Chassis structure and robot

Abstract

The embodiment of the utility model relates to the technical field of robots, and particularly discloses a chassis structure and a robot, the chassis structure comprises a bottom plate assembly, an elastic piece and a driving wheel assembly, both ends of the elastic piece are connected to the bottom plate assembly, and the driving wheel assembly is connected to the elastic piece. By means of the mode, the damping and buffering effects of the chassis structure are achieved through the elastic pieces, a complex structure of a damping assembly is not needed, the structure of the chassis structure is simplified, and the production cost of the chassis structure is reduced.

Description

Technical Field

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

[0002] Mobile robots are intelligent devices capable of operating autonomously in various environments, and are widely used in industries such as manufacturing and services. They are equipped with sensors to acquire information about their surroundings, use artificial intelligence algorithms for path planning and decision-making, and achieve locomotion via a chassis structure.

[0003] However, in the process of implementing the embodiments of this utility model, the inventors discovered that the current chassis structure is complex and has high manufacturing costs. Utility Model Content

[0004] The main technical problem solved by this utility model is to provide a chassis structure and robot to address the technical issues of complex chassis structure and high manufacturing cost.

[0005] To solve the above-mentioned technical problems, the present invention provides a chassis structure, including a base plate assembly, an elastic element, and a drive wheel assembly, wherein both ends of the elastic element are connected to the base plate assembly, and the drive wheel assembly is connected to the elastic element.

[0006] Optionally, the elastic member has an arc-shaped portion in the middle, and the drive wheel assembly is connected to the arc-shaped portion; the middle of the elastic member is bent away from the base plate assembly to form an arc-shaped structure.

[0007] Optionally, the elastic element is provided with a first connecting part and a second connecting part, the first connecting part and the second connecting part being fixed to both ends of the arc-shaped part, and both the first connecting part and the second connecting part being connected to the base plate assembly.

[0008] Optionally, the base plate assembly is provided with a first mounting space; both ends of the elastic member are respectively installed in the first mounting space, and part of the drive wheel assembly is located in the first mounting space.

[0009] Optionally, the drive wheel assembly includes a bracket and a drive wheel, the bracket being connected to the middle of the arcuate portion, and the drive wheel being connected to the bracket.

[0010] Optionally, the first installation space includes a first connection point and a second connection point; there is a gap between the first connection point and the second connection point, one end of the elastic element is connected to the first connection point, the other end of the elastic element is connected to the second connection point, and the middle part of the elastic element is located in the gap space.

[0011] Optionally, the elastic element is a plate-like structure, which provides a force toward the ground to the drive wheel assembly, and the drive wheel is mounted on the side of the elastic element facing the ground.

[0012] Optionally, the chassis structure further includes a power supply; the base plate assembly is also provided with a second mounting space, the second mounting space being separated from the first mounting space, the power supply being disposed in the second mounting space, and the power supply being used to provide power support to the drive wheel assembly.

[0013] Optionally, the chassis structure further includes a lidar; the lidar is disposed on the top of the base plate assembly, and is used to sense external environmental information and for positioning and navigation.

[0014] To solve the above-mentioned technical problems, another technical solution adopted by this utility model is to provide a robot, including the chassis structure described above.

[0015] In this embodiment of the invention, the chassis structure includes a base plate assembly, an elastic element, and a drive wheel assembly. Both ends of the elastic element are connected to the base plate assembly, and the drive wheel assembly is connected to the elastic element. The elastic element achieves the shock absorption and buffering effect of the chassis structure, eliminating the need for a complex shock absorption assembly structure, thus simplifying the chassis structure and reducing production costs. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the chassis structure provided in this embodiment of the utility model from one perspective;

[0018] Figure 2 This is a schematic diagram of the chassis structure provided in an embodiment of the present utility model from another perspective;

[0019] Figure 3 This is a schematic plan view of the chassis structure provided in this embodiment of the utility model;

[0020] Figure 4 This is a schematic diagram of the base plate assembly of the chassis structure provided in this embodiment of the utility model;

[0021] Figure 5 This is a schematic diagram of the elastic element of the chassis structure provided in this embodiment of the utility model.

