Chassis and mobile robot

Abstract

The utility model relates to the technical field of wheel sets, and particularly discloses a chassis and a mobile robot, the chassis comprises an upper shell, a frame, a lower shell, a battery, a motor driving circuit board, a main control board, wheel sets, universal wheels and rotatable wheel arms; the battery is electrically connected with the motor of the wheel set, the motor driving circuit board and the main control board; the motor driving circuit board is connected with the main control board; one side of the frame is connected with the upper shell, and the other side of the frame is connected with the lower shell; a space between the lower shell and the upper shell is used for accommodating a battery, a motor driving circuit board and a control panel; the universal wheels are mounted on the frame; the rotatable wheel arm is mounted on the frame; the bearing seat of the wheel set is connected with one end of the rotatable wheel arm, and the base of the universal wheel is connected with the other end of the rotatable wheel arm; the middle of the rotatable wheel arm is connected with the frame through a rotating shaft, so that the wheel set and the universal wheel can rotate around the rotating shaft. According to the scheme, the maneuverability, stability and trafficability of the chassis can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of wheel sets, in particular to a chassis and a mobile robot. BACKGROUND

[0002] With the development of science and technology, various movable devices gradually enter people's lives, for example, a mobile robot is a common movable device. However, the chassis of most mobile robots at present is directly rigidly connected with the chassis body through a driving wheel, and the robot chassis operating in this way does not have shock absorption performance, and has deficiencies in passing performance, obstacle crossing ability and the like, and the use occasions are greatly limited.

[0003] At present, no effective solution has been proposed for the above problems. CONTENT OF THE UTILITY MODEL

[0004] The present specification provides a chassis and a mobile robot to solve the problem that the chassis of the movable device in the prior art does not have shock absorption performance, passing performance, obstacle crossing ability and the like.

[0005] The present specification provides a chassis, which comprises an upper shell, a frame, a lower shell, a battery, a motor driving circuit board, a main control board, a wheel set, a universal wheel and a rotatable wheel arm.

[0006] The battery is electrically connected with the motor of the wheel set, the motor driving circuit board and the main control board; the motor driving circuit board is connected with the main control board; one side of the frame is connected with the upper shell, and the other side of the frame is connected with the lower shell; the space between the lower shell and the upper shell is used for accommodating the battery, the motor driving circuit board and the control board; and the universal wheel is installed on the frame.

[0007] The rotatable wheel arm is installed on the frame; one end of the rotatable wheel arm is connected with the bearing seat of the wheel set, and the other end of the rotatable wheel arm is connected with the base of the universal wheel; and the middle part of the rotatable wheel arm is connected between the rotating shaft and the frame, so that the wheel set and the universal wheel can rotate around the rotating shaft.

[0008] In one embodiment, a spring is arranged between the other end of the rotatable wheel arm and the frame.

[0009] In one embodiment, an indicator light power button is arranged on the outer side of the lower shell, and the indicator light power button is used for turning on and off and displaying the remaining power of the battery.

[0010] In one embodiment, the middle part of the lower shell is inwardly recessed, and the wheel set is installed below the middle part of the lower shell.

[0011] In one embodiment, the wheel set comprises a first wheel set and a second wheel set, and the universal wheel comprises a first universal wheel and a second universal wheel; the rotatable wheel arm comprises a first rotatable wheel arm and a second rotatable wheel arm;

[0012] The bearing seat of the first wheel set is connected to one end of the first rotatable wheel arm, and the base of the first universal wheel is connected to the other end of the first rotatable wheel arm;

[0013] The bearing seat of the second wheel set is connected to one end of the second rotatable wheel arm, and the base of the second universal wheel is connected to the other end of the second rotatable wheel arm.

[0014] In one embodiment, the chassis further comprises a first fixed wheel arm, a second fixed wheel arm, a third universal wheel and a fourth universal wheel; the base of the third universal wheel is connected to the first fixed wheel arm, and the first fixed wheel arm is mounted on the frame; the base of the fourth universal wheel is connected to the second fixed wheel arm, and the second fixed wheel arm is mounted on the frame.

[0015] In one embodiment, the wheel set comprises a motor, a bearing, a bearing seat, a shaft coupling, a first bearing retainer, a second bearing retainer, a tension sleeve, a shaft fastener and a wheel;

[0016] The motor serves as a power source of the wheel set and is used to output torque to drive the wheel set to operate; the motor comprises a main body and a rotating shaft, and an end surface of the main body close to the rotating shaft is fixedly connected to an outer ring of the bearing seat;

[0017] The outer ring of the bearing is mounted in the bearing seat; a first annular groove is arranged on an inner ring of the bearing seat, and the first annular groove is used to mount the first bearing retainer, and the first bearing retainer limits the axial displacement of the outer ring of the bearing;

[0018] The inner ring of the bearing is matched with the shaft coupling, a second annular groove is arranged on the shaft coupling, and the second annular groove is used to mount the second bearing retainer, and the second bearing retainer limits the axial displacement of the inner ring of the bearing;

[0019] The inner ring of the shaft coupling is clamped to the rotating shaft through the tension sleeve; the shaft coupling is further fixedly connected to the wheel; and the shaft fastener is connected to the shaft coupling and the rotating shaft respectively, and is used to fix the axial position of the shaft coupling.

