Wheel set, chassis and mobile robot

Abstract

The utility model relates to the technical field of wheel sets, and particularly discloses a wheel set, a chassis and a mobile robot, the wheel set comprises a motor, a bearing, a bearing seat, a coupler, a first bearing retainer ring, a second bearing retainer ring, a tensioning sleeve, a shaft fastener and a wheel; the motor comprises a body and a rotating shaft, the end face, close to the rotating shaft, of the body is fixedly connected with the outer ring of the bearing seat, and the outer ring of the bearing is installed in the bearing seat. A first annular groove is formed in an inner ring of the bearing seat and used for installing a first bearing check ring and limiting axial displacement of an outer ring of the bearing, the inner ring of the bearing is matched with the coupler, and a second annular groove is formed in the coupler and used for installing a second bearing check ring and limiting axial displacement of the inner ring of the bearing. The inner ring of the coupler tightly holds the rotating shaft through a tensioning sleeve; the coupler is also fixedly connected with the wheel; and the shaft fastener is respectively connected with the coupler and the rotating shaft. According to the scheme, the stable working state that the rotating shaft only outputs the axial torque can be achieved.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of wheel sets, in particular to a wheel set, 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, in the working process of the currently used mobile robot, the bearings and gears inside the motor used to drive the mobile robot to move are easy to be damaged, so that the service life of the motor is short, and the mobile robot cannot work normally. Only by replacing or repairing the motor can the use demand be met, which is low in efficiency and high in cost.

[0003] For the above problems, no effective solution has been proposed so far. CONTENT OF THE UTILITY MODEL

[0004] The embodiments of the present specification provide a wheel set, a chassis and a mobile robot to solve the problem that the internal components of the motor of the movable device in the prior art are easy to be damaged, resulting in short service life of the motor.

[0005] The embodiments of the present specification provide a wheel set, which comprises a motor, a bearing, a bearing seat, a shaft coupling, a first bearing retainer ring, a second bearing retainer ring, a tension sleeve, a shaft fastener and a wheel;

[0006] 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 face of the main body close to the rotating shaft is fixedly connected with an outer ring of the bearing seat;

[0007] The outer ring of the bearing is installed in the bearing seat; a first annular groove is arranged on an inner ring of the bearing seat, the first annular groove is used to install the first bearing retainer ring, and the first bearing retainer ring limits the axial displacement of the outer ring of the bearing;

[0008] The inner ring of the bearing cooperates with the shaft coupling, a second annular groove is arranged on the shaft coupling, the second annular groove is used to install the second bearing retainer ring, and the second bearing retainer ring limits the axial displacement of the inner ring of the bearing;

[0009] The inner ring of the shaft coupling is clamped to the rotating shaft through the tension sleeve; the shaft coupling is further fixedly connected with the wheel; the shaft fastener is connected with the shaft coupling and the rotating shaft respectively and is used to fix the axial position of the shaft coupling.

[0010] In one embodiment, the bearing is a cylindrical roller bearing; and / or the rollers of the bearing are in linear contact with the raceways.

[0011] In one embodiment, the wheel set further comprises a motor mounting plate, an end surface of the main body close to the rotating shaft is connected with the motor mounting plate, and the motor mounting plate is further fixedly connected with the outer ring of the bearing seat.

[0012] In one embodiment, at least two mounting holes are arranged on the bearing seat, and the bearing seat is mounted on a rotatable wheel arm of a chassis through the at least two mounting holes.

[0013] In one embodiment, the shaft fastener is used to connect the shaft coupling and the rotating shaft through bolting; and / or,

[0014] the shaft coupling and the wheel are connected through bolting; and / or,

[0015] the motor mounting plate and the bearing seat are connected through bolting.

[0016] In one embodiment, the wheel comprises a hub and a tire, the hub is connected with the shaft coupling, and the tire is mounted on the hub; the hub is made of metal material, and the tire is made of rubber material.

[0017] The present specification also provides a chassis comprising the wheel set in any of the above embodiments; the chassis further comprises an upper shell, a frame, a lower shell, a battery, a motor driving circuit board, a main control board, and a universal wheel.

