A wheeled robot chassis

Abstract

The utility model relates to robot technical field especially relates to a wheeled robot chassis. The chassis includes the frame, front wheel assembly, rear wheel assembly, electric cabinet and battery, and front wheel assembly and rear wheel assembly set up at the front end and rear end of frame respectively, and electric cabinet and battery are installed on the frame, still include front shock absorber and rear shock absorber, front wheel assembly includes the front beam and sets up the front wheel at the both ends of front beam, and the front beam is connected through front shock absorber between the frame, and front shock absorber sets up in the center of front beam length direction, rear wheel assembly includes the rear beam rod and sets up the rear wheel at the both ends of rear beam rod, and the both ends of rear beam rod are provided with rear shock absorber, and the upper end of rear shock absorber is connected with the frame, and the lower end of rear shock absorber is connected with rear beam rod. The utility model effectively solved the technical problem that the wheel of wheeled direct connection chassis and robot body have no buffer, and the road surface impact is directly transmitted to the electrical components, resulting in the service life reduction of electrical components.

Description

Technical Field

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

[0002] Mobile robots are intelligent devices with autonomous mobility. Their core modules include a drive chassis, a sensing system, and a control system. They can perform tasks such as logistics handling, warehousing and sorting, service delivery, and inspection and monitoring. They are widely used in industries such as industry, medicine, and agriculture, which have promoted the improvement of production efficiency and the optimization of labor costs.

[0003] As the core mechanical structure of a mobile robot, the robot chassis supports the robot's main body and enables its movement. It directly affects the robot's motion capabilities, environmental adaptability, and task execution efficiency. Existing mobile robot chassis typically use a clearance fit between the wheels and drive shaft. The drive shaft passes through a hole in the wheel and is then secured with screws at the end. While this chassis structure is simple, it suffers from poor coaxiality and perpendicularity between the wheels and drive shaft. During rotation, the wheels are prone to wobbling, requiring the drive mechanism to withstand significant alternating loads. This places high demands on the drive mechanism and reduces the chassis's lifespan due to wheel instability.

[0004] To address the aforementioned issues, patent document CN109606025B discloses a robot chassis. This chassis includes a body and wheels positioned on the left and right sides of the body. The wheels are connected to the body via drive shafts. Each wheel has a flange on the side of the hub facing the body, with a through hole at the center of the hub containing a centering sleeve. One end of the drive shaft passes through the flange and centering sleeve and connects to the wheel. The centering sleeve consists of a reference outer circle, a reference inner circle, and a reference end face. The flange has a groove on the side near the hub that matches the outer contour of the through hole cavity. The wheels include front and rear wheels, each with pulleys on its drive shaft. A drive belt connects the front and rear wheels. A drive device connected to the rear wheels is located inside the body. A vent valve is installed on the body. The body is not a single-piece molded body and includes a floor plate, left side plate, right side plate, front side plate, rear side plate, and top plate. The interior of the body is sealed with sealing strips.

[0005] Although the aforementioned robot chassis can achieve axial positioning of the wheels on the drive shaft through the centering sleeve and radial positioning of the wheels on the drive shaft through the flange, thereby improving the installation accuracy of the wheels and the stability of the chassis operation, it is a direct-drive chassis with no buffer connection between the wheels and the robot body. This causes the wheels to directly transmit the road conditions to the robot body, resulting in the electrical components inside the robot body being subjected to the impact of road bumps, reducing the service life of the electrical components, and thus reducing the lifespan of the mobile robot. Utility Model Content

[0006] This invention provides a wheeled robot chassis to solve the technical problem in the prior art where there is no buffer between the wheels and the robot body in a direct-drive wheeled chassis, and road impacts are directly transmitted to the electrical components, resulting in a reduced service life of the electrical components.

[0007] To solve the above problems, the wheeled robot chassis provided by this utility model adopts the following technical solution:

[0008] A wheeled robot chassis includes a frame, a front wheel assembly, a rear wheel assembly, an electronic control box, and a battery. The front wheel assembly and the rear wheel assembly are respectively located at the front end and the rear end of the frame. The electronic control box and the battery are mounted on the frame. The chassis also includes a front shock absorber and a rear shock absorber.

[0009] The front wheel assembly includes a front beam and front wheels disposed at both ends of the front beam. The front beam is connected to the vehicle frame via a front shock absorber, which is located at the center of the front beam along its length.

[0010] The rear wheel assembly includes a rear beam and rear wheels disposed at both ends of the rear beam. Both ends of the rear beam are provided with rear shock absorbers. The upper end of the rear shock absorber is connected to the vehicle frame, and the lower end of the rear shock absorber is connected to the rear beam.