[0022] Explanation of reference numerals in the attached figures:

[0023] 100. Chassis structure;

[0024] 1. Base plate assembly; 11. Base plate; 12. Support plate; 13. Top plate; 14. First installation space; 141. First connection point; 142. Second connection point; 143. Notch space; 15. Second installation space;

[0025] 2. Elastic element; 21. Arc-shaped part; 22. First connecting part; 23. Second connecting part;

[0026] 3. Drive wheel assembly; 31. Bracket; 32. Drive wheel;

[0027] 4. Power supply;

[0028] 5. LiDAR;

[0029] 6. First auxiliary wheel;

[0030] 7. Second auxiliary wheel;

[0031] 8. Charging electrodes;

[0032] 9. Control module. Detailed Implementation

[0033] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "locked" to another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this specification are for illustrative purposes only.

[0034] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0035] This application provides a chassis structure 100. Please refer to [link / reference]. Figures 1-3The chassis structure 100 includes a base plate assembly 1, an elastic element 2, a drive wheel assembly 3, a power supply 4, a lidar 5, a first auxiliary wheel 6, a second auxiliary wheel 7, a charging electrode 8, and a control module 9. Both ends of the elastic element 2 are connected to the base plate assembly 1. The drive wheel assembly 3 is connected to the elastic element 2, and the elastic element 2 applies an elastic force to the drive wheel assembly 3 to keep it abutting the ground, thereby enhancing grip and providing shock absorption. The power supply 4 is located on the chassis structure. The lidar 5 is located at the top of the base plate assembly 1. The first auxiliary wheel 6, the second auxiliary wheel 7, and the charging electrode 8 are all located on the base plate assembly 1. The control module 9 is located at the top of the base plate assembly 1 and is electrically connected to the drive assembly, the power supply 4, the lidar 5, and the charging electrode 8.

[0036] For the aforementioned base plate assembly 1, please refer to Figure 4 The base plate assembly 1 includes a base plate 11, a support plate 12, and a top plate 13. The support plate 12 is detachably connected to the base plate 11, and the top plate 13 is detachably connected to the support plate 12. The base plate 11, support plate 12, and top plate 13 together enclose a first mounting space 14 and a second mounting space 15, which are separated from each other. The first mounting space 14 provides space for mounting the two ends of the elastic element 2 and for accommodating a portion of the drive wheel assembly 3. The second mounting space 15 provides space for the power supply 4.

[0037] The first mounting space 14 includes a first connection point 141 and a second connection point 142, which are respectively used to connect the two ends of the elastic member 2. A notch space 143 is located between the first connection point 141 and the second connection point 142 on the base plate 11. The notch space 143 provides mounting space for the middle part of the elastic member 2 and allows the drive wheel assembly 3 to extend from below the base plate 11 into the top of the base plate 11, thereby reducing the distance between the base plate 11 and the ground, thus lowering the center of gravity of the chassis structure 100 and improving the stability of the chassis structure 100.

[0038] The notch space 143 is located on one side of the base plate 11, such as the left, right, front, or rear side. The number of notch spaces 143, the number of elastic elements 2, and the number of drive wheel assemblies 3 are all the same. The middle part of an elastic element 2 is located in a notch space 143, and a part of a drive wheel assembly 3 is located in a notch space 143. Here, "front side", "rear side", "left side", and "right side" refer to the front, rear, left, and right sides when the chassis structure 100 is moving forward.

[0039] In some embodiments, the notch space 143 extends through the edge of the base plate 11, that is, the drive wheel assembly 3 is disposed near the edge of the notch space 143, so as to increase the wheel track or wheelbase between the drive wheel assemblies 3 and improve the stability of the chassis structure 100.