[0020] In one embodiment, the bearing is a cylindrical roller bearing; and / or the rollers of the bearing are in linear contact with the raceways.

[0021] In one embodiment, the wheel set further comprises a motor mounting plate, an end surface of the main body close to the rotation shaft is connected with the motor mounting plate, and the motor mounting plate is fixedly connected with the outer ring of the bearing seat.

[0022] In one embodiment, the upper shell of the chassis is provided with a standardized interface suitable for adapting various functional modules.

[0023] The embodiments of the present specification also provide a mobile robot, comprising:

[0024] The chassis in any of the above embodiments;

[0025] A pipe set, comprising a telescopic pipe, a pipe seat and a mounting seat, the pipe seat is fixedly connected with the chassis, the telescopic pipe is installed on the pipe seat, and the mounting seat is connected with the telescopic pipe.

[0026] In one embodiment, the mounting seat is provided with a standardized interface; the mobile robot further comprises:

[0027] a shooting device or a support, which is installed on the mounting seat through the standardized interface; and / or,

[0028] a mechanical arm, which is installed on the mounting seat through the standardized interface.

[0029] In one embodiment, the telescopic pipe comprises a first pipe, a second pipe and a telescopic adjusting sleeve;

[0030] The second pipe is connected with the mounting seat, and the first pipe is connected with the pipe seat;

[0031] The size of the first pipe is larger than that of the second pipe, at least part of the second pipe is arranged in the first pipe, and the telescopic adjusting sleeve is used for adjusting the length of the second pipe extending into the first pipe.

[0032] The embodiment of the present specification provides a chassis, which comprises an upper shell, a frame, a lower shell, a battery, a motor driving circuit board, a main control board, a wheel set, a universal wheel and a rotatable wheel arm; the battery is electrically connected with the motor of the wheel set, the motor driving circuit board and the main control board; the motor driving circuit board is connected with the main control board; one side of the frame is connected with the upper shell, and the other side of the frame is connected with the lower shell; the space between the lower shell and the upper shell is used for accommodating the battery, the motor driving circuit board and the control board; the universal wheel is installed on the frame; the rotatable wheel arm is installed on the frame; the bearing seat of the wheel set is connected with one end of the rotatable wheel arm, and the base of the universal wheel is connected with the other end of the rotatable wheel arm; the middle part of the rotatable wheel arm is connected between the rotating shaft and the frame, so that the wheel set and the universal wheel can rotate around the rotating shaft. In the above scheme, the wheel set and the universal wheel rotate around the rotating shaft with the rotatable wheel arm, so that the robot can flexibly change the driving direction, the rotatable wheel arm can adjust the position and angle of the wheel set and the universal wheel according to the terrain, and when obstacles or uneven ground are encountered, the wheel arm can rotate to make the wheels better fit the ground, reduce bumps, and the like, so that the robot can pass through stably, and the damping performance, passing performance and obstacle crossing ability of the chassis can be effectively improved.

[0033] Specific embodiments of the present application are disclosed in detail in the following description and drawings, indicating the principles of the present application that can be used in a manner. It should be understood that the embodiments of the present application are not limited in scope in this regard. Features described and / or illustrated with respect to one embodiment can be used in the same or similar manner in one or more other embodiments, in combination with features of other embodiments, or in place of features of other embodiments.

[0034] It should be emphasized that the term "comprises / comprising" as used herein indicates the presence of the stated features, components or elements, but does not exclude the presence or addition of one or more other features, components or elements. BRIEF DESCRIPTION OF DRAWINGS

[0035] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present application in any way. In addition, the shape and scale of each component in the drawings are only illustrative and are used to help understand the present application, and are not specific limitations on the shape and scale of each component of the present application. Those skilled in the art can select various possible shapes and scales to implement the present application according to specific circumstances under the guidance of the present application. In the drawings:

[0036] Figure 1 A perspective structural schematic view of the chassis in an embodiment of the present specification is shown;

[0037] Figure 2 A perspective structural schematic view of the chassis in an embodiment of the present specification is shown;

[0038] Figure 3 Fig. 1 shows a perspective view of a chassis according to an embodiment of the present specification;

[0039] Figure 4 Fig. 2 shows a perspective view of a partial chassis according to an embodiment of the present specification;

[0040] Figure 5 Fig. 3 shows a perspective view of a wheel set according to an embodiment of the present specification;

[0041] Figure 6 Fig. 4 shows an exploded view of a wheel set according to an embodiment of the present specification;

[0042] Figure 7 Fig. 5 shows a cross-sectional view of a wheel set according to an embodiment of the present specification;

[0043] Figure 8 Fig. 6 shows a perspective view of a mobile robot according to an embodiment of the present specification;

[0044] Figure 9 Fig. 7 shows a structural view of a telescopic tube according to an embodiment of the present specification.

