A mobile robot chassis

Abstract

A kind of mobile robot chassis, including the chassis body with opening in top and the body cover covering on its opening;Chassis body is equipped with detachable middle layer partition in, middle layer partition separates the hollow inner chamber of chassis body into upper space and lower space, and support frame for supporting robot torso penetrates upper space and lower space;In upper space, industrial computer and power supply are installed on middle layer partition;In lower space, driving wheel driven by independent driving motor respectively is arranged in the wheel groove opened in the left and right sides of the bottom of chassis body in pairs, and driven wheel is arranged in the wheel groove opened in the front and rear sides of the bottom of chassis body in pairs;Control panel for controlling driving motor is also provided in lower space;Mobile robot chassis is externally provided with emergency stop button, power button, charging jack, laser radar and heat dissipation hole;The device is compact in layout, simple and reliable in structure, strong in carrying capacity, simple in control and high in flexibility.

Description

Technical Field

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

[0002] The mobile robot chassis is one of the core components for robot movement and navigation. It not only supports the robot's main body but also provides its power system to enable movement. The chassis design usually needs to be customized according to the robot's application scenario, task requirements, and environmental characteristics. As the part of the robot hardware that directly contacts the ground or environment, the chassis's performance and structure directly affect the robot's stability, flexibility, and adaptability.

[0003] Current mobile robot chassis typically suffer from the following drawbacks:

[0004] 1. High control complexity. This is mainly reflected in multi-dimensional motion coordination and system integration. For example, omnidirectional and four-wheel drive chassis require complex algorithms to coordinate the movement of various drive units, especially when performing multiple movements such as forward movement, steering, and rotation simultaneously, making the control system design even more complex. Furthermore, to achieve efficient motion and navigation, the chassis often needs to integrate multiple sensors, which necessitates higher real-time performance and stability from the control system. The higher the system integration, the greater the difficulty of debugging and optimization, thus increasing development and maintenance costs.

[0005] 2. Limitations in load capacity and stability. Most chassis designs have limited load-bearing capacity and cannot support heavy equipment or task loads. At high speeds, some chassis are prone to stability issues, especially on wet or slippery surfaces, where they are prone to slipping or losing control, affecting the robot's precise control and task execution.

[0006] 3. Excessive size. Some mobile robots have overly large chassis designs, resulting in an excessively large overall size that hinders their agility in confined spaces, thus limiting their application in delicate tasks. Furthermore, an excessively heavy chassis increases the robot's overall load, affecting its mobility, speed, and battery life. Utility Model Content

[0007] The technical problem to be solved by this utility model is to provide a mobile robot chassis with a compact layout, simple and reliable structure, which improves the system reliability and scalability, while also increasing the load-bearing capacity of the chassis.

[0008] This utility model is achieved through the following technical solution:

[0009] A mobile robot chassis, characterized in that it includes a chassis body with an opening at the top and a body cover covering the opening;

[0010] The chassis body has a detachable middle partition, which divides the hollow interior of the chassis body into an upper space and a lower space. The support frame for supporting the robot's torso runs through the upper space and the lower space, with its top tightly attached to the top cover of the body and its bottom tightly attached to the bottom of the chassis body.

[0011] In the upper space, an industrial control computer and power supply are installed on the middle partition;

[0012] In the lower space, driving wheels driven by independent drive motors are arranged in pairs in wheel grooves on the left and right sides of the bottom of the chassis body, and driven wheels are arranged in pairs in wheel grooves on the front and rear sides of the bottom of the chassis body; the lower space also contains a control board for controlling the drive motors.

[0013] The mobile robot chassis is equipped with an emergency stop button for controlling the emergency stop of the mobile robot chassis, a power button for controlling the power switch of the mobile robot chassis, a charging port for charging the power supply, a lidar for providing point cloud information of the mobile robot chassis position, and heat dissipation holes for heat dissipation of the internal cavity of the mobile robot chassis.