[0011] The beneficial effects of the wheeled robot chassis provided by this utility model are:

[0012] By installing front and rear shock absorbers, with the front shock absorber located at the center of the front beam along its length and shock absorbers at both ends of the rear beam along its length, this triangular shock absorption layout can concentrate the vibrations of the front wheels caused by uneven road surfaces using the front shock absorber. This effectively reduces the vertical bounce of the front wheels, maintains the stability of the front of the chassis, and because the front shock absorber is located in the middle of the front beam, the force on the front wheels is more evenly distributed when subjected to vibrations, avoiding instability caused by excessive force on one side. The rear shock absorbers installed at both ends of the rear beam disperse the vibrations of the rear wheels caused by uneven road surfaces, providing more comprehensive cushioning of the rear wheel vibrations. This allows the rear wheels to maintain better contact with the ground, enhances their grip, improves the stability of the robot's movement, and prevents road impacts from being directly transmitted to electrical components, thus avoiding a reduction in the service life of these components.

[0013] Through the above-mentioned design, this utility model effectively solves the technical problem in the prior art where there is no buffer between the wheels and the robot body of the wheeled direct-drive chassis, and the impact of the road surface is directly transmitted to the electrical components, resulting in a reduction in the service life of the electrical components.

[0014] Furthermore, a stepper motor is installed on the front beam, the number of which matches the number of the front wheels, and the output of each stepper motor is connected to one of the front wheels.

[0015] Beneficial effects: By installing stepper motors on the front beam and matching the number of stepper motors with the number of front wheels, with each stepper motor's output connected to a front wheel, the front wheels can achieve differentiated movements by controlling the speed and direction of different stepper motors. This allows the robot to flexibly change its direction of travel and adapt to complex road conditions without the need for complex specialized structures.

[0016] Furthermore, the rear wheel is an omnidirectional wheel.

[0017] Furthermore, a gimbal assembly is mounted on the frame, the gimbal assembly being located between the front wheel assembly and the electrical control box, the gimbal assembly including a gimbal rod and a gimbal mounted on top of the gimbal rod.

[0018] Furthermore, the vehicle frame is provided with a central support frame, which includes a vertical support rod and a horizontal support plate installed on the top of the vertical support rod. The horizontal support plate has a limiting hole for the gimbal rod to pass through. The lower end of the gimbal rod passes through the limiting hole from top to bottom and is fixedly installed on the vehicle frame.

[0019] Beneficial effects: By setting up a central support frame, the displacement of the middle part of the gimbal pole is restricted, and the displacement of the bottom of the gimbal pole is restricted by the vehicle frame. This dual displacement restriction can effectively prevent the gimbal pole from shifting during use, ensuring the stability of the gimbal pole's position during use.

[0020] Furthermore, the rear beam includes a first rear beam and a second rear beam. The first end of the first rear beam and the first end of the second rear beam are both connected to the rear wheel. The second end of the first rear beam is provided with a first connecting plate, and the second end of the second rear beam is provided with a second connecting plate. The first connecting plate and the second connecting plate are staggered vertically, and both the first connecting plate and the second connecting plate are provided with corresponding mounting holes. The connection between the second end of the first rear beam and the second end of the second rear beam is achieved by bolts passing through the two mounting holes and nuts screwed onto the bolts.

[0021] Furthermore, the side of the frame is provided with an outwardly extending horizontal support rod, and the upper end of the rear shock absorber is fixedly mounted on the horizontal support rod.

[0022] Furthermore, the front shock absorber and the rear shock absorber are hydraulic spring shock absorbers.

[0023] Furthermore, a limit block is provided on the side of the front beam facing the rear beam.

[0024] Furthermore, a crash bar assembly is installed at the front end of the frame. Attached Figure Description

[0025] The above and other objects, features, and advantages of the present invention will become readily understood by reading the following detailed description of exemplary embodiments with reference to the accompanying drawings. In the drawings, several embodiments of the present invention are shown by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0026] Figure 1 This is a schematic diagram of the structure of the wheeled robot chassis provided by this utility model;

[0027] Figure 2 This is a schematic diagram of the front wheel assembly in the wheeled robot chassis provided by this utility model.

[0028] Figure 3 A schematic diagram of the rear wheel assembly in the wheeled robot chassis provided by this utility model;

[0029] Figure 4 This is a schematic diagram showing the connection between the front shock absorber and the frame and front beam in the wheeled robot chassis provided by this utility model.