[0045] Reference signs of the above figures:

[0046] 10, chassis; 101, upper shell; 102, frame; 103, lower shell; 104, battery; 105, motor drive circuit board; 106, main control board; 107, universal wheel; 107-1, first universal wheel; 107-2, second universal wheel; 108, rotatable wheel arm; 108-1, first rotatable wheel arm; 108-2, second rotatable wheel arm; 109, rotation shaft; 110, spring; 111, indicator light power button; 112-1, first fixed wheel arm; 112-2, second fixed wheel arm; 113-1, third universal wheel; 113-2, fourth universal wheel;

[0047] 100, wheel set; 100-1, first wheel set; 100-2, second wheel set; 1001, motor; 1002, bearing; 1003, bearing seat; 1004, shaft coupling; 1005, first bearing retainer; 1006, second bearing retainer; 1007, expansion sleeve; 1008, shaft fastener; 1009, wheel; 1010, motor mounting plate; 1030, mounting hole;

[0048] 1, robot; 20, tube set; 21, telescopic tube; 22, tube seat; 23, mounting seat; 211, first tube; 212, second tube; 213, telescopic adjustment sleeve. DETAILED DESCRIPTION

[0049] The principles and spirit of the present specification will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only for the purpose of better understanding and implementing the present specification, and do not limit the scope of the present specification in any way. On the contrary, these embodiments are provided to make the disclosure of the present specification more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0050] The details of the present application can be more clearly understood with reference to the drawings and the description of specific embodiments of the present application. However, the specific embodiments of the present application described herein are only for the purpose of explaining the present application, and should not be understood in any way as limiting the present application. Under the teachings of the present application, skilled persons can conceive of any possible variations based on the present application, which should be considered as falling within the scope of the present application. It should be noted that when an element is referred to as "provided on" another element, it can be directly on the other element or there can be a middle element. When an element is referred to as "connected" to another element, it can be directly connected to the other element or there can be a middle element. The terms "mounting", "connection", and "connection" should be interpreted broadly, for example, it can be a mechanical connection or an electrical connection, it can be a connection between two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present specification belongs. The terms used in the present specification are only for the purpose of describing the specific embodiments and are not intended to limit the present specification. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0052] The present specification provides a chassis. Please refer to Figures 1 to 4 , which shows a structural schematic diagram of the chassis in an embodiment of the present specification. Figure 1 and Figure 2 respectively show perspective structural diagrams of the chassis from different viewing angles. Figure 3 shows a schematic diagram of the lower shell and other structures of the chassis after the lower shell is removed. Figure 4 shows a structural schematic diagram of the chassis after the lower shell and the upper shell are removed. As Figures 1 to 4As shown, the chassis 10 may include a wheel assembly 100, an upper shell 101, a frame 102, a lower shell 103, a battery 104, a motor drive circuit board 105, a main control board 106, casters 107, and rotatable wheel arms 108. The battery 104 is electrically connected to the motor of the wheel assembly 100, the motor drive circuit board 105, and the main control board 106. The motor drive circuit board 105 is connected to the main control board 106. The motor of the wheel assembly 100 is electrically connected to the motor drive circuit board 105. One side of the frame 102 is connected to the upper shell 101, and the other side of the frame 102 is connected to the lower shell 103. The space between the lower shell 103 and the upper shell 101 is used to accommodate the battery 104, the motor drive circuit board 105, and the control board. The casters 107 are mounted on the frame 102.

[0053] The frame 102 serves as the core support structure of the chassis 10, connecting the upper shell 101, lower shell 103, and various functional modules. The upper shell 101 and lower shell 103 form a sealed compartment, protecting the internal electronic equipment (including the battery 104, motor drive circuit board 105, and main control board 106). The battery 104 provides electrical energy to drive the motor and control modules. The motor drive circuit board 105 controls the motor of the wheel set 100, enabling speed and steering adjustments for the chassis 10. The main control board 106 receives commands and coordinates the operation of each module. For example, the main control board 106 receives movement commands and, based on these commands, controls the motor drive circuit board 105 to drive the wheel set 100, thereby controlling the movement of the chassis 10. The casters 107 provide auxiliary support and also enable steering of the chassis 10.

[0054] like Figure 3 and Figure 4 As shown, the rotatable wheel arm 108 is mounted on the frame 102. The bearing seat of the wheel assembly 100 is connected to one end of the rotatable wheel arm 108, and the base of the swivel wheel 107 is connected to the other end of the rotatable wheel arm 108. By mounting the bearing seat of the wheel assembly 100 and the swivel wheel 107 to the rotatable wheel arm 108 of the chassis 10, the wheel assembly 100 and the swivel wheel 107 can rotate around the rotation axis with the rotatable wheel arm 108. The rotatable wheel arm 108 allows the wheel assembly 100 and the swivel wheel 107 to dynamically adjust their direction, supporting the chassis 10 to achieve multi-angle steering. When facing uneven surfaces, the rotation of the wheel arm can adjust the attitude of the wheel assembly 100 to ensure that the wheels are always in effective contact with the ground. When encountering obstacles, the rotation of the wheel arm can fine-tune the position of the wheel assembly 100, helping the chassis 10 to perform actions such as circling around edges and crossing obstacles. By adjusting the contact angle between the wheel assembly 100 and the ground through the rotation of the wheel arm, the load on the chassis 10 can be evenly distributed, reducing swaying and bumps during driving. Through the design of the rotatable wheel arm 108, the chassis 10 achieves a comprehensive improvement in mobility, adaptability, and maintainability, making it particularly suitable for the needs of mobile robots in complex scenarios. It can effectively improve the chassis's shock absorption performance, passability, and obstacle-crossing ability.

