Mobile robot square chassis driven by two-wheel hub motor

Abstract

A mobile robot square chassis driven by a two-wheel hub motor relates to the technical field of mobile robot chassis, and comprises a bottom plate, a middle framework is constructed above the bottom plate, a top platform is arranged above the middle framework, the top platform is composed of a top plate and an upper layer platform, the top plate is connected with the bottom plate and the upper-layer platform in a screw fixing mode through hole sites of supporting pieces, driving wheels are symmetrically installed on the two sides of the bottom plate and connected with the bottom plate through a hanging device installed on the bottom plate, and the hanging device comprises four aluminum pipes with holes in the two ends. The base plate is provided with holes, every two aluminum pipes are vertically and correspondingly connected with mounting blocks matched with the holes, springs are assembled on the aluminum pipes, the driving wheel is driven by a hub motor to operate, driven wheels are mounted in the four directions of the base plate respectively, and the problems that an existing chassis is unreasonable in spatial layout, poor in running stability and difficult to mount and maintain are solved.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot chassis technology, specifically a square chassis for a mobile robot driven by two hub motors. Background Technology

[0002] Driven by modern technology, mobile robots are widely used in industrial production, logistics and distribution, service industries, and home environments. They undertake diverse tasks such as transporting goods, cleaning floors, security patrols, and assisting with medical care, greatly improving work efficiency and people's quality of life. The core of a mobile robot lies in its chassis; the chassis performance directly determines whether the robot can complete various tasks flexibly, stably, and efficiently.

[0003] For example, the Chinese authorized patent CN218112827U, entitled "A Mobile Robot Chassis", includes a supporting chassis and a floating roller mechanism installed below the supporting chassis. The surface of the supporting chassis is machined with placement grooves and has several sets of positioning holes on the periphery. The floating roller mechanism includes a crossbeam, wheels, longitudinal adjustment columns, a locking device, and a connecting shaft. The crossbeams are divided into two sets and symmetrically arranged at both ends of the supporting chassis. The wheels are divided into four sets and respectively installed at both ends of the two sets of crossbeams. The longitudinal adjustment columns are movably inserted through the middle of the crossbeams and the upper end is fixed to the bottom of the supporting chassis. The locking device is located below the supporting chassis and the lower end is fixed to the crossbeam.

[0004] The existing technologies mentioned above have shortcomings in terms of suspension design, wheel flexibility, and platform construction, making it difficult to meet the current mobile robot's needs for efficient operation, flexible control, convenient maintenance, and functional integration and expansion. Therefore, they do not meet the current requirements. In response, we propose a square chassis for a mobile robot driven by two hub motors. Utility Model Content

[0005] The purpose of this invention is to provide a square chassis for a mobile robot driven by two hub motors, in order to solve the problems mentioned in the background art, such as unreasonable spatial layout of existing chassis, poor chassis driving stability, and difficulty in installation and maintenance.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a square chassis for a mobile robot driven by a two-wheeled hub motor, comprising a base plate, an intermediate structure built on top of the base plate, a top platform above the intermediate structure, the top platform consisting of a top plate and an upper platform, the top plate being connected to the base plate and the upper platform by screws through holes in a support member, drive wheels symmetrically mounted on both sides of the base plate, the drive wheels being connected to the base plate by a suspension device mounted on the base plate, the suspension device comprising four aluminum tubes with holes at both ends, each pair of aluminum tubes being connected to mounting blocks with matching holes vertically, the lower mounting block being connected to the lower part of the base plate, the upper mounting block being connected to the top plate, and a sheet metal part for connecting the drive wheels being provided between the base plate and the lower mounting block, springs being mounted on the aluminum tubes, the drive wheels being driven by a hub motor, and driven wheels being mounted at the four positions of the base plate.

[0007] Preferably, the intermediate architecture is used to install mechanical structures and electronic components, the battery module is installed on the front side of the upper surface of the base plate, the support members are arranged around the base plate, and the support members are divided into two heights: the short support members are connected to the base plate, and the tall support members are connected to the top plate, forming a two-layer platform.

[0008] Preferably, a data processor and a motion controller are mounted on the sheet metal part on one side of the support member from top to bottom.

[0009] Preferably, the top plate has multiple pin holes, and the upper platform is connected through multiple corresponding sheet metal parts. An actuator mounting groove is provided on one side of the upper surface of the upper platform, and a converter is installed on the other side of the upper surface of the upper platform.

[0010] Preferably, a lidar is installed between the top plate and the upper platform in both the front and rear directions.

[0011] Preferably, the base plate is covered with a shell made of injection molded material.

[0012] Preferably, all driven wheels adopt a universal wheel structure, and the driven wheels and driving wheels are kept at the same height.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This utility model adopts a layered design, with a clear distinction between the base plate, intermediate structure, and top platform. The support components are set at two heights, constructing a reasonable two-layer platform. Combined with the evenly spaced holes and multi-layer structure on the support components behind the base plate, it provides a well-organized installation space for various mechanical structures and electronic components, improving the utilization of internal space. The top plate below the top platform connects to the upper platform via pin holes and corresponding sheet metal parts. The pin structure provides precise positioning, shortening the time for aligning parts and holes, thereby improving installation efficiency.