[0030] Figure 5 A schematic diagram showing the connection between the rear shock absorber, the frame, and the rear beam of the wheeled robot chassis provided by this utility model;

[0031] Figure 6 This is a schematic diagram showing the installation position of the stepper motor in the wheeled robot chassis provided by this utility model;

[0032] Figure 7 for Figure 1 Left view of the wheeled robot chassis shown;

[0033] Figure 8 for Figure 1 The front view of the wheeled robot chassis shown.

[0034] Figure 9 for Figure 1 The image shows a top view of the wheeled robot chassis.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Frame; 2. Front wheel; 3. Rear wheel; 4. Electrical control box; 5. Battery; 6. Front shock absorber; 7. Rear shock absorber; 8. Front beam; 9. Stepper motor; 10. Gimbal rod; 11. Gimbal; 12. Vertical support rod; 13. Horizontal support plate; 14. First rear beam rod; 15. Second rear beam rod; 16. First connecting plate; 17. Second connecting plate; 18. Bolt; 19. Nut; 20. Horizontal support rod; 21. Limiting block; 22. Anti-collision strip assembly; 23. Horizontal bar; 24. Wireless charging receiver module; 25. Spring antenna assembly; 26. Swing arm; 27. First connecting piece; 28. Second connecting piece; 29. ​​Mounting base. Detailed Implementation

[0037] The principles and spirit of this utility model will be explained in detail below with reference to several representative embodiments.

[0038] An embodiment of the wheeled robot chassis provided by this utility model:

[0039] like Figures 1 to 9 As shown, the wheeled robot chassis includes a frame 1, a front wheel assembly 2, a rear wheel assembly 3, an electrical control box 4, a battery 5, a front shock absorber 6, and a rear shock absorber 7. The front wheel assembly 2 and the rear wheel assembly 3 are respectively located at the front and rear ends of the frame 1. The electrical control box 4 and the battery 5 are mounted on the frame 1. The front shock absorber 6 is mounted on the front wheel assembly 2, and the rear shock absorber 7 is mounted on the rear wheel assembly 3.

[0040] Regarding the installation of the front wheel assembly 2, the rear wheel assembly 3, the front shock absorber 6 on the front wheel assembly 2, and the rear shock absorber 7 on the rear wheel assembly 3. For example... Figure 2 As shown, the front wheel assembly 2 includes a front beam 8 and front wheels 2 disposed at both ends of the front beam 8. The front beam 8 is connected to the frame 1 via a front shock absorber 6, which is located at the center of the front beam 8 along its length. Figure 3 As shown, the rear wheel 3 assembly includes a rear beam rod and rear wheels 3 disposed at both ends of the rear beam rod. Both ends of the rear beam rod are provided with rear shock absorbers 7. The upper end of the rear shock absorber 7 is connected to the frame 1, and its lower end is connected to the rear beam rod.

[0041] In this embodiment, as Figure 4As shown, a mounting base 29 is provided at the center of the front end of the frame 1 in the width direction. The mounting base 29 has mounting holes. The upper end of the front shock absorber 6 has a corresponding mounting hole. The upper end of the front shock absorber 6 is mounted on the frame 1 by bolts 18 passing through the two mounting holes and nuts 19 screwed on the bolts 18. Two spaced first connecting parts 27 are provided at the center of the side of the front beam 8 facing the rear beam. The two first connecting parts 27 have mounting holes of corresponding position and size. The lower end of the front shock absorber 6 has a mounting hole corresponding to the mounting holes on the first connecting parts 27. The lower end of the front shock absorber 6 is mounted on the frame 1 by bolts 18 passing through the three mounting holes and nuts 19 screwed on the bolts 18.

[0042] In this embodiment, as Figure 2 As shown, the top surface of the front beam 8 is provided with a swing arm 26, and the upper end of the swing arm 26 is provided with a mounting hole. The frame 1 is provided with a corresponding mounting hole. The installation between the front beam 8 and the frame 1 is achieved by bolts 18 passing through the two mounting holes and nuts 19 screwed on the bolts 18. In this embodiment, there are two swing arms 26, and the two swing arms 26 are spaced apart in the length direction of the front beam 8.