[0055] As shown in Figure 3 and Figure 4 , the rotatable wheel arm 108 is connected with the frame 102 through the rotation shaft 109, so that the wheel set 100 and the universal wheel 107 can rotate around the rotation shaft 109. The wheel arm is connected with the frame 102 through the rotation shaft 109, so that the wheel set 100 and the universal wheel 107 can rotate around the rotation shaft 109.

[0056] In the above embodiment, the chassis 10 is designed through the rotatable wheel arm 108, which realizes the comprehensive improvement of the mobility, adaptability and maintainability of the chassis 10, and is especially suitable for the demand of mobile robots in complex scenes.

[0057] As shown in Figure 4 , in some embodiments of the present specification, a spring 110 is arranged between the other end of the rotatable wheel arm 108 and the frame 102. The spring 110 is arranged below the universal wheel 107 and plays a role of buffering and shock absorption. When the chassis 10 travels on uneven ground, the impact force received by the universal wheel 107 is buffered through the spring 110, which reduces the vibration influence on the robot body and other components containing the chassis 10, and improves the stability and comfort of the robot traveling. At the same time, the existence of the spring 110 can also make the universal wheel 107 better adhere to the ground, ensuring the grip and stability of the robot during traveling.

[0058] As shown in Figures 1 to 4 , in some embodiments of the present specification, an indicator light power button 111 is arranged on the outer side of the lower shell 103. The indicator light power button 111 is used for switching on and off and displaying the remaining capacity of the battery 104. The indicator light power button 111 is arranged on the outer side of the lower shell 103. The indicator light is electrically connected with the circuit board, which can display the capacity of the battery 104 in real time, so that the operator can know the capacity state of the robot in time, so as to reasonably arrange the work task and perform the charging operation.

[0059] In some embodiments of the present specification, the upper shell 101 of the chassis 10 is provided with a standardized interface suitable for a variety of functional modules. The upper shell 101 of the chassis 10 can be provided with a standardized interface, which can be adapted to a variety of functional modules to realize different functions. Through the design of the standardized interface, the chassis 10 realizes the significant improvement of the functional expansion, the convenience of installation and maintenance, and the environmental adaptability, which is especially suitable for intelligent robot systems that need to be quickly iterated or multi-task switched.

[0060] As shown in Figure 2 and Figure 3 , in some embodiments of the present specification, the middle part of the lower shell 103 is recessed inward. The wheel set 100 is installed below the middle part of the lower shell 103. By setting the middle part of the lower shell 103 to be recessed downward to install the wheel set, the thickness and volume of the chassis can be reduced, and the manufacturing cost can be saved.

[0061] As shown in Figure 3 and Figure 4 , in some embodiments of the present specification, the wheel set 100 can include a first wheel set 100-1 and a second wheel set 100-2, and the universal wheel 107 can include a first universal wheel 107-1 and a second universal wheel 107-2. The rotatable wheel arm 108 can include a first rotatable wheel arm 108-1 and a second rotatable wheel arm 108-2. The bearing seat of the first wheel set 100-1 is connected to one end of the first rotatable wheel arm 108-1, and the base of the first universal wheel 107-1 is connected to the other end of the first rotatable wheel arm 108-1. The bearing seat of the second wheel set 100-2 is connected to one end of the second rotatable wheel arm 108-2, and the base of the second universal wheel 107-2 is connected to the other end of the second rotatable wheel arm 108-2. In this embodiment, the wheel set and the universal wheel rotate with the rotatable wheel arm around the rotation axis, allowing the robot to change the driving direction flexibly. The rotatable wheel arm can adjust the position and angle of the wheel set and the universal wheel according to the terrain, and when encountering obstacles or uneven ground, the wheel arm can rotate to make the wheels better fit the ground, reducing bumps. For example, when passing through a road with potholes, the wheel arm automatically adjusts to allow the robot to pass smoothly.

[0062] In some embodiments of the present specification, the chassis 10 can further include a first fixed wheel arm 112-1, a second fixed wheel arm 112-2, a third universal wheel 113-1, and a fourth universal wheel 113-2. The base of the third universal wheel 113-1 is connected to the first fixed wheel arm 112-1, and the first fixed wheel arm 112-1 is installed on the frame 102. The base of the fourth universal wheel 113-2 is connected to the second fixed wheel arm 112-2, and the second fixed wheel arm 112-2 is installed on the frame 102.

[0063] In the above embodiment, the third universal wheel and the fourth universal wheel are installed on the frame through the fixed wheel arm, providing additional support points for the chassis. This helps to distribute the weight of the robot, making the robot more stable when stationary and moving, especially when carrying heavy loads or driving at high speed, effectively reducing the risk of the robot tipping over and improving overall stability. The addition of the third universal wheel and the fourth universal wheel further increases the steering flexibility of the robot, which can cooperate with the previous wheel set and universal wheel to enable the robot to perform more complex steering actions, such as multi-angle steering in narrow spaces, rotating in place, etc., adapting to more diverse working scenarios and path planning requirements.

