A chassis structure

Abstract

The utility model discloses a bottom structure, including bottom, drive mechanism, elevating system and controller, drive mechanism rotatablely set up in the bottom center of bottom, and the pivot vertical setting, be equipped with the limiting piece between bottom and drive mechanism, and limiting piece is suitable for the rotation angle of drive mechanism is limited, elevating system is at least two, and symmetrical distribution is in the front and back two sides of drive mechanism, elevating system liftably sets up in the bottom of bottom, the controller is suitable for when controlling drive mechanism forward, the elevating system of control located drive mechanism rear is contacted with ground simultaneously, the controller is also suitable for when controlling drive mechanism reverses, and the elevating system of control located drive mechanism front side is contacted with ground. The utility model discloses the cooperation between drive mechanism and elevating system to improve the grip between bottom structure and ground, and then prevent the situation that bottom structure appears to slip, improve safety performance.

Description

Technical Field

[0001] This utility model relates to the field of robot parts technology, specifically to a chassis structure. Background Technology

[0002] Robots are being used more and more widely. During robot operation, a chassis structure is needed to enable the robot to move on the ground. Specifically, the chassis structure is located at the bottom of the robot to propel it. In existing technology, the chassis structure typically consists of a chassis, drive wheels, and casters. The drive wheels must be in constant contact with the ground.

[0003] When the chassis is fully loaded, wheel slippage may occur when driving on uneven ground, indicating insufficient driving force and affecting transportation efficiency. If the robot is mounted high on top of the chassis, wheel slippage could cause it to tip over, potentially damaging it or even injuring nearby workers, posing a safety hazard. Utility Model Content

[0004] This utility model proposes a chassis structure to solve the technical problem that existing chassis structures are prone to slippage.

[0005] The present invention discloses a chassis structure, including a chassis, a drive mechanism, a lifting mechanism, and a controller;

[0006] The drive mechanism is rotatably mounted at the bottom center of the chassis via a rotating shaft, which is vertically mounted; the drive mechanism is adapted to drive the chassis to move on the ground.

[0007] A limiting member is provided between the chassis and the drive mechanism. The limiting member is adapted to limit the rotation angle of the drive mechanism, and the rotation angle is -90° to 90°.

[0008] There are at least two lifting mechanisms, symmetrically distributed on the front and rear sides of the drive mechanism; the lifting mechanisms are vertically and flexibly mounted on the bottom of the chassis.

[0009] The controller is connected to both the drive mechanism and the lifting mechanism.

[0010] The controller is adapted to simultaneously control the lifting mechanism located in front of the drive mechanism to separate from the ground and control the lifting mechanism located behind the drive mechanism to contact the ground when controlling the drive mechanism to move forward; the controller is also adapted to simultaneously control the lifting mechanism located in front of the drive mechanism to contact the ground and control the lifting mechanism located behind the drive mechanism to separate from the ground when controlling the drive mechanism to reverse. Through the cooperation between the drive mechanism and the lifting mechanism, the grip between the chassis structure and the ground is improved, thereby preventing the chassis structure from slipping and improving safety performance.

[0011] Furthermore, the drive mechanism includes a support plate, a drive wheel, a drive device, and a connecting plate;

[0012] The center of the support plate is rotatably disposed at the bottom center of the chassis via the pivot; the limiting member is disposed between the support plate and the chassis;

[0013] There are two drive wheels, which are set on the left and right sides of the support plate through corresponding connecting plates;

[0014] There are two drive devices, each connected to a corresponding drive wheel; the drive devices are adapted to drive the drive wheels to rotate.

[0015] Two connecting plates are centrally symmetrically distributed below the support plate. Each connecting plate is arranged along the front-to-back direction, with one end mounted on the bottom of the support plate via a first bearing seat, and the other end mounted on the bottom of the support plate via a spring. The connecting plates are adapted to swing up and down around the first bearing seat. The drive wheel is located in the middle section of the connecting plate. This design ensures smooth movement of the drive mechanism.