[0043] In this embodiment, as Figure 5 As shown, the side of the frame 1 is provided with an outwardly extending horizontal support rod 20, and the horizontal support rod 20 is provided with mounting holes. The upper end of the rear shock absorber 7 is provided with a corresponding mounting hole. The upper end of the rear shock absorber 7 is installed on the frame 1 by bolts 18 passing through the two mounting holes and nuts 19 screwed on the bolts 18. In this embodiment, a second connector 28 is provided at the end of the rear beam rod. The second connector 28 has a Y-shaped structure, and each of its three ends has a mounting hole for connecting the rear beam rod, the lower end of the rear shock absorber 7, and the frame 1, respectively. The rear beam rod passes through the mounting hole of the second connector 28. The lower end of the rear shock absorber 7 also has a mounting hole. The lower end of the rear shock absorber 7 is fixedly connected to the second connector 28 by a bolt 18 passing through the mounting hole at the lower end of the second connector 28 and the rear shock absorber 7, and a nut 19 screwed onto the bolt 18. The frame 1 has a mounting hole, and the second connector 28 is fixedly installed to the frame 1 by a bolt 18 passing through the mounting hole on the second connector 28 and the frame 1, and a nut 19 screwed onto the bolt 18. In this embodiment, the horizontal support rod 20 is arranged parallel to the rear beam rod.

[0044] In this embodiment, as Figure 3As shown, the rear beam includes a first rear beam 14 and a second rear beam 15. The first end of the first rear beam 14 and the first end of the second rear beam 15 are both connected to the rear wheel 3. The second end of the first rear beam 14 is provided with a first connecting plate 16, and the second end of the second rear beam 15 is provided with a second connecting plate 17. The first connecting plate 16 and the second connecting plate 17 are arranged vertically in a staggered manner, and the first connecting plate 16 and the second connecting plate 17 are both provided with corresponding mounting holes. The second end of the first rear beam 14 and the second end of the second rear beam 15 are connected by bolts 18 that pass through the two mounting holes and nuts 19 screwed onto the bolts 18.

[0045] In this embodiment, the bolt 18 connecting the first connecting plate 16 and the second connecting plate 17 is a shoulder bolt 18, and the nut 19 screwed onto the shoulder bolt 18 is a non-metallic insert locking nut 19.

[0046] It should be noted that the connection between the rear beam and the rear wheel 3 is a common connection method in the prior art, and will not be described in detail here.

[0047] In this embodiment, as Figure 6 As shown, there are two front wheels 2, and two stepper motors 9 are mounted on the bottom surface of the front beam 8. The output of each stepper motor 9 is connected to one front wheel 2 to control the movement of the front wheel 2. The rear wheel 3 is an omnidirectional wheel; the stepper motor 9 cooperates with the omnidirectional wheel to...

[0048] In this embodiment, both the front shock absorber 6 and the rear shock absorber 7 are hydraulic spring shock absorbers.

[0049] Regarding the installation of the electronic control box 4 and battery 5 on the frame 1: The bottom surface of the electronic control box 4 has 18 bolt holes, and the frame 1 has corresponding 18 bolt holes. A bolt 18 passing through both bolt holes connects the bottom surface of the electronic control box 4 to the frame 1, thus enabling the installation of the electronic control box 4 on the frame 1. Similarly, the top surface of the battery 5 has 18 bolt holes, and the frame 1 has corresponding bolt holes. A bolt 18 passing through both bolt holes enables the installation of the top surface of the battery 5 to the frame 1, thus enabling the installation of the battery 5 on the frame 1.

[0050] In this embodiment, battery 5 is a lithium battery 5.

[0051] In this embodiment, a gimbal assembly is mounted on the frame 1. The gimbal assembly is located between the front wheel assembly 2 and the electrical control box 4. The gimbal assembly includes a gimbal 10 and a gimbal 11 mounted on the top of the gimbal 10. A central support frame is provided on the frame 1. The central support frame includes two spaced vertical support rods 12 and a horizontal support plate 13 connecting the top ends of the two vertical support rods 12. The horizontal support plate 13 has a limiting hole for the gimbal 10 to pass through. The lower end of the gimbal 10 passes through the limiting hole from top to bottom and is fixedly mounted on the frame 1, so that the displacement of the gimbal 10 is dually limited by the frame 1 and the central support frame.

[0052] In this embodiment, the vertical support rod 12 is a U-shaped rod, which includes two parallel and vertically extending vertical rods. The tops of the two vertical rods are connected by a horizontal rod 23, and the side of the horizontal support plate 13 is connected to the horizontal rod 23.

[0053] In addition, a wireless charging receiver module 24 and a crash bar assembly 22 are installed at the front end of the frame 1. The crash bar assembly 22 is located above the wireless charging receiver module 24 and on the side of the wireless charging receiver module 24 away from the electronic control box 4. Spring antenna assemblies 25 are installed on the two vertical support rods 12 of the middle support frame. A limit block 21 is installed on the side of the front beam 8 facing the rear beam rod.