[0018] The battery is electrically connected with 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 to accommodate the battery, the motor driving circuit board and the control board; and the universal wheel is mounted on the frame.

[0019] The bearing seat of the wheel set is connected with the frame; and the motor of the wheel set is electrically connected with the motor driving circuit board.

[0020] In one embodiment, the chassis further comprises a rotatable wheel arm, 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.

[0021] In one embodiment, the rotatable wheel arm and the frame are connected through a rotating shaft, so that the wheel set and the universal wheel can rotate around the rotating shaft.

[0022] In one embodiment, a spring is arranged between the other end of the rotatable wheel arm and the frame.

[0023] In one embodiment, the outer side of the lower shell is provided with an indicator light power button for switching on and off and displaying the remaining power of the battery.

[0024] In one embodiment, the upper shell of the chassis is provided with a standardized interface for adapting various functional modules.

[0025] The embodiments of the present specification also provide a mobile robot, comprising:

[0026] The chassis in any of the above embodiments;

[0027] A pipe group comprising a telescopic pipe, a pipe base and a mounting base, the pipe base being fixedly connected to the chassis, the telescopic pipe being mounted on the pipe base, and the mounting base being connected to the telescopic pipe.

[0028] In one embodiment, the mounting base is provided with a standardized interface; the mobile robot further comprises:

[0029] A shooting device or a support mounted on the mounting base through the standardized interface; and / or,

[0030] A mechanical arm mounted on the mounting base through the standardized interface.

[0031] In one embodiment, the telescopic pipe comprises a first pipe, a second pipe and a telescopic adjusting sleeve; the second pipe is connected to the mounting base, and the first pipe is connected to 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 to adjust the length of the second pipe extending into the first pipe.

[0032] The embodiment of the specification provides a wheel set, which 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 run, the motor comprises a main body and a rotating shaft, an end surface of the main body close to the rotating shaft is fixedly connected with an outer ring of the bearing seat, an outer ring of the bearing is installed in the bearing seat, an inner ring of the bearing seat is provided with a first annular groove, the first annular groove is used for installing the first bearing retainer, the first bearing retainer limits axial displacement of the outer ring of the bearing, the inner ring of the bearing is matched with the shaft coupling, the shaft coupling is provided with a second annular groove, the second annular groove is used for installing the second bearing retainer, the second bearing retainer limits axial displacement of the inner ring of the bearing, the inner ring of the shaft coupling is clamped to the rotating shaft through the tension sleeve, the shaft coupling is further fixedly connected with the wheel, the shaft fastener is connected with the shaft coupling and the rotating shaft respectively and is used for fixing an axial position of the shaft coupling. In the above scheme, the double-retainer structure is used to realize bidirectional axial positioning of the inner and outer rings of the bearing, the amount of displacement of the bearing is greatly reduced, the improvement of the axial positioning precision makes the contact stress distribution of the bearing roller and the raceway more uniform, and the contact stress peak value is significantly reduced. In addition, the inner ring of the shaft coupling is clamped to the rotating shaft through the tension sleeve, the relative sliding between the rotating shaft and the shaft coupling is avoided, and the torque transmission efficiency is effectively improved. The shaft fastener connects the shaft coupling and the rotating shaft, limits the axial displacement of the shaft coupling, and ensures that the shaft coupling has no axial displacement under torque fluctuation. The above scheme provides positioning support for the bearing through the bearing seat and the double-shaft-end retainers, the shaft fastener limits the displacement of the shaft coupling, the cooperation of multiple components reduces the influence of the radial force on the motor, protects the internal bearing and gear of the motor, and realizes the stable working state of the rotating shaft only outputting axial torque.

[0033] Specific embodiments of the present application are described in detail below with reference to the following description and drawings. The principles of the present application can be employed in any manner without departing from the spirit of the application. It should be understood that the embodiments of the present application are not limited in scope by the embodiments described below, which are intended as illustrations of one or more aspects of the application. Any one or more of the features or components from any one of the embodiments can be used in any combination with one or more other embodiments.