[0064] The wheel set in the chassis in the embodiments of the present specification is described below. Please refer to Figure 5 , Figure 6 and Figure 7 , which respectively show the perspective structural diagram, the exploded view, and the cross-sectional view of the wheel set in the chassis in the embodiments of the present specification. As shown inFigures 5 to 7 As shown, the wheel set 100 can include a motor 1001, a bearing 1002, a bearing seat 1003, a shaft coupling 1004, a first bearing retainer 1005, a second bearing retainer 1006, a tension sleeve 1007, a shaft fastener 1008, and a wheel 1009.

[0065] The motor 1001 serves as the power source of the wheel set 100, and is used to output torque to drive the wheel set 100 to operate. The motor 1001 includes a main body and a rotating shaft. The end face of the main body close to the rotating shaft is fixedly connected with the outer ring of the bearing seat 1003. The outer ring of the bearing 1002 is installed in the bearing seat 1003. The inner ring of the bearing seat 1003 is provided with a first annular groove. The first annular groove is used to install the first bearing retainer 1005. The first bearing retainer 1005 limits the axial displacement of the outer ring of the bearing 1002. The inner ring of the bearing 1002 cooperates with the shaft coupling 1004. The shaft coupling 1004 is provided with a second annular groove. The second annular groove is used to install the second bearing retainer 1006. The second bearing retainer 1006 limits the axial displacement of the inner ring of the bearing 1002. The inner ring of the shaft coupling 1004 is clamped to the rotating shaft through the tension sleeve 1007. The tension sleeve 1007 can be clamped by interference fit or elastic deformation structure. The shaft coupling 1004 is also fixedly connected with the wheel 1009. The shaft fastener 1008 is connected with the shaft coupling 1004 and the rotating shaft respectively, and is used to fix the axial position of the shaft coupling 1004. The motor 1001 serves as the power source of the wheel set 100, and is used to output torque to drive the wheel set 100 to operate.

[0066] Specifically, the motor 1001 serves as the power source of the wheel set 100, and is responsible for outputting torque to drive the entire wheel set 100 to operate. The motor 1001 can include a main body and a rotating shaft. The end face of the main body close to the rotating shaft is fixedly connected with the outer ring of the bearing seat 1003, ensuring the stability of power transmission.

[0067] The bearing 1002 includes a bearing 1002 inner ring and a bearing 1002 outer ring. The bearing 1002 inner ring is fixed on the shaft coupling 1004, and the bearing 1002 outer ring is installed in the bearing seat 1003. The main function of the bearing 1002 is to reduce the friction between rotating parts, so that the shaft coupling 1004 can rotate flexibly around the rotating shaft. During operation, the bearing 1002 undertakes the task of supporting and guiding rotation, ensuring the smooth and efficient rotation of the entire wheel set 100.

[0068] The bearing 1002 outer ring is tightly fitted with the bearing seat 1003 to provide support for the entire rotating part. The inner ring of the bearing seat 1003 is provided with a first annular groove. The first annular groove is used to install the first bearing retainer 1005. The first bearing retainer 1005 limits the axial displacement of the outer ring of the bearing 1002. The first bearing retainer 1005 blocks the outer ring of the bearing 1002, effectively limiting its position, preventing it from sliding out of the bearing seat 1003 during operation, thereby ensuring stable operation of the bearing 1002 and ensuring smooth rotation of the wheel set 100.

[0069] The inner ring of the bearing 1002 cooperates with the shaft coupling 1004. The shaft coupling 1004 is provided with a second annular groove for installing the second bearing retainer 1006, which limits the axial displacement of the inner ring of the bearing 1002 and prevents it from sliding out of the shaft coupling 1004, enhancing the reliability of the bearing 1002 in operation. The shaft coupling 1004 plays an important role in connecting the rotating shaft and the wheel 1009. The inner ring of the shaft coupling 1004 is fixed to the rotating shaft through the expansion sleeve 1007, which serves as a key component for connecting solid shafts and hollow shafts, reliably transmitting torque and ensuring that the torque output by the motor 1001 can be stably transmitted to the wheel 1009 to drive the wheel 1009 to rotate. The outer ring of the shaft coupling 1004 is connected to the wheel 1009 to achieve the final transmission of power from the motor 1001 to the wheel 1009. At the same time, the shaft fastener 1008 is connected to the shaft coupling 1004 and the rotating shaft, effectively limiting the axial displacement of the shaft coupling 1004 and ensuring that the shaft coupling 1004 always maintains a stable working state during operation of the wheel set 100, without affecting power transmission due to axial displacement.

[0070] In the above embodiment, the bearing seat 1003 and the double shaft end retainer provide positioning support for the bearing 1002, the shaft fastener 1008 limits the displacement of the shaft coupling 1004, and the cooperation of multiple components reduces the influence of radial force on the motor 1001, protecting the internal bearing 1002 and gear of the motor 1001 and achieving a stable working state of the rotating shaft outputting only axial torque.

[0071] In some embodiments of the present specification, the bearing 1002 is a cylindrical roller bearing 1002. With the cylindrical roller bearing 1002, the radial load capacity of the wheel set 100 can be improved, and in combination with the bearing seat 1003, the shaft end retainer ring and other structures, the rotating shaft only bears the axial torque, reduces the influence of the radial force on the motor 1001, and protects the internal bearing 1002 and gear of the motor 1001. The bearing seat 1003 and the shaft end retainer ring provide positioning support for the cylindrical roller bearing 1002, and the shaft fastener 1008 limits the displacement of the shaft coupling 1004. The combination of multiple components makes the rotating shaft only bear the axial torque, avoids radial load impact, not only takes advantage of the high load capacity of the cylindrical roller bearing 1002, but also protects the internal structure of the motor 1001, and ensures the long-term stable operation of the wheel set 100 in heavy load scenarios.

