Mobile robot circular chassis driven by two-wheel hub motor

Abstract

The utility model discloses a mobile robot circular chassis driven by a two-wheel hub motor, which relates to the technical field of mobile robot chassis and comprises a bottom plate, a middle framework and a top platform, the middle framework is positioned above the bottom plate, driving wheels are arranged on two sides of the bottom plate and are connected with the bottom plate through a damping mechanism, and the damping mechanism is connected with the bottom plate. The damping mechanism comprises four telescopic pipes with holes in the two ends, the upper portions and the lower portions of every two telescopic pipes are connected with installation blocks corresponding to the hole positions respectively, the lower installation blocks are located below the bottom plate and fixed to the bottom plate through the bottom hole positions, the lower installation blocks are provided with fixing pieces connected with the driving wheels, supporting springs are installed on the telescopic pipes, and the driving wheels are driven by a hub motor. The lower end of the bottom plate is further provided with four universal wheels serving as first driven wheels and a second driven wheel located right in front of the advancing direction of the robot. The problems that the robot chassis part moves unstably on the protruding ground, and the internal space layout is unreasonable are solved.

Description

Technical Field

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

[0002] The robot mobile chassis is the basic support and motion mechanism of the robot. It is usually composed of components such as frame, drive wheels, steering wheels, motor, reducer, controller and sensors. It provides the robot with the ability to move autonomously in different environments, enabling the robot to flexibly reach the designated position according to the preset path or according to environmental feedback to complete various tasks. It is a key component for the robot to achieve intelligent operation.

[0003] For example, the Chinese authorized patent CN212289483U, entitled "A Robot Mobile Chassis", includes a chassis, a rotating structure, and a shock-absorbing structure. The rotating mechanism includes a rotating motor and a circular tray. A U-shaped frame is fixedly installed directly below the center of the chassis. A motor is fixed on the U-shaped frame. The output shaft of the motor passes through the end of the chassis and is fixedly connected to the circular tray. A worktable is fixed on the upper surface of the circular tray. A clamping structure is provided inside the worktable.

[0004] In various mobile devices, the chassis serves as the fundamental support and moving component, and its performance directly affects the device's operational stability, flexibility, and overall functionality. Existing chassis structures have numerous shortcomings in terms of shock absorption, space utilization, device compatibility, and protection. For example, complex and ineffective shock absorption structures lead to severe bumps when the device travels on uneven surfaces; unreasonable internal space layout results in disorganized electronic component installation, hindering maintenance and wiring; poor communication and compatibility between different devices impacts overall work efficiency; and insufficient external protection easily damages internal parts. Therefore, these chassis structures fail to meet current requirements. To address this, we propose a circular chassis for a mobile robot driven by two-wheeled hub motors. Utility Model Content

[0005] The purpose of this invention is to provide a circular chassis for a mobile robot driven by two hub motors, in order to solve the problems of unstable movement of the robot chassis on raised ground and unreasonable internal space layout mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a circular chassis for a mobile robot driven by a two-wheeled hub motor, comprising a base plate, a middle structure located above the base plate, and a top platform. Drive wheels are provided on both sides of the base plate, and the drive wheels are connected to the base plate via a shock-absorbing mechanism. The shock-absorbing mechanism includes four telescopic tubes with holes at both ends. Each pair of telescopic tubes is connected to mounting blocks with corresponding holes at their top and bottom. The lower mounting block is located below the base plate and is fixed to the base plate via bottom holes. The lower mounting block is provided with a fixing component connected to the drive wheel. Support springs are installed on the telescopic tubes. The drive wheels are driven by a hub motor. The lower end of the base plate also provides four universal wheels serving as first driven wheels and a second driven wheel located directly in front of the machine's forward movement.

[0007] Preferably, the four first driven wheels are at the same height as the drive wheels.

[0008] Preferably, the second driven wheel is 30 millimeters above the ground.

[0009] Preferably, the intermediate structure includes a battery module located slightly in front of the base plate, and the battery module is protected by an externally mounted first sheet metal part. A wireless router is mounted on top of the first sheet metal part, and the first sheet metal part is connected to the base plate and the top platform through holes.

[0010] Preferably, the support members are evenly distributed around the upper surface of the base plate, and the support members are fixed to the base plate by screws. The support members and the top platform have corresponding holes, four of which adopt a pin structure. The support members behind the base plate have equally spaced holes, and a multi-layer platform formed by the second sheet metal part is built through the holes. The multi-layer platform carries the data processor and motion controller.

[0011] Preferably, the top platform has holes, the top platform has a converter in the middle, and a lidar is installed below the top platform.

[0012] Preferably, the intermediate architecture is provided with a shell made of metal parts.