[0014] The power supply is electrically connected to the industrial computer, control board, drive motor and lidar respectively. The industrial computer is connected to the control board and lidar signals respectively. The control board is connected to the drive motor signals respectively.

[0015] The support frame supports the robot's torso, which is mounted on top of the mobile robot chassis, enhancing the overall load-bearing capacity and stability of the chassis. The support frame is made of high-strength, lightweight materials, such as various lightweight high-strength metals and / or lightweight high-strength non-metallic materials, ensuring sufficient load-bearing capacity while effectively reducing overall weight. The drive wheels, connected to the drive motor, execute movement commands from the control board, while the driven wheels balance the mobile robot chassis. The two independently controlled drive wheels employ differential steering, avoiding a complex steering mechanism. Controlling the speed of the left and right drive wheels alone controls the chassis's forward, backward, turning, and rotation. This simple and flexible control method reduces failure rates and maintenance costs. Furthermore, the differential chassis possesses extremely high maneuverability, enabling zero-turn radius steering in confined spaces, flexibly addressing complex movement requirements.

[0016] The chassis features a highly integrated structural design, with all key components cleverly integrated into a compact frame, minimizing space occupation. The drive module (drive motor), sensor module (LiDAR), control module (industrial computer, control board), and battery module are precisely laid out and coordinated, avoiding the problems of component redundancy and space waste found in traditional designs. The overall structure of the chassis not only improves the robot's flexibility and stability in confined spaces but also effectively reduces the complexity of production and maintenance.

[0017] The LiDAR is connected to an industrial control computer, which can acquire point cloud information from the LiDAR. The algorithm on the industrial control computer calculates the linear and angular velocities required for chassis movement during navigation based on the point cloud information. The industrial control computer then sends the linear and angular velocities to the control board. The control board performs calculations based on the received linear and angular velocities to determine the required tire speeds for the left and right motors, thereby enabling control. This achieves simplified wiring and more efficient system debugging.

[0018] Furthermore, the top opening of the wheel groove is covered with a removable sealing plate. After the drive wheel and driven wheel are installed, the sealing plate is then covered. This facilitates the installation of the drive wheel and driven wheel and seals the top opening of the wheel groove after installation, separating the upper and lower spaces and better protecting the functional modules in the upper space.

[0019] Furthermore, the middle partition, chassis body, and / or body cover are provided with wiring holes for signal lines and / or power supply lines to pass through. The wiring holes are used for connecting various devices and routing cables. For example, the wiring holes on the middle partition are mainly used to connect the control board in the lower space to the industrial control computer in the upper space, as well as the power supply connection between the control board and the power supply.

[0020] Furthermore, at the bottom of the inner cavity of the chassis body, a mounting slot is opened between the wheel slots on the left and right sides for installing the control board and accommodating the drive motor, which facilitates the quick assembly and disassembly of components and makes the equipment layout more compact.

[0021] Furthermore, a torso mounting slot is provided on the top of the main body cover for mounting to the robot torso. The torso mounting slot is provided with several positioning mounting posts for positioning during installation, which facilitates quick connection and installation between the mobile robot chassis and the robot torso.

[0022] Furthermore, the middle partition is a thickened plate used to increase the counterweight at the bottom of the mobile robot. Its thickness is greater than that of the chassis body and the body cover, which lowers the center of gravity of the entire mobile robot and ensures stability during movement.

[0023] Furthermore, the middle partition is detachably installed on the inner cavity side wall of the chassis body. The inner cavity side wall of the chassis body is provided with a flange to support the middle partition. The middle partition can be detachably installed on the inner cavity side wall of the chassis body through a pin insertion hole structure, screw hole and nut structure or elastic buckle structure, etc. Alternatively, the middle partition can be detachably installed on a support frame, and the two are tightly fitted together.