[0034] It should be emphasized that the term "comprises / comprising" when used in this text refers to the presence of a feature, component or assembly, but does not exclude the presence or addition of one or more other features, components or assemblies. BRIEF DESCRIPTION OF DRAWINGS

[0035] The drawings described herein are for purposes of illustration only and are not intended to limit the scope of the present disclosure in any way. Additionally, the shapes and proportions of the various components in the drawings are not intended to be specific, but are for purposes of illustration only to help understand the present disclosure, and are not intended to limit the shapes and proportions of the various components of the present disclosure. Those skilled in the art, under the teachings of the present disclosure, can select various possible shapes and proportions to implement the present disclosure according to specific circumstances. In the drawings:

[0036] Figure 1 A perspective structural schematic diagram of a wheel set in an embodiment of the present disclosure is shown.

[0037] Figure 2 An exploded schematic diagram of a wheel set in an embodiment of the present disclosure is shown.

[0038] Figure 3 A cross-sectional schematic diagram of a wheel set in an embodiment of the present disclosure is shown.

[0039] Figure 4 A perspective structural schematic diagram of a chassis in an embodiment of the present disclosure is shown.

[0040] Figure 5 A perspective structural schematic diagram of a chassis in an embodiment of the present disclosure is shown.

[0041] Figure 6 A perspective structural schematic diagram of a chassis in an embodiment of the present disclosure is shown.

[0042] Figure 7 A perspective structural schematic diagram of a part of a chassis in an embodiment of the present disclosure is shown.

[0043] Figure 8 A perspective structural schematic diagram of a mobile robot in an embodiment of the present disclosure is shown.

[0044] Figure 9 A structural schematic diagram of a telescopic tube in an embodiment of the present disclosure is shown.

[0045] Reference signs of the above drawings:

[0046] 100, 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;

[0047] 10, chassis; 101, upper shell; 102, frame; 103, lower shell; 104, battery; 105, motor drive circuit board; 106, main control board; 107, universal wheel; 108, rotatable wheel arm; 109, rotating shaft; 110, spring; 111, indicator light power button;

[0048] 1. Robot; 20, tube set; 21, telescopic tube; 22, tube base; 23, mounting base; 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 to enable those skilled in the art to better understand and implement the present specification, and are not intended to limit the scope of the present specification in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to 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 in conjunction with the description of the specific embodiments of the present application and the accompanying drawings. 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 guidance of the present application, skilled persons can conceive any possible modification 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", "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 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 embodiment of the present specification provides a wheel set. Please refer to Figures 1 to 3 , respectively, the perspective structure diagram, the explosion diagram, and the section view of the wheel set in the embodiment of the present specification. As shown in Figures 1 to 3 , 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.

[0053] 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 adopt interference fit or elastic deformation structure to realize clamping. 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.

[0054] 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.

[0055] 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 the 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] As shown in Figures 1 to 3 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.

[0062] As shown in Figure 1As 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.

[0063] 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.

[0064] 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 connected by the bolts, the friction generated can effectively transmit the torque of the motor 1001 to the wheel 1009. In combination with spring washers, nylon locking nuts and other accessories, the loosening caused by vibration can be resisted, and the maintenance period can be prolonged. 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 connection reliability and flexibility of the coupling 1004 and the wheel 1009 can be significantly improved by bolt connection, and the maintenance efficiency and operation stability can be improved.

[0065] 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.

[0066] 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 mounted 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 reaches the optimal balance in load capacity, maintenance efficiency and environmental adaptability.

[0067] The present specification also provides a chassis. The chassis in the present specification can include the wheel set in any of the above embodiments. Please refer to Figures 4 to 7 , respectively, the structural schematic diagram of the chassis in the present specification is shown. Figure 4 And Figure 5 respectively, the perspective structural diagram of the chassis from different angles is shown. Figure 6 After the lower shell is removed, the schematic diagram of the lower shell and other structures of the chassis is shown. Figure 7 After the lower shell and the upper shell are removed, the structural schematic diagram of the chassis is shown. As Figures 4 to 7As shown, the chassis 10 can include a wheel set 100, an upper shell 101, a frame 102, a lower shell 103, a battery 104, a motor driving circuit board 105, a main control board 106, and a universal wheel 107. The battery 104 is electrically connected with the motor driving circuit board 105 and the main control board 106. The motor driving circuit board 105 is connected with the main control board 106. One side of the frame 102 is connected with the upper shell 101, and the other side of the frame 102 is connected with 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 driving circuit board 105, and the control board. The universal wheel 107 is installed on the frame 102. The bearing seat of the wheel set 100 is connected with the frame 102. The motor of the wheel set 100 is electrically connected with the motor driving circuit board 105.