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

[0014] 1. This utility model utilizes a unique driven wheel layout. The second driven wheel, located directly in front of the machine's forward movement, maintains a specific distance from the ground, allowing it to be the first to contact protrusions and quickly sense and respond to terrain changes. The four first driven wheels around the chassis are at the same height as the drive wheels, enabling them to adjust the force in time during bumps and work in conjunction with the drive wheels and shock absorption mechanisms to maintain balance. The shock absorption mechanisms on both sides of the drive wheels absorb impact forces through telescopic tubes and support springs, reducing the impact of vibration. The driven wheels and shock absorption mechanisms work together to significantly improve the stability of the chassis when moving on complex terrain, especially on raised surfaces, reducing the risk of jamming, tilting, and tipping over, and providing a reliable mobile foundation for the robot to perform its tasks.

[0015] 2. This utility model addresses the shortcomings of traditional robot chassis, which suffer from poor internal space layout, cluttered electronic component installation, and difficulties in maintenance and wiring. The circular chassis features an innovative central structure design. The battery module is positioned slightly forward of the base plate and protected by a first sheet metal component. This facilitates battery replacement and connects the base plate to the top, reducing the need for supporting components and saving space. The supporting component at the rear of the base plate has evenly spaced holes for building a multi-layered platform to support electronic components such as the data processor and motion controller. This layered layout allows for orderly placement of electronic components without interference, fully utilizing the three-dimensional space and ensuring neat and clear wiring for easy inspection and troubleshooting. The rational spatial layout improves space utilization, enhances the stability and reliability of electronic components, and reserves space for chassis upgrades and functional expansion. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present utility model;

[0017] Figure 2 This is a perspective view of the present invention after the top platform has been removed;

[0018] Figure 3 This is a side view of the present invention;

[0019] Figure 4 This is a bottom view of the present invention.

[0020] In the diagram: 1. Base plate; 2. Top platform; 3. Shock absorption mechanism; 4. Drive wheel; 5. First driven wheel; 6. Second driven wheel; 7. Battery module; 8. First sheet metal part; 9. Wireless router; 10. Support component; 11. Second sheet metal part; 12. Data processor; 13. Motion controller; 14. LiDAR; 15. Converter; 16. Telescopic tube; 17. Mounting block; 18. Support spring; 19. Hub motor. Detailed Implementation

[0021] 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.

[0022] Please see Figure 1-4 One embodiment of this utility model is a circular chassis for a mobile robot driven by two hub motors. The circular chassis is divided into three parts: a base plate 1, a middle structure, and a top platform 2. The parts work together to achieve stable support, flexible movement, and multiple functions of the chassis.

[0023] The drive wheels 4 are located on both sides of the base plate 1 and are connected to the entire chassis via a shock-absorbing mechanism 3 mounted on the base plate 1. The shock-absorbing mechanism 3 consists of four telescopic tubes 16 with holes at both ends, and each pair of telescopic tubes 16 is connected to a mounting block 17 with corresponding holes at the top and bottom. The lower mounting block 17 is located below the base plate 1, and the upper mounting block 17 is connected to the top plate. The mounting blocks 17 are fixed to the base plate 1 through holes at the bottom, and the lower mounting block 17 has a fixing component for connecting to the drive wheels 4. The support springs 18 mounted on the telescopic tubes 16 can effectively absorb vibrations and enhance the stability of the vehicle body. The hub motor 19 drives the drive wheels 4, enabling the chassis to move.

[0024] The four first driven wheels 5 are all omnidirectional wheels, at the same height as the drive wheels 4. Their main function is to ensure the stability of the chassis while enabling rotation in all directions, greatly improving the chassis's flexibility. There is also one second driven wheel 6 located directly in front of the machine's forward movement, at a certain distance from the ground. The purpose of this design is to allow the wheel to make contact with the ground in advance when encountering raised areas, enabling the chassis to adapt to terrain changes ahead of time and ensuring the stability of the chassis's movement.

[0025] The chassis's central structure sits atop the base plate 1, housing various mechanical structures and electronic components. The battery module 7 is located slightly forward of the base plate 1 and is protected by the first sheet metal part 8, a design that facilitates battery replacement after prolonged use. Simultaneously, a wireless router 9 is mounted above the first sheet metal part 8, enabling wireless connection and chassis control. The first sheet metal part 8 connects the base plate 1 and the top via holes, reducing the number of support components 10 and optimizing the overall structure.