[0072] In some embodiments of the present specification, the rollers of the bearing 1002 are in linear contact with the raceway. Compared with the point contact of the ball bearing 1002, the linear contact has a significantly increased contact area and can bear higher radial load. For example, under the same size, the radial load capacity of the cylindrical roller bearing 1002 is greater than that of the ball bearing 1002, ensuring the stable operation of the wheel set 100 in heavy load working conditions.

[0073] As shown in Figures 5 to 7 In some embodiments of the present specification, the wheel set 100 can also include a motor mounting plate 1010. The end surface of the main body close to the rotating shaft is connected with the motor mounting plate 1010, and the motor mounting plate 1010 is also fixedly connected with the outer ring of the bearing seat 1003. The motor mounting plate 1010 plays a key role in supporting and fixing the motor 1001. It not only provides a stable mounting platform for the motor 1001, but also fastens the motor 1001 to the bearing seat 1003 through bolts, and transmits the power of the motor 1001 to the subsequent components. This connection method not only ensures the firmness of the motor 1001 installation, but also facilitates the installation and disassembly of the motor 1001, improving the convenience of maintenance. The motor mounting plate 1010 can provide a standardized mounting interface for the motor 1001, and connecting the motor 1001 through the motor mounting plate 1010 ensures the positional accuracy of the motor 1001. By connecting the motor 1001 and the bearing seat 1003 through the motor mounting plate 1010, different sizes of motors 1001 can be adapted, simplifying the wheel set 100 assembly process, reducing installation difficulty, and improving production efficiency.

[0074] As shown in Figure 5As shown, in some embodiments of the present specification, the bearing seat 1003 is provided with at least two mounting holes 1030, and the bearing seat 1003 is mounted to the rotatable wheel arm of the chassis through the at least two mounting holes 1030. By mounting the bearing seat 1003 to the rotatable wheel arm of the chassis, the bearing seat 1003 can rotate with the rotatable wheel arm around the rotation axis. The rotatable wheel arm enables the wheel set 100 to dynamically adjust the direction, supporting the chassis to realize multi-angle steering. For example, in a narrow space, the wheel set 100 changes the driving direction by rotating the wheel arm, without the need to move the chassis greatly to complete the steering operation, thereby improving the mobility of the robot in a complex environment. In the face of uneven road surfaces (such as steps, slopes, and gravel road surfaces), the wheel arm rotation can adjust the attitude of the wheel set 100 to ensure that the wheels 1009 are always in effective contact with the ground. For example, when climbing a slope, the wheel arm rotation causes the wheel set 100 to tilt, thereby increasing the grip; when crossing a bump, the wheel set 100 rotates with the wheel arm to lift up, thereby avoiding being stuck and improving the passability of the chassis in complex terrain. When encountering obstacles, the wheel arm rotation can fine-tune the position of the wheel set 100 to help the chassis to realize actions such as edge-following and obstacle-crossing. For example, the wheel set 100 drives close to the edge of the obstacle by rotating the wheel arm, or adjusts the angle of the wheel set 100 to cross small obstacles, thereby enhancing the autonomous obstacle avoidance capability of the robot and expanding the operating range. By adjusting the contact angle of the wheel set 100 with the ground through the wheel arm rotation, the load of the chassis can be evenly distributed, thereby reducing the shaking and jolting during driving. For example, when driving at high speed or accelerating suddenly, the wheel arm dynamically adjusts the attitude of the wheel set 100 to keep the center of gravity of the chassis stable, thereby reducing the risk of rollover and improving the overall motion stability.

[0075] In some embodiments of the present specification, the shaft fastener 1008 is connected to the rotation shaft through a bolt. The bolt generates a pre-tightening force by tightening to tightly fit the coupling 1004 and the rotation shaft, thereby preventing axial movement. Even when the wheel set 100 rotates at high speed or bears impact load (such as sudden stop of the robot or climbing a slope), the rigid connection of the coupling 1004 and the rotation shaft can be maintained, thereby avoiding transmission failure caused by loosening. In combination with accessories such as spring washers and lock nuts, the anti-vibration performance can be further enhanced to ensure long-term stability of the connection. In addition, the bolt connection ensures the coaxiality of the coupling 1004 and the rotation shaft through precise thread matching. When the coupling 1004 or the motor 1001 needs to be repaired, the components can be separated only by disassembling the bolt, thereby greatly shortening the maintenance time. In the case of sudden overload, the bolt can absorb part of the impact energy through elastic deformation to avoid rigid damage to the coupling 1004 or the rotation shaft, thereby prolonging the service life of the wheel set 100. In the above embodiments, the shaft fastener 1008 connected through the bolt can significantly improve the reliability and maintenance efficiency of the wheel set 100, and is particularly suitable for automated equipment that needs to be frequently debugged and repaired.