[0040] For the elastic element 2 mentioned above, please refer to Figure 5 The elastic element 2 is provided with an arc-shaped portion 21, a first connecting portion 22, and a second connecting portion 23. The arc-shaped portion 21 is located in the middle of the elastic element 2, and the middle of the elastic element 2 is curved away from the base plate assembly 1 to form an arc-shaped structure. The arc-shaped structure is used to enhance the shock absorption and cushioning effect. The arc-shaped portion 21 is located in the notch space 143 so that the middle of the elastic element 2 is located in the notch space 143. The first connecting portion 22 is located in the first mounting space 14, and the first connecting portion 22 is fixed to one end of the arc-shaped portion 21 and connected to the first connection point 141. The second connecting portion 23 is located in the first mounting space 14, and the second connecting portion 23 is fixed to the other end of the arc-shaped portion 21 and connected to the second connection point 142.

[0041] In some embodiments, the elastic element 2 is formed by bending a leaf spring.

[0042] For the drive wheel assembly 3 mentioned above, please refer to Figure 2 The drive wheel assembly 3 includes a bracket 31 and a drive wheel 32. The bracket 31 is connected to the middle of the arc-shaped portion 21. The drive wheel 32 is connected to the bracket 31, with a portion of the drive wheel 32 located in the notch space 143. The drive wheel 32 is electrically connected to the control module 9. The drive wheel 32 may include a hub motor, or it may be connected to a motor on the base plate 11 to drive the chassis structure 100. The elastic element 2 ensures that the drive wheel 32 is pressed against the ground, thereby enhancing the grip of the drive wheel 32 and providing shock absorption.

[0043] For power supply 4 mentioned above, please refer to Figure 1 The power supply 4 is located in the second mounting space 15 and is used to provide power to the drive wheel assembly 3. Since the second mounting space 15 and the first mounting space 14 are isolated from each other, the power supply 4 and the drive wheel assembly 3 are also isolated from each other, reducing the amount of contaminants entering the upper part of the base plate 11 from the first mounting space 14, thereby reducing the possibility of damage to the power supply 4, the lidar 5 and the control module 9, and extending the service life of the chassis structure 100.

[0044] For the aforementioned LiDAR 5, please refer to Figure 1 and Figure 3 The lidar 5 is installed on the surface of the top plate 13 away from the bottom plate 11. The lidar 5 is used to sense external environmental information and for positioning and navigation.

[0045] Furthermore, the lidar 5 is positioned at the center of the surface of the top plate 13 away from the bottom plate 11, enabling the lidar 5 to achieve 360° scanning perception.

[0046] For the first auxiliary wheel 6 mentioned above, please refer to Figures 1-3The number of first auxiliary wheels 6 can be one or more. When there are multiple first auxiliary wheels 6, they are spaced apart below the base plate 11. The first auxiliary wheels 6 and the drive wheels 32 are not on the same plane. In other words, when the drive wheels 32 support the ground, the first auxiliary wheels 6 have a preset first ground clearance d1. By setting the preset first ground clearance, the height of the first auxiliary wheels 6 is increased, thereby enabling the first auxiliary wheels 6 to climb higher obstacles and increasing the passability of the chassis structure 100.

[0047] In some embodiments, the first auxiliary wheel 6 is a swivel wheel, and there are four first auxiliary wheels 6, which are located at the four corners below the base plate 11.

[0048] For the second auxiliary wheel 7 mentioned above, please refer to Figures 1-3 The number of second auxiliary wheels 7 can be one or more. When there are multiple second auxiliary wheels 7, they are spaced apart below the base plate 11. The second auxiliary wheels 7, the first auxiliary wheels 6, and the drive wheels 32 are not on the same plane. In other words, when the drive wheels 32 support the ground, the second auxiliary wheels 7 have a preset second ground clearance d2, which is greater than the first ground clearance d1. By setting the preset second ground clearance, the height of the second auxiliary wheels 7 is increased, thereby enabling the second auxiliary wheels 7 to climb higher obstacles than the first auxiliary wheels 6, further increasing the passability of the chassis structure 100.

[0049] In some embodiments, there are two second auxiliary wheels 7, one second auxiliary wheel 7 is disposed on the front side below the base plate 11, and the other second auxiliary wheel 7 is disposed on the rear side below the base plate 11.

[0050] In some embodiments, the second auxiliary wheel 7 is a swivel wheel.