[0026] Support members 10 are evenly distributed around the base plate 1 and fixed to the base plate 1 with screws at their bottom, corresponding to holes in the top platform 2. Four of these holes utilize a pin structure, facilitating precise installation of the top platform 2 and significantly reducing the time required to determine the plate position. At the rear of the base plate 1, the support members 10 have evenly spaced holes, through which a multi-layered platform is constructed. The second sheet metal part 11 forms a platform mounted at different heights to support the data processor 12 and motion controller 13. This design fully utilizes the space in the intermediate structure and facilitates the systematic installation of various components and the routing of wiring. The charging port of the chassis is located at the rear, facilitating charging from the chassis to a charging station.

[0027] The top platform 2 serves as the support platform for the circular chassis. Holes are provided on the platform to prepare for the subsequent installation of other actuators. A converter 15 is located in the middle of the platform, enabling communication and compatible operation between different devices within the intermediate architecture. A lidar unit 14 is installed below the platform to create a real-time model of the surrounding environment, enabling navigation and obstacle avoidance. A metal casing is used to enclose the intermediate architecture, protecting the internal components of the chassis and enhancing its aesthetics.

[0028] In use, when the chassis needs to move, the hub motor 19 drives the drive wheel 4 to rotate, which in turn propels the chassis forward, backward, or in a turn. During operation, the support spring 18 of the shock absorption mechanism 3 absorbs vibrations from road bumps, ensuring stable chassis operation. The first driven wheel 5 and the second omnidirectional wheel 6 work together; the first driven wheel 5 ensures the chassis's flexibility in all directions, while the second omnidirectional wheel 6 makes contact with raised surfaces in advance, providing feedback and assisting the chassis in passing smoothly. The battery module 7 powers the electronic components of the entire chassis, and the wireless router 9 enables wireless connection with external devices for easy operation. The data processor 12 and motion controller 13 process relevant data and control chassis movement, respectively. The converter 15 on the top platform 2 enables communication and compatibility between different devices in the intermediate architecture, and the lidar 14 scans the surrounding environment in real time, building a model to provide data support for the chassis's navigation and obstacle avoidance. When the chassis battery is low, it can be charged via the charging port at the rear.

[0029] 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 two-wheel hub motor driven mobile robot circular chassis, comprising a bottom plate (1), an intermediate frame located above the bottom plate (1), and a top platform (2), characterized in that: The bottom plate (1) is provided with driving wheels (4) on both sides, the driving wheels (4) are connected with the bottom plate (1) through damping mechanisms (3), the damping mechanisms (3) comprise four telescopic pipes (16) with holes at both ends, every two telescopic pipes (16) are connected with mounting blocks (17) corresponding to the hole positions above and below, the lower mounting blocks (17) are located below the bottom plate (1) and are fixed with the bottom plate (1) through the bottom hole positions, the lower mounting blocks (17) are provided with fixing parts connected with the driving wheels (4), the telescopic pipes (16) are provided with supporting springs (18), the driving wheels (4) are driven by hub motors (19), the bottom plate (1) is further provided with four universal wheels as first driven wheels (5) and a second driven wheel (6) located in front of the machine.

2. The two-wheel hub motor driven mobile robot circular chassis according to claim 1, characterized in that: The four first driven wheels (5) are at the same height as the driving wheels (4).

3. The two-wheel hub motor driven mobile robot circular chassis according to claim 1, characterized in that: The second driven wheel (6) is thirty millimeters away from the ground.

4. The two-wheel hub motor driven mobile robot circular chassis according to claim 1, characterized in that: The intermediate structure is provided with a battery module (7), the battery module (7) is located in front of the bottom plate (1), and the battery module (7) is protected by an externally arranged first metal part (8), a wireless router (9) is mounted above the first metal part (8), and the first metal part (8) is connected with the bottom plate (1) and the top platform (2) through the hole positions.

5. The two-wheel hub motor driven mobile robot circular chassis according to claim 1, characterized in that: Supporting parts (10) are uniformly distributed around the upper end face of the bottom plate (1), the supporting parts (10) are fixed below the bottom plate (1) through screws, and the supporting parts (10) have hole positions corresponding to the top platform (2), wherein four of them adopt a bolt structure, the supporting parts (10) at the rear of the bottom plate (1) are provided with equidistant hole positions, and a multilayer platform formed by a second metal part (11) is built through the hole positions, and a data processor (12) and a motion controller (13) are carried on the multilayer platform.

6. The two-wheel hub motor driven mobile robot circular chassis according to claim 1, characterized in that: The top platform (2) is provided with a hole position, the top platform (2) is provided with a converter (15) in the middle, and a laser radar (14) is mounted below the top platform (2).

7. The two-wheel hub motor driven mobile robot circular chassis according to claim 1, characterized in that: The intermediate structure is provided with an outer shell composed of metal parts.

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