[0076] In some embodiments of the present specification, the coupling 1004 and the wheel 1009 are connected by bolts. After the coupling 1004 and the wheel 1009 are tightened by the bolts, the friction generated can effectively transmit the torque of the motor 1001 to the wheel 1009. In combination with accessories such as spring washers and nylon locking nuts, the loosening caused by vibration can be resisted, and the maintenance period can be extended. The precise fit of the bolt hole and the bolt can improve the coaxiality of the coupling 1004 and the wheel 1009, and reduce the vibration and bearing 1002 wear caused by eccentricity. In the above embodiments, the bolt connection can significantly improve the connection reliability and flexibility of the coupling 1004 and the wheel 1009, and improve the maintenance efficiency and operation stability.

[0077] In some embodiments of the present specification, the motor mounting plate 1010 and the bearing seat 1003 are connected by bolts. The pre-tightening force generated by tightening the bolts makes the mounting plate and the bearing seat 1003 form a rigid whole, ensuring that the torque of the motor 1001 is directly transmitted to the bearing seat 1003 through the mounting plate, and avoiding transmission failure caused by loosening.

[0078] In some embodiments of the present specification, the wheel 1009 can include a hub and a tire, the hub is connected with the coupling 1004, and the tire is installed on the hub. The hub is made of metal material, and the tire is made of rubber material. Through the cooperative design of the metal hub and the rubber tire, combined with the modular advantages of bolt connection, the wheel set 100 achieves the optimal balance in load capacity, maintenance efficiency and environmental adaptability.

[0079] The present specification also provides a mobile robot. Please refer to Figure 8 , which shows the structure schematic diagram of the mobile robot in the present specification. As Figure 8 shown, the mobile robot 1 in the present specification can include a chassis 10 and a pipe set 20. The chassis 10 can refer to the implementation described in any of the above embodiments. As Figure 8 shown, the pipe set 20 can include an extendable pipe 21, a pipe seat 22 and a mounting seat 23. The pipe seat 22 is fixedly connected with the chassis 10, the extendable pipe 21 is installed on the pipe seat 22, and the mounting seat 23 is connected with the extendable pipe 21. The height of the extendable pipe 21 can be adjusted.

[0080] In the present embodiment, through the deep integration of the chassis 10 and the pipe set 20, not only the height can be adjusted, but also the perfect balance of high mobility, strong expansibility and environmental adaptability is achieved, which is suitable for complex scenes in multiple fields such as industry, logistics and medical treatment.

[0081] In some embodiments of the present disclosure, the mounting seat 23 is provided with a standardized interface. The standardized interface ensures that different functional devices, such as cameras, mechanical arms, sensors, etc., can be quickly and accurately installed on the mounting seat 23. When the robot 1 performs different tasks, the operator can quickly replace the appropriate device. The standardized interface follows uniform size, electrical and communication standards, so that the robot 1 can be compatible with devices from different manufacturers, widening the range of device selection. When a device of the robot 1 fails, the standardized interface makes the replacement process simple. Through the standardized interface, the robot 1 can quickly carry different functional devices to adapt to diverse working environments and task requirements.

[0082] In some embodiments of the present disclosure, the mobile robot 1 can also include a shooting device or a support. The shooting device or the support is installed on the mounting seat 23 through the standardized interface.

[0083] In some embodiments of the present disclosure, the mobile robot 1 can also include a mechanical arm. The mechanical arm is installed on the mounting seat 23 through the standardized interface.

[0084] In the above embodiments, the same mobile robot 1 can alternately install a shooting device and other functional devices, such as a mechanical arm, through the standardized interface under different task requirements. This avoids the high cost of separately configuring a robot 1 for each function and realizes efficient reuse of devices.

[0085] Please refer to Figure 9 , which shows a structural schematic diagram of the telescopic pipe 21 in the embodiments of the present disclosure. As Figure 9 shown, in some embodiments of the present disclosure, the telescopic pipe 21 can include a first pipe 211, a second pipe 212, and a telescopic adjusting sleeve 213. The second pipe 212 is connected to the mounting seat 23, and the first pipe 211 is connected to the pipe seat 22. The size of the first pipe 211 is larger than that of the second pipe 212, at least part of the second pipe 212 is arranged in the first pipe 211, and the telescopic adjusting sleeve 213 is used to adjust the length of the second pipe 212 extending into the first pipe 211. In use, the screw in the adjusting groove of the telescopic adjusting sleeve 213 is loosened, the second pipe 212 slides in the first pipe 211, and after being adjusted to the required length, the screw is tightened. The screw presses the second pipe 212 through the adjusting groove to generate a friction force to lock the position, complete the telescopic adjustment, and ensure that the pipe group 20 stably supports the shooting device at the target length.

[0086] Each of the embodiments in the present disclosure is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. For specific details, please refer to the description of the related processing embodiments described above, which will not be repeated here.

[0087] It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the application should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of each patent, patent application, and publication cited herein are hereby incorporated herein by reference, each in its entirety.

[0088] The above description is implemented only for the preferred embodiments of the present specification, and is not intended to limit the present specification. The embodiments of the present specification can be variously changed and modified by those skilled in the art. Any modified, equivalent replaced, improved, etc. within the spirit and principle of the present specification should be included in the protection scope of the present specification.