[0024] Furthermore, the support frame is a double-layer support frame, with a separate support frame configured in the upper and lower spaces. In this structure, the middle partition can be detachably installed on the inner wall of the chassis body cavity. Alternatively, the support frame is a single-layer support frame, with the middle partition passing through the support frame. In this structure, the middle partition can be detachably installed on the inner wall of the chassis body cavity cavity or detachably installed on the support frame.

[0025] Furthermore, the support frame includes a top frame and support columns supporting the top frame. Reinforcing ribs are provided at the corners of the top frame, with both ends of the reinforcing ribs connected to the top frame on either side of the corner. This type of support frame has a simple structure and further improves its load-bearing capacity.

[0026] Furthermore, the driving wheel and the driven wheel are roller-shaped, with two of each, increasing the contact area with the ground, enhancing overall stability, and increasing overall load-bearing capacity.

[0027] The beneficial effects of this utility model are as follows:

[0028] 1. Each working module is precisely and compactly integrated into the chassis frame through coordinated layout. The compact layout maximizes space utilization, reduces overall weight, and avoids the problems of redundant parts and wasted space in traditional designs.

[0029] 2. The integrated design of each working module simplifies the wiring and debugging process, and the simple and reliable structure reduces the complexity of installation and maintenance, and improves the reliability and scalability of the system.

[0030] 3. The support frame ensures sufficient load-bearing capacity while effectively reducing the overall weight, making it easy to mount the humanoid robot's torso.

[0031] 4. The two-wheel differential structure avoids complex steering mechanisms. Only the speed of the left and right drive wheels needs to be controlled to control the chassis's forward, backward, turning, and rotation. It is simple to control, highly flexible, and reduces the failure rate and maintenance costs. The high mobility of the differential chassis can achieve zero turning radius steering in narrow spaces, flexibly responding to complex movement needs. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of a preferred embodiment of the device.

[0033] Figure 2 Top view of the upper space

[0034] Figure 3 A top view of the lower level space (excluding the support frame and a sealing plate).

[0035] Figure 4 for Figure 1 Schematic diagram of the three-dimensional structure of the upper cover of the middle body

[0036] Figure 5 for Figure 1 Partial sectional view of the mid-chassis body

[0037] Figure 6 for Figure 1 A three-dimensional structural diagram of the chassis body and support frame (excluding the middle partition).

[0038] Figures 1-6 In the middle section: 1 is the emergency stop button, 2 is the power button, 3 is the main body cover, 4 is the heat dissipation hole, 5 is the chassis body, 6 is the charging port, 7 is the support frame, 8 is the industrial control computer, 9 is the wiring hole, 10 is the power supply, 11 is the middle partition, 12 is the wheel groove, 13 is the drive wheel, 14 is the control board, 15 is the drive motor, 16 is the sealing plate, 17 is the torso mounting groove, 18 is the lidar, 19 is the positioning mounting column, 20 is the upper space, 21 is the lower space, 22 is the driven wheel, 23 is the mounting groove, 24 is the reinforcing rib, 25 is the top frame, and 26 is the support column. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings.

[0040] like Figure 1 In the illustrated embodiment, the system includes a chassis body 5 with an opening at the top and a body cover 3 covering the opening. The body cover 3 is equipped with an emergency stop button 1 for controlling the emergency stop of the mobile robot chassis, a power button 2 for controlling the power switch of the mobile robot chassis, and a lidar 18 for providing point cloud information of the mobile robot chassis position. The top of the body cover 3 also has a torso mounting slot 17 for mounting to the robot torso, and the torso mounting slot 17 has 6 positioning mounting posts 19 for positioning during installation. The chassis body 5 has a charging port 6 for charging the power supply 10 and heat dissipation holes 4 for cooling the internal cavity of the mobile robot chassis.