[0068] The frame 102 can serve as the core support structure of the chassis 10, connecting the upper shell 101, the lower shell 103, and various functional modules. The upper shell 101 and the lower shell 103 can form a sealed cabin to protect the internal electronic equipment (including the battery 104, the motor driving circuit board 105, and the main control board 106). The battery 104 provides a power source to drive the motor and control modules. The motor driving circuit board 105 can control the motor of the wheel set 100 to achieve speed and steering adjustment of the chassis 10. The main control board 106 can receive instructions and coordinate the work of various modules. For example, the main control board 106 can receive a movement instruction and control the motor driving circuit board 105 to drive the wheel set 100 based on the movement instruction to control the movement of the chassis 10. The universal wheel 107 can assist in supporting and also realize the steering of the chassis 10.

[0069] In the above embodiment, the chassis 10 includes the wheel set 100, which provides positioning support for the bearing through the bearing seat and the double shaft end retainer, and the shaft fastener limits the displacement of the shaft coupling. The cooperation of multiple components reduces the impact of radial force on the motor, protects the internal bearings and gears of the motor, and realizes the stable working state of the rotating shaft only outputting axial torque. This makes the chassis 10 achieve a balance of high reliability, easy maintainability, and environmental adaptability, and is particularly suitable for mobile robot systems in complex working conditions.

[0070] As Figure 6 and Figure 7As shown in some embodiments of the present specification, the chassis 10 can further include a rotatable wheel arm 108 mounted on the frame 102. The bearing seat of the wheel set 100 is connected to one end of the rotatable wheel arm 108, and the base of the universal wheel 107 is connected to the other end of the rotatable wheel arm 108. By mounting the bearing seat of the wheel set 100 and the universal wheel 107 to the rotatable wheel arm 108 of the chassis 10, the wheel set 100 and the universal wheel 107 can be rotated around the rotation axis with the rotatable wheel arm 108. The rotatable wheel arm 108 enables the wheel set 100 and the universal wheel 107 to dynamically adjust the direction, supporting the chassis 10 to realize multi-angle steering. In the face of uneven road surfaces, the wheel arm rotation can adjust the posture of the wheel set 100, ensuring that the wheels are always in effective contact with the ground. When encountering obstacles, the wheel arm rotation can fine-tune the position of the wheel set 100, helping the chassis 10 to realize actions such as hugging around and crossing obstacles. By adjusting the contact angle of the wheel set 100 with the ground through the wheel arm rotation, the load of the chassis 10 can be evenly distributed, reducing shaking and jolting during driving. Through the design of the rotatable wheel arm 108, the chassis 10 realizes the comprehensive improvement of mobility, adaptability, and maintainability, especially suitable for the needs of mobile robots in complex scenarios.

[0071] As shown in some embodiments of the present specification, the rotatable wheel arm 108 is connected to the frame 102 through a rotation axis 109, so that the wheel set 100 and the universal wheel 107 can rotate around the rotation axis 109. By connecting the wheel arm to the frame 102 through the rotation axis 109, the wheel set 100 and the universal wheel 107 can rotate around the rotation axis 109. Figure 6 Figure 7 As shown in some embodiments of the present specification, the other end of the rotatable wheel arm 108 is provided with a spring 110 between the frame 102. The spring 110 is provided below the universal wheel 107 and functions as a buffer and shock absorber. When the chassis 10 drives on uneven ground, the impact force received by the universal wheel 107 is buffered by the spring 110, reducing the vibration impact on the robot body and other components containing the chassis 10, improving the stability and comfort of the robot driving. At the same time, the presence of the spring 110 also enables the universal wheel 107 to better conform to the ground, ensuring the grip and stability of the robot during driving.

