body can automatically identify road conditions and obstacles and send the identification results to the mobile chassis, enabling the robot in this embodiment to quickly adjust its posture when facing different road conditions or encountering obstacles, ensuring the robot's walking safety.

[0055] In addition to the embodiments described above, this application may have other implementation methods. All technical solutions formed by equivalent substitutions or equivalent replacements fall within the protection scope claimed by this application.

[0056] Although the preferred embodiments have been disclosed above in this application, the above preferred embodiments are not intended to limit this application. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of this application. Therefore, the scope of protection of this application shall be determined by the scope defined in the claims.

Claims

1. A mobile chassis characterized by, The utility model relates to a mobile chassis of robot, including: Two chassis bodies, telescopic structures and drive structures; Two chassis bodies are connected through telescopic structures; The drive structure is arranged at the bottom of the chassis body, and the drive structure is used for driving the chassis body to walk and turn, and the drive structure is also used for adjusting the distance between the two chassis bodies.

2. The mobile chassis of claim 1, wherein, The mobile chassis further comprises a distance sensor arranged on the side wall of any chassis body, which is used to detect the distance between the two chassis bodies.

3. The mobile chassis of claim 1, wherein, The drive structure comprises at least two groups of rudders, and the at least two groups of rudders are evenly distributed at the bottom of the chassis body.

4. The mobile chassis of claim 3, wherein, Each group of rudders is equipped with at least two motors, and the two motors are used to control the rudders in the group to walk and turn.

5. The mobile chassis of claim 3, wherein, The mobile chassis further comprises a seesaw structure arranged at the bottom of the target chassis body, and at least two groups of rudders are evenly distributed at the opposite ends of the seesaw structure.

6. The mobile chassis of claim 5, wherein, The seesaw structure comprises a fixed assembly and a concave flap, the fixed assembly comprises two fixed plates, the movable ends of the two fixed plates are movably connected through through holes arranged opposite to each other, the fixed ends of the two fixed plates are fixedly connected with the center concave point of the concave flap and the bottom of the target chassis body, and the opposite ends of the concave flap are provided with at least one group of rudders.

7. The mobile chassis of claim 3, wherein, The rudder group comprises at least two rudders.

8. The mobile chassis of claim 1, wherein, The telescopic structure comprises a connecting rod movably connected with at least one chassis body, which is used for reciprocating linear motion inside the chassis body along the length direction of the connecting rod, so that the two chassis bodies are movably connected.

9. The mobile chassis of claim 1, wherein, The telescopic structure comprises a telescopic rod, and the opposite ends of the telescopic rod are fixedly connected with the two chassis bodies, respectively.

10. A robot, characterized in that The robot is provided with the mobile chassis of any one of claims 1-9.

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