Claims

1. A chassis, characterized in that The chassis comprises an upper shell, a frame, a lower shell, a battery, a motor driving circuit board, a main control board, a wheel set, a universal wheel and a rotatable wheel arm; The battery is electrically connected with the motor of the wheel set, the motor driving circuit board and the main control board; the motor driving circuit board is connected with the main control board; one side of the frame is connected with the upper shell, and the other side of the frame is connected with the lower shell; The space between the lower shell and the upper shell is used for accommodating the battery, the motor driving circuit board and the control board; the universal wheel is installed on the frame; The rotatable wheel arm is installed on the frame; The bearing seat of the wheel set is connected with one end of the rotatable wheel arm, and the base of the universal wheel is connected with the other end of the rotatable wheel arm; the middle part of the rotatable wheel arm is connected with the frame through a rotating shaft, so that the wheel set and the universal wheel can rotate around the rotating shaft.

2. The base pan of claim 1, wherein, A spring is arranged between the other end of the rotatable wheel arm and the frame.

3. The base pan of claim 1, wherein, An indicator light power button is arranged on the outer side of the lower shell, which is used for turning on and off and displaying the remaining power of the battery.

4. The base pan of claim 1, wherein, The middle part of the lower shell is inwardly recessed, and the wheel set is installed below the middle part of the lower shell.

5. The base pan of claim 1, wherein, The wheel set comprises a first wheel set and a second wheel set, the universal wheel comprises a first universal wheel and a second universal wheel, and the rotatable wheel arm comprises a first rotatable wheel arm and a second rotatable wheel arm; The bearing seat of the first wheel set is connected with one end of the first rotatable wheel arm, and the base of the first universal wheel is connected with the other end of the first rotatable wheel arm; The bearing seat of the second wheel set is connected with one end of the second rotatable wheel arm, and the base of the second universal wheel is connected with the other end of the second rotatable wheel arm.

6. The base pan of claim 5, wherein, The chassis further comprises a first fixed wheel arm, a second fixed wheel arm, a third universal wheel and a fourth universal wheel; the base of the third universal wheel is connected with the first fixed wheel arm, and the first fixed wheel arm is installed on the frame; the base of the fourth universal wheel is connected with the second fixed wheel arm, and the second fixed wheel arm is installed on the frame.

7. The chassis of claim 1, wherein The wheel set comprises a motor, a bearing, a bearing seat, a shaft coupling, a first bearing retainer, a second bearing retainer, a tension sleeve, a shaft fastener and a wheel; The motor serves as a power source of the wheel set and is used for outputting torque to drive the wheel set to operate; the motor comprises a main body and a rotating shaft, and the end face of the main body close to the rotating shaft is fixedly connected with the outer ring of the bearing seat; The outer ring of the bearing is installed in the bearing seat; the inner ring of the bearing is matched with the shaft coupling, and the shaft coupling is provided with a second annular groove for installing the second bearing retainer, and the second bearing retainer limits the axial displacement of the inner ring of the bearing; The outer ring of the bearing is installed in the bearing seat; the inner ring of the bearing is matched with the shaft coupling, and the shaft coupling is provided with a second annular groove for installing the second bearing retainer, and the second bearing retainer limits the axial displacement of the inner ring of the bearing; The outer ring of the bearing is installed in the bearing seat; the inner ring of the bearing is matched with the shaft coupling, and the shaft coupling is provided with a second annular groove for installing the second bearing retainer, and the second bearing retainer limits the axial displacement of the inner ring of the bearing; The inner ring of the coupling is embraced by the expansion sleeve to the rotating shaft; the coupling is fixedly connected with the wheel; the shaft fastener is connected with the coupling and the rotating shaft respectively to fix the axial position of the coupling.

8. The base pan of claim 7, wherein, The bearing is a cylindrical roller bearing; and / or the roller of the bearing is in linear contact with the raceway.

9. The base pan of claim 7, wherein, The wheel set further comprises a motor mounting plate, the end surface of the main body close to the rotating shaft is connected with the motor mounting plate, and the motor mounting plate is fixedly connected with the outer ring of the bearing seat.

10. The base pan of claim 7, wherein, The upper shell of the chassis is provided with a standardized interface suitable for adapting various functional modules.

11. A mobile robot, characterized by The mobile robot comprises: The chassis according to any one of claims 1 to 10; A pipe set comprising a telescopic pipe, a pipe base and a mounting seat, the pipe base is fixedly connected with the chassis, the telescopic pipe is mounted on the pipe base, and the mounting seat is connected with the telescopic pipe.

12. The mobile robot of claim 11, wherein, The mounting seat is provided with a standardized interface; the mobile robot further comprises: A shooting device or a support, which is mounted on the mounting seat through the standardized interface; and / or, A mechanical arm, which is mounted on the mounting seat through the standardized interface.

13. The mobile robot according to claim 11, wherein The telescopic pipe comprises a first pipe, a second pipe and a telescopic adjusting sleeve; The second pipe is connected with the mounting seat, and the first pipe is connected with the pipe base; The size of the first pipe is larger than that of the second pipe, at least part of the second pipe is arranged in the first pipe, and the telescopic adjusting sleeve is used for adjusting the length of the second pipe extending into the first pipe.

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