[0072] As shown in some embodiments of the present specification, the other end of the rotatable wheel arm 108 is provided with a spring 110 between the frame 102. The spring 110 is provided below the universal wheel 107 and functions as a buffer and shock absorber. When the chassis 10 drives on uneven ground, the impact force received by the universal wheel 107 is buffered by the spring 110, reducing the vibration impact on the robot body and other components containing the chassis 10, improving the stability and comfort of the robot driving. At the same time, the presence of the spring 110 also enables the universal wheel 107 to better conform to the ground, ensuring the grip and stability of the robot during driving. Figure 7 As shown in some embodiments of the present specification, the other end of the rotatable wheel arm 108 is provided with a spring 110 between the frame 102. The spring 110 is provided below the universal wheel 107 and functions as a buffer and shock absorber. When the chassis 10 drives on uneven ground, the impact force received by the universal wheel 107 is buffered by the spring 110, reducing the vibration impact on the robot body and other components containing the chassis 10, improving the stability and comfort of the robot driving. At the same time, the presence of the spring 110 also enables the universal wheel 107 to better conform to the ground, ensuring the grip and stability of the robot during driving.

[0073] Figures 4 to 7 ​​As shown, in some embodiments of the present specification, the outer side of the lower shell 103 is provided with an indicator power button 111, which is used for switching on and off and displaying the remaining power of the battery 104. The indicator power button 111 is arranged on the outer side of the lower shell 103, and the indicator is electrically connected with the circuit board, so as to display the power of the battery 104 in real time, which facilitates the operator to know the power state of the robot in time, so as to reasonably arrange the work task and perform the charging operation.

[0074] In some embodiments of the present specification, the upper shell 101 of the chassis 10 is provided with a standardized interface suitable for adapting various functional modules. The upper shell 101 of the chassis 10 can be provided with a standardized interface, which can adapt various functional modules to realize different functions. Through the design of the standardized interface, the chassis 10 realizes significant improvement in functional extensibility, installation and maintenance convenience and environmental adaptability, which is especially suitable for intelligent robot systems that need to be quickly iterated or multi-task switched.

[0075] The embodiments of the present specification also provide a mobile robot. Please refer to Figure 8 , which shows a structural schematic diagram of the mobile robot in the embodiments of the present specification. As shown in Figure 8 , the mobile robot 1 in the embodiments of the present specification can include a chassis 10 and a pipe group 20. The chassis 10 can refer to the implementation described in any of the above embodiments. As shown in Figure 8 , the pipe group 20 can include a telescopic pipe 21, a pipe seat 22 and a mounting seat 23. The pipe seat 22 is fixedly connected with the chassis 10, the telescopic pipe 21 is installed on the pipe seat 22, and the mounting seat 23 is connected with the telescopic pipe 21. The height of the telescopic pipe 21 is adjustable.

[0076] In the present embodiment, through the deep integration of the chassis 10 and the pipe group 20, not only the height can be adjusted, but also the perfect balance of high mobility, strong expansibility and environmental adaptability is realized, which is suitable for complex scenes in multiple fields such as industry, logistics and medical treatment.

[0077] In some embodiments of the present specification, 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 adapted devices. The standardized interface follows unified size, electrical and communication standards, so that the robot 1 can be compatible with devices from different manufacturers, which widens 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 diversified working environments and task requirements.

[0078] In some embodiments of the present disclosure, the mobile robot 1 can further comprise a shooting device or a support. The shooting device or the support is mounted on the mounting seat 23 through a standardized interface.

[0079] In some embodiments of the present disclosure, the mobile robot 1 can further comprise a mechanical arm. The mechanical arm is mounted on the mounting seat 23 through a standardized interface.

[0080] In the above embodiments, the same mobile robot 1 can alternately mount a shooting device and other functional devices such as a mechanical arm through a 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.

[0081] 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 comprise a first pipe 211, a second pipe 212 and a telescopic adjusting sleeve 213. The second pipe 212 is connected with the mounting seat 23, and the first pipe 211 is connected with 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.