[0041] like Figure 5 As shown, the chassis body 5 has a removable middle partition 11. The middle partition 11 is a thickened plate, with a thickness greater than that of the chassis body 5 and the upper cover 3, to increase the bottom counterweight of the mobile robot and lower the center of gravity of the entire mobile robot. The middle partition 11 divides the hollow cavity of the chassis body 5 into an upper space 20 and a lower space 21; as shown... Figure 6 As shown, the support frame 7 penetrates the upper space 20 and the lower space 21; as Figure 5 As shown, the top of the support frame 7 is basically flush with or slightly higher than the top of the chassis body 5. After installation, the top of the support frame 7 is close to the upper cover 3 of the body, and the bottom is close to the bottom of the chassis body 5, which is used to support the robot torso above the chassis.

[0042] In this embodiment, the support frame 7 is a single-layer support frame, including a top frame 25 and four support columns 26 supporting the four corners of the top frame 25. Reinforcing ribs 24 are provided at the four corners of the top frame 25, and the two ends of the reinforcing ribs 24 are connected to the top frame 25 on both sides of the corner. The four support columns 26 of the middle partition 11 are detachably inserted into the corresponding openings on the support frame 7.

[0043] like Figure 2 , Figure 5 As shown, an industrial control computer 8 and a power supply 10 are installed on the middle partition 11 in the upper space 20; the middle partition 11 is provided with wiring holes 9 for signal lines and / or power supply lines to pass through.

[0044] like Figure 3 As shown, within the lower space 21, a pair of roller-shaped drive wheels 13, driven by independent drive motors 15, are rotatably mounted in wheel grooves 12 opened on the left and right sides of the bottom of the chassis body 5. A pair of roller-shaped driven wheels 22 are rotatably mounted in wheel grooves 12 opened on the front and rear sides of the bottom of the chassis body 5. Figure 3 , Figure 6 As shown, a mounting slot 23 is formed between the wheel grooves 12 on the left and right sides, and the control board 14 for controlling the drive motor 15 and the drive motor 15 are arranged in the mounting slot 23; for ease of display of the structure, Figure 3 The sealing plate 16 on the left wheel groove 12 has been removed, while the other three wheel grooves 12 are covered with sealing plates 16 that can be repeatedly removed.

[0045] In terms of wiring connections, the power supply 10 is electrically connected to the industrial computer 8, the control board 14, the drive motor 15, and the lidar 18, respectively. The industrial computer 8 is connected to the control board 14 and the lidar 18 via signal connections, and the control board 14 is connected to the drive motor 15 via signal connections.

[0046] During installation, first, the drive wheel 13 and driven wheel 22 are rotatably installed in the wheel grooves 12 on the left and right sides and front and rear sides of the bottom of the chassis body 5, respectively. Then, the drive motors 15 of the two drive wheels 13 are installed in the mounting grooves 23, and the control board 14 is fixed in the mounting groove 23 between the two drive motors 15. The signal lines between the drive motors 15 and the control board 14 are connected. The tops of the four wheel grooves 12 are covered with sealing plates 16. Next, the support frame 7 is installed into the inner cavity of the chassis body 5, and the middle partition 11, which has been pre-installed with the industrial control computer 8 and power supply 10, is fixed. The control board 14 is connected to the industrial control computer 8. The signal lines of the control computer 8, the control board 14, and the drive motor 15 are connected to the power supply lines of the power supply 10. The power supply lines are pulled upwards through the wiring holes 9 on the middle partition 11. The signal lines are connected to the industrial control computer 8, and the power supply lines are connected to the power supply 10. The power supply 10 is connected to the industrial control computer 8 and the lidar 18 through the power supply lines. The emergency stop button 1 and the power button 2 are connected as switches to the power supply lines output by the power supply 10. The signal lines of the lidar 18 are connected to the industrial control computer 8. After the lines are connected, the pre-installed emergency stop button 1, power button 2, and lidar 18 body cover 3 is placed on the top opening of the chassis body 5 and fixed. The installation is complete.