[0015] 2. The drive wheel of this utility model is equipped with a unique suspension device, consisting of four long aluminum tubes with holes at both ends, corresponding upper and lower mounting blocks, sheet metal parts connecting the drive wheel, and springs on the aluminum tubes. This effectively buffers vibrations and enhances the stability of the vehicle body when driving on uneven roads. The driven wheels are omnidirectional wheels, distributed in four directions on the base plate, at the same height as the drive wheel. By controlling the speed difference of the drive wheel, combined with the multi-directional rotation characteristics of the omnidirectional wheels, the chassis can turn flexibly, adapt to complex working environments, and ensure smooth and efficient movement.

[0016] 3. The intermediate architecture of this utility model reserves ample space for installing various electronic components, such as battery modules, wireless routers, data processors, and motion controllers, with a reasonable layout ensuring the coordinated operation of each component. The top platform has a mounting slot for the actuator of the converter in the center of the upper layer, promoting communication compatibility between different devices; a lidar is installed between the two platforms in a front-to-back direction to build a real-time model of the surrounding environment, enabling navigation and obstacle avoidance; the upper platform also reserves space for the installation of actuators, facilitating future expansion of functions as needed to meet diverse application scenarios. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present utility model;

[0018] Figure 2 This is an exploded view of the internal structure of this utility model;

[0019] Figure 3 This is a top view of the present invention;

[0020] Figure 4 This is a bottom view of the present invention.

[0021] In the diagram: 1. Base plate; 2. Battery module; 3. Upper platform; 4. Suspension device; 5. Aluminum tube; 6. Mounting block; 7. Spring; 8. Drive wheel; 9. Driven wheel; 10. Support component; 11. Hole; 12. Data processor; 13. Motion controller; 14. Top plate; 15. Actuator mounting slot; 16. LiDAR; 17. Converter; 18. Housing; 19. Hub motor. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0023] Please see Figure 1-4This utility model provides an embodiment of a square chassis for a mobile robot driven by a two-wheeled hub motor, including a base plate 1, an intermediate structure built on top of the base plate 1, a top platform set on top of the intermediate structure, the top platform consisting of a top plate 14 and an upper platform 3, the top plate 14 being fixed to the base plate 1 and the upper platform 3 by screws through holes 11 of the support member 10, drive wheels 8 being symmetrically installed on both sides of the base plate 1, the drive wheels 8 being connected to the base plate 1 by means of a suspension device 4 installed on the base plate 1, the suspension device 4 including four aluminum tubes 5 with holes at both ends, each pair of aluminum tubes 5 being connected to mounting blocks 6 with matching holes, the lower mounting block 6 being connected to the lower part of the base plate 1, the upper mounting block 6 being connected to the top plate 14, and a sheet metal part for connecting the drive wheels 8 being provided between the base plate 1 and the lower mounting block 6, the aluminum tubes 5 being fitted with springs 7, the drive wheels 8 being driven by a hub motor 19, driven wheels 9 being installed in the four directions of the base plate 1, and the base plate 1 being covered with a shell 18 made of injection molding.

[0024] In operation, the hub motor 19 is energized, converting electrical energy into mechanical energy to drive the drive wheel 8 to rotate. The rotation of the drive wheel 8 provides the chassis with forward or backward power. Simultaneously, the aluminum tube 5 in the suspension device 4 transmits vibrations from the road surface to the spring 7 during chassis movement. The spring 7 compresses or extends according to the vibration, buffering the vibrations and maintaining vehicle stability. This drive and suspension method makes the chassis power output direct and efficient, enabling rapid response to movement commands. The suspension device effectively filters vibrations, reducing impact on the precision electronic components inside the chassis, extending component lifespan, ensuring the robot can travel smoothly on uneven surfaces, and improving operational reliability.

[0025] Please see Figure 2 The intermediate structure is used to install mechanical structures and electronic components. The battery module 2 is installed on the front side of the upper end of the base plate 1. The support members 10 are set around the base plate 1. The support members 10 are divided into two heights: the short support members are connected to the base plate 1, and the high support members are connected to the top plate 14, forming a two-layer platform.

[0026] Battery module 2 continuously supplies power to the electronic components and motors throughout the chassis. The support structure 10, designed with varying heights, utilizes a lower support to support the base plate 1 and some electronic components, while a higher support further connects to the top plate 14, creating a stable two-layer load-bearing structure. Mounting battery module 2 slightly forward of the base plate 1 helps balance the chassis's center of gravity and improves driving stability. This two-layer platform design significantly expands the internal space of the intermediate structure, facilitating the categorized and orderly installation of various mechanical structures and electronic components, and simplifying subsequent maintenance and functional upgrades.