[0082] Each of the embodiments in the present disclosure is described in a progressive manner, and the same and similar parts between the embodiments can be referred to each other. Each embodiment mainly describes the difference from other embodiments. For details, reference can be made to the description of the related processing embodiments described above, which will not be repeated here.

[0083] It should be understood that the above description is for illustration only and not for limitation. Many implementations and many applications other than the examples provided will be apparent to those skilled in the art from reading the above description. Therefore, the scope of the present disclosure should not be determined with reference to the above description, but should be determined with reference to the preceding claims and the full scope of equivalents to these claims.

[0084] The above merely provides preferred embodiments of the present specification but are not intended to limit the present specification. The present specification can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the protection scope of the present specification.

Claims

1. A wheelset, characterized in that, 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 configured 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 with an outer ring of the bearing seat; The outer ring of the bearing is installed in the bearing seat; a first annular groove is arranged on an inner ring of the bearing seat, and the first annular groove is configured to install the first bearing retainer, and the first bearing retainer limits axial displacement of the outer ring of the bearing; The inner ring of the bearing is matched with the shaft coupling, and a second annular groove is arranged on the shaft coupling, and the second annular groove is configured to install the second bearing retainer, and the second bearing retainer limits axial displacement of the inner ring of the bearing; The inner ring of the shaft coupling is clamped to the rotating shaft through the tension sleeve; the shaft coupling is further fixedly connected with the wheel; and the shaft fastener is connected with the shaft coupling and the rotating shaft respectively, and is configured to fix the axial position of the shaft coupling.

2. The wheelset of claim 1, wherein, The bearing is a cylindrical roller bearing; and / or the rollers of the bearing are in linear contact with the raceways.

3. The wheel set of claim 1, 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 further fixedly connected with the outer ring of the bearing seat.

4. The wheel set of claim 1, wherein, At least two mounting holes are arranged on the bearing seat, and the bearing seat is installed on a rotatable wheel arm of a chassis through the at least two mounting holes.

5. The wheel set according to claim 3, wherein The shaft fastener connects the shaft coupling and the rotating shaft through bolts; and / or The shaft coupling and the wheel are connected through bolts; and / or The motor mounting plate and the bearing seat are fastened and connected through bolts.

6. The wheel set according to claim 1, wherein The wheel comprises a hub and a tire, the hub is connected with the shaft coupling, and the tire is installed on the hub; the hub is made of metal material, and the tire is made of rubber material.

7. A pan characterized by, The chassis comprises the wheel set according to any one of claims 1 to 6; the chassis further comprises an upper shell, a frame, a lower shell, a battery, a motor driving circuit board, a main control board and a universal wheel; The battery is electrically connected with 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 configured to accommodate the battery, the motor driving circuit board and the control board; and the universal wheel is installed on the frame; The bearing seat of the wheel set is connected with the frame; The motor of the wheel set is electrically connected with the motor driving circuit board.

8. The base pan of claim 7, wherein, The chassis further comprises a rotatable wheel arm, 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.

9. The base pan of claim 8, wherein, The rotatable wheel arm is connected with the frame through a rotating shaft, so that the wheel group and the universal wheel can rotate around the rotating shaft.

10. The base pan of claim 8, wherein, A spring is arranged between the other end of the rotatable wheel arm and the frame.

11. The base pan of claim 7, wherein, An indicator power button is arranged on the outside of the lower shell, which is used for switching on / off and displaying the remaining power of the battery.

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

13. A mobile robot, characterized by The mobile robot comprises: The chassis according to any one of claims 7 to 12; A pipe group comprising a telescopic pipe, a pipe base and a mounting seat, the pipe base is fixedly connected with the chassis, the telescopic pipe is installed on the pipe base, and the mounting seat is connected with the telescopic pipe.

14. The mobile robot of claim 13, wherein, The mounting seat is provided with a standardized interface; the mobile robot further comprises: a shooting device or a support, which is installed on the mounting seat through the standardized interface; and / or a mechanical arm, which is installed on the mounting seat through the standardized interface.

15. The mobile robot according to claim 13, 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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