[0047] The lidar 18 is connected to the industrial control computer 8. The point cloud information of the lidar 18 can be obtained on the industrial control computer 8. The algorithm on the industrial control computer 8 calculates the linear velocity and angular velocity required for the chassis movement during navigation based on the point cloud information. The industrial control computer 8 then sends the linear velocity and angular velocity to the control board 14. The control board 14 performs calculations based on the sent linear velocity and angular velocity to calculate the tire speeds that the left and right drive motors 15 need to achieve, thereby controlling the system. This achieves simplified wiring and more efficient system debugging.

Claims

1. A mobile robot chassis, characterized in that: Includes a chassis body (5) with an opening at the top and a body cover (3) covering the opening; The chassis body (5) is provided with a detachable middle partition (11). The middle partition (11) divides the hollow cavity of the chassis body (5) into an upper space (20) and a lower space (21). The support frame (7) used to support the robot torso passes through the upper space (20) and the lower space (21). Its top is close to the body cover (3) and its bottom is close to the bottom of the chassis body (5). In the upper space (20), an industrial control computer (8) and a power supply (10) are installed on the middle partition (11); In the lower space (21), the driving wheels (13) driven by independent drive motors (15) are arranged in pairs in the wheel grooves (12) opened on the left and right sides of the bottom of the chassis body (5), and the driven wheels (22) are arranged in pairs in the wheel grooves (12) opened on the front and rear sides of the bottom of the chassis body (5); the lower space (21) is also provided with a control board (14) for controlling the drive motors (15); The mobile robot chassis is equipped with an emergency stop button (1) for controlling the emergency stop of the mobile robot chassis, a power button (2) for controlling the power switch of the mobile robot chassis, a charging socket (6) for charging the power supply (10), a laser radar (18) for providing the position point cloud information of the mobile robot chassis, and a heat dissipation hole (4) for dissipating heat from the inner cavity of the mobile robot chassis. The power supply (10) is electrically connected to the industrial computer (8), the control board (14), the drive motor (15) and the lidar (18) respectively. The industrial computer (8) is connected to the control board (14) and the lidar (18) respectively. The control board (14) is connected to the drive motor (15) respectively.

2. The mobile robot chassis according to claim 1, characterized in that: The top opening of the wheel groove (12) is covered with a sealing plate (16) that can be repeatedly removed.

3. The mobile robot chassis according to claim 1, characterized in that: The middle partition (11), the chassis body (5) and / or the body cover (3) are provided with wiring holes (9) for signal lines and / or power supply lines to pass through.

4. The mobile robot chassis according to claim 1, characterized in that: At the bottom of the inner cavity of the chassis body (5), a mounting slot (23) is opened between the wheel grooves (12) on the left and right sides for mounting the control board (14) and accommodating the drive motor (15).

5. The mobile robot chassis according to claim 1, characterized in that: The top of the main body cover (3) has a torso mounting slot (17) for mounting to the robot torso, and the torso mounting slot (17) has several positioning mounting posts (19) for positioning during installation.

6. The mobile robot chassis according to claim 1, characterized in that: The middle partition (11) is a thickened plate used to increase the bottom weight of the mobile robot.

7. The mobile robot chassis according to claim 1, characterized in that: The middle partition (11) is detachably installed on the inner cavity side wall of the chassis body (5), or the middle partition (11) is detachably installed on the support frame (7).

8. The mobile robot chassis according to claim 7, characterized in that: The support frame (7) is a double-layer support frame, with a single layer of support frame that is detached from each other in the upper space (20) and the lower space (21), or the support frame (7) is a single-layer support frame, with the middle partition (11) passing through the support frame (7).

9. The mobile robot chassis according to claim 1, characterized in that: The support frame (7) includes a top frame (25) and a support column (26) supporting the top frame (25). A reinforcing rib (24) is provided at the corner of the top frame (25), and the two ends of the reinforcing rib (24) are connected to the top frame (25) on both sides of the corner.

10. The mobile robot chassis according to claim 1, characterized in that: The driving wheel (13) and the driven wheel (22) are in the shape of rollers, and there are two of each.

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