[0027] Please see Figure 2A data processor 12 and a motion controller 13 are mounted from top to bottom on the sheet metal part on one side of the support component 10. The data processor 12 receives data collected from devices such as the lidar 16 and sensors, analyzes and processes it, and transmits the processed instructions to the motion controller 13. The motion controller 13 precisely adjusts the speed, steering and other parameters of the hub motor 19 according to the received instructions, realizing precise movement control of the chassis. This installation layout enables the data processor 12 and the motion controller 13 to interact with each other quickly and efficiently, reduce signal transmission delay, improve the chassis's response speed and control accuracy to complex environments and task instructions, and ensure that the mobile robot accurately executes various tasks.

[0028] Please see Figure 2 and Figure 3 The top plate 14 has multiple pin holes, which are connected to the upper platform 3 through multiple corresponding sheet metal parts. An actuator mounting groove 15 is provided on one side of the upper surface of the upper platform 3, and a converter 17 is installed on the other side of the upper surface of the upper platform 3. A laser radar 16 located in the front and rear directions is installed between the top plate 14 and the upper platform 3.

[0029] The pin holes mate with the corresponding sheet metal parts to precisely position and securely connect the top plate 14 to the upper platform 3. The LiDAR 16 continuously emits laser beams and receives reflected laser signals. By calculating the laser round-trip time, it constructs a real-time 3D model of the surrounding environment and transmits the environmental data to the data processor 12. The converter 17 coordinates the communication protocols between different devices, enabling smooth data exchange. The actuator mounting slot 15 provides a standard interface for subsequent actuator installation. The pin structure significantly reduces the time required for aligning parts, improving assembly efficiency. The front-to-back layout of the LiDAR 16 enables 360-degree all-around environmental perception, providing precise data support for chassis navigation and obstacle avoidance, and greatly enhancing the mobile robot's autonomous operation capabilities in complex environments. The converter 17 ensures compatibility and collaborative work capabilities between devices, while the actuator mounting slot 15 provides space for functional expansion to meet diverse task requirements.

[0030] Please see Figure 1 , Figure 2 and Figure 4 All driven wheels 9 adopt a swivel wheel structure, and the driven wheels 9 are kept at the same height as the driving wheels 8. When the chassis moves, the driving wheels 8 provide the main driving force, and the swivel wheel structure of the driven wheels 9 can rotate freely in all directions according to the steering requirements of the chassis. By changing the speed difference of the driving wheels 8 and combining it with the swivel rotation characteristics of the driven wheels 9, the chassis can turn flexibly.

[0031] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A square chassis for a mobile robot driven by two hub motors, comprising a base plate (1), characterized in that: A middle structure is constructed above the base plate (1), and a top platform is provided above the middle structure. The top platform consists of a top plate (14) and an upper platform (3). The top plate (14) is connected to the base plate (1) and the upper platform (3) by screws through holes (11) of the support member (10). Drive wheels (8) are symmetrically installed on both sides of the base plate (1). The drive wheels (8) are connected to the base plate (1) by means of a suspension device (4) installed on the base plate (1). The suspension device (4) includes four two-wheeled wheels. An aluminum tube (5) with a hole at one end is connected to a mounting block (6) with a matching hole position on each pair of aluminum tubes (5). The lower mounting block (6) is connected to the bottom of the base plate (1), and the upper mounting block (6) is connected to the top plate (14). A sheet metal part for connecting the drive wheel (8) is provided between the base plate (1) and the lower mounting block (6). A spring (7) is mounted on the aluminum tube (5). The drive wheel (8) is driven by a hub motor (19). Driven wheels (9) are installed in the four positions of the base plate (1).

2. The square chassis of a mobile robot driven by a two-wheel hub motor according to claim 1, characterized in that: The intermediate structure is used to install mechanical structures and electronic components. A battery module (2) is installed on the front side of the upper surface of the base plate (1). The support member (10) is set around the base plate (1) and the support member (10) is divided into two heights: the short support member is connected to the base plate (1) and the high support member is connected to the top plate (14), forming a two-layer platform.

3. The square chassis of a mobile robot driven by a two-wheel hub motor according to claim 2, characterized in that: A data processor (12) and a motion controller (13) are mounted on the sheet metal part on one side of the support member (10) from top to bottom.

4. The square chassis of a mobile robot driven by a two-wheel hub motor according to claim 1, characterized in that: The top plate (14) has multiple pin holes, which are connected to the upper platform (3) through multiple corresponding sheet metal parts. An actuator mounting groove (15) is provided on one side of the upper surface of the upper platform (3), and a converter (17) is installed on the other side of the upper surface of the upper platform (3).

5. The square chassis of a mobile robot driven by a two-wheel hub motor according to claim 1, characterized in that: A lidar (16) is installed between the top plate (14) and the upper platform (3) in two directions, front and back.

6. The square chassis of a mobile robot driven by a two-wheel hub motor according to claim 1, characterized in that: The base plate (1) is covered by a shell (18) made of injection molded parts.

7. The square chassis of a mobile robot driven by a two-wheel hub motor according to claim 1, characterized in that: All driven wheels (9) adopt a universal wheel structure, and the driven wheels (9) and the driving wheels (8) are kept at the same height.

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