[0054] The working principle of the wheeled robot chassis provided by this utility model is as follows: When the robot is moving, the robot's posture is controlled by the electrical control box 4, and the lithium battery 5 provides energy to the electrical control box 4 and the stepper motor 9. The electrical control box 4 controls the operating state of the stepper motor 9, so that the front wheel 2 is driven to move through the stepper motor 9, thereby driving the rear wheel 3 to move. When the front wheel 2 and the rear wheel 3 move forward at the same time, the robot moves forward. When the front wheel 2 and the rear wheel 3 move backward at the same time, the robot moves backward. When the two front wheels 2 on the left and right sides of the frame 1 rotate in opposite directions or at different speeds, the robot completes the turning motion. During the turning process, since the rear wheel 3 is an omnidirectional wheel, it does not generate resistance or the resistance generated is negligible during the turning process. Moreover, the rear beam is a segmented structure, which can realize the independent movement of the two rear wheels 3, further enhancing the robot's turning flexibility and maneuverability.

[0055] Based on the above description in this specification, those skilled in the art will also understand that the following terms, such as "upper," "lower," "front," "rear," "left," "right," "width," "horizontal," "top," "bottom," "inner," and "outer," which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not explicitly or implicitly suggest that the device or element involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0056] In addition, in the description of this specification, "multiple" means at least two, such as two, three or more, etc., unless otherwise expressly and specifically defined.

Claims

1. A wheeled robot chassis, comprising a frame, a front wheel assembly, a rear wheel assembly, an electronic control box, and a battery, wherein the front wheel assembly and the rear wheel assembly are respectively disposed at the front end and rear end of the frame, and the electronic control box and the battery are mounted on the frame, characterized in that, It also includes front and rear shock absorbers; The front wheel assembly includes a front beam and front wheels disposed at both ends of the front beam. The front beam is connected to the vehicle frame via a front shock absorber, which is located at the center of the front beam along its length. The rear wheel assembly includes a rear beam and rear wheels disposed at both ends of the rear beam. Both ends of the rear beam are provided with rear shock absorbers. The upper end of the rear shock absorber is connected to the vehicle frame, and the lower end of the rear shock absorber is connected to the rear beam.

2. The wheeled robot chassis according to claim 1, characterized in that, A stepper motor is mounted on the front beam, and the number of stepper motors matches the number of front wheels. The output of each stepper motor is connected to one of the front wheels.

3. The wheeled robot chassis according to claim 2, characterized in that, The rear wheels are omnidirectional wheels.

4. The wheeled robot chassis according to any one of claims 1 to 3, characterized in that, The vehicle frame is equipped with a gimbal assembly, which is located between the front wheel assembly and the electronic control box. The gimbal assembly includes a gimbal rod and a gimbal mounted on the top of the gimbal rod.

5. The wheeled robot chassis according to claim 4, characterized in that, The frame is provided with a central support frame, which includes a vertical support rod and a horizontal support plate installed on the top of the vertical support rod. The horizontal support plate has a limiting hole for mounting the gimbal rod. The lower end of the gimbal rod passes through the limiting hole from top to bottom and is fixedly mounted on the frame.

6. The wheeled robot chassis according to any one of claims 1 to 3, characterized in that, The rear beam includes a first rear beam and a second rear beam. The first end of the first rear beam and the first end of the second rear beam are both connected to the rear wheel. The second end of the first rear beam is provided with a first connecting plate, and the second end of the second rear beam is provided with a second connecting plate. The first connecting plate and the second connecting plate are staggered vertically, and both the first connecting plate and the second connecting plate are provided with corresponding mounting holes. The second end of the first rear beam and the second end of the second rear beam are connected by bolts passing through the two mounting holes and nuts screwed on the bolts.

7. The wheeled robot chassis according to any one of claims 1 to 3, characterized in that, The side of the frame is provided with an outwardly extending horizontal support rod, and the upper end of the rear shock absorber is fixedly mounted on the horizontal support rod.

8. The wheeled robot chassis according to any one of claims 1 to 3, characterized in that, The front shock absorber and the rear shock absorber are hydraulic spring shock absorbers.

9. The wheeled robot chassis according to any one of claims 1 to 3, characterized in that, A limit block is provided on the side of the front beam facing the rear beam.

10. The wheeled robot chassis according to any one of claims 1 to 3, characterized in that, The front end of the vehicle frame is equipped with a crash bar assembly.

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