[0051] For the charging electrode 8 mentioned above, please refer to Figures 1-3 The charging electrode 8 is disposed on the base plate 11 and is used to connect with the external power source 4 to supplement the power source 4 with power.

[0052] In some embodiments, the charging electrode 8 is disposed on the front or rear side of the base plate 11.

[0053] For the control module 9 mentioned above, please refer to Figure 1 and Figure 3 The control module 9 is located on the surface of the top plate 13 away from the bottom plate 11. The control module 9 is located on one side of the lidar 5, that is, on the front, rear, left, or right side of the surface of the top plate 13 away from the bottom plate 11. The control module 9 is used to receive information from the lidar 5, control the drive wheel 32, and manage the power supply 4.

[0054] In this embodiment of the invention, the chassis structure 100 includes a base plate assembly 1, an elastic element 2, and a drive wheel assembly 3. Both ends of the elastic element 2 are connected to the base plate assembly 1, and the drive wheel assembly 3 is connected to the elastic element 2. The elastic element 2 achieves the shock absorption and buffering function of the chassis structure 100, eliminating the need for a complex structure of shock absorption components, thus simplifying the structure of the chassis structure 100 and reducing its production cost.

[0055] This utility model also provides a robot embodiment, which includes the chassis structure 100 described above. The structure and function of the chassis structure 100 can be referred to the above embodiments, and will not be repeated here.

[0056] It should be noted that while the preferred embodiments of this utility model are provided in the specification and accompanying drawings, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are not intended to impose additional limitations on the content of this utility model; their purpose is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Furthermore, the above-described technical features can be combined with each other to form various embodiments not listed above, all of which are considered to be within the scope of this utility model specification. Moreover, those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A chassis structure, characterized by, The chassis structure comprises: a bottom plate assembly; a resilient member, both ends of which are connected to the bottom plate assembly; a driving wheel assembly connected to the resilient member.

2. The chassis structure of claim 1, wherein, The middle part of the resilient member is provided with an arc-shaped part, and the driving wheel assembly is connected to the arc-shaped part; the middle part of the resilient member is curved away from the bottom plate assembly to form an arc-shaped structure.

3. The chassis structure of claim 2, wherein, The resilient member is provided with a first connecting part and a second connecting part, and the first connecting part and the second connecting part are respectively fixed to both ends of the arc-shaped part; the first connecting part and the second connecting part are both connected to the bottom plate assembly.

4. The chassis structure of claim 2, wherein, The bottom plate assembly is provided with a first mounting space; both ends of the resilient member are mounted in the first mounting space, and part of the driving wheel assembly is located in the first mounting space.

5. The chassis structure of claim 4, wherein, The driving wheel assembly comprises a bracket and a driving wheel, the bracket is connected to the middle part of the arc-shaped part, and the driving wheel is connected to the bracket.

6. The chassis structure of claim 4, wherein, The first mounting space comprises a first connecting point and a second connecting point; the first connecting point and the second connecting point are connected by a gap space, one end of the resilient member is connected to the first connecting point, the other end of the resilient member is connected to the second connecting point, and the middle part of the resilient member is located in the gap space.

7. The chassis structure of claim 1, wherein The resilient member is a plate-shaped structure, and is used to provide a ground-facing force to the driving wheel assembly; the driving wheel is mounted on the side of the resilient member facing the ground.

8. The chassis structure of claim 4, wherein, The chassis structure further comprises a power supply; the bottom plate assembly is further provided with a second mounting space, the second mounting space is separated from the first mounting space, the power supply is arranged in the second mounting space, and the power supply is used to provide power support for the driving wheel assembly.

9. The chassis structure of claim 1, wherein, The chassis structure further comprises a laser radar; the laser radar is arranged at the top end of the bottom plate assembly, and is used to sense external environmental information and for positioning and navigation.

10. A robot, characterized in that The chassis structure comprises the bottom plate assembly, the resilient member, and the driving wheel assembly. The chassis structure comprises the bottom plate assembly, the resilient member, and the driving wheel assembly.

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