[0016] Furthermore, the drive mechanism also includes a guide plate and guide wheels;

[0017] The guide wheel is disposed at the bottom of the support plate via a corresponding guide plate; the guide wheel is placed on the left and right sides of the corresponding connecting plate and is slidably connected to the connecting plate;

[0018] The guide wheels are adapted to limit the left and right sides of the connecting plate, preventing the connecting plate from tilting and ensuring that the connecting plate can only swing up and down. This design improves the stability of the drive mechanism.

[0019] Furthermore, the lifting mechanism includes a connecting frame, auxiliary wheels, and a lifting device;

[0020] The connecting frame is located below the chassis, and the upper end of the connecting frame is hinged to the bottom of the chassis via a second bearing seat. At least two auxiliary wheels are provided at the lower end of the connecting frame. The auxiliary wheels are distributed on the left and right sides of the chassis.

[0021] The lifting device is disposed between the chassis and the connecting frame. The lifting device is adapted to drive the connecting frame to swing up and down around the corresponding second bearing seat, so that the auxiliary wheel contacts or separates from the ground. With this design, the connecting frame shares part of the force on the lifting device, thereby preventing the lifting device from jamming.

[0022] Furthermore, the connecting frame includes a support and a connecting rod;

[0023] The upper end of the support is hinged to the bottom of the chassis via the second bearing seat; the lower end of the support is provided with the connecting rod; the connecting rod extends in the left-right direction, and the auxiliary wheel is provided at the left and right ends of the connecting rod;

[0024] The support and the connecting rod form a receiving cavity;

[0025] The fixed end of the lifting device is fixed to the chassis, and the driving end of the lifting device extends into the receiving cavity and is slidably installed in the receiving cavity via a pin. Using this design, the connecting frame can swing up and down around the second bearing seat under the action of the second bearing seat and the pin.

[0026] Furthermore, the chassis structure also includes a navigation mechanism;

[0027] The navigation mechanism includes an RFID reader and a magnetic navigation sensor;

[0028] The RFID reader and the magnetic navigation sensor are mounted on the drive mechanism and are adapted to detect the position of the magnetic strips laid on the ground and transmit the detected position information to the controller.

[0029] The controller is adapted to control the drive mechanism to move on the ground based on information fed back from the RFID reader and the magnetic navigation sensor. This scheme enables the drive mechanism to move effectively.

[0030] Furthermore, the navigation mechanism also includes a laser collision avoidance sensor;

[0031] The laser anti-collision sensor is located at the corner of the chassis;

[0032] The controller is adapted to control the drive mechanism to move on the ground based on the information fed back by the laser collision avoidance sensor. This scheme is used to prevent the chassis structure from colliding with obstacles.

[0033] Furthermore, the chassis structure also includes a support mechanism;

[0034] The support mechanism includes casters and a support base;

[0035] The casters are mounted on the bottom of the chassis via the support base; the casters are positioned between the drive mechanism and the lifting mechanism, and are distributed on the left and right sides of the chassis. This design provides support for the chassis.

[0036] Furthermore, the chassis structure also includes side plates;

[0037] The side plate is fixed to the edge of the chassis, and the side plate and the chassis form a cavity with an opening at the lower end; the drive mechanism and the lifting mechanism are both placed in the cavity;

[0038] Indicator lights are embedded in the side plate. This design effectively protects the drive mechanism and the lifting mechanism.

[0039] Furthermore, the lower edge of the side panel is provided with an anti-collision contact edge, and a vibration sensor is provided inside the anti-collision contact edge;

[0040] The controller is adapted to control the drive mechanism to perform an emergency stop based on information fed back from the vibration sensor when the anti-collision contact edge collides with an obstacle. This approach improves safety performance.

[0041] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art:

[0042] By coordinating the drive mechanism and the lifting mechanism, the grip between the chassis structure and the ground is improved, thereby preventing the chassis structure from slipping and improving safety performance.

[0043] By setting up a connecting frame, part of the force on the lifting device can be distributed, thereby preventing the lifting device from jamming.

[0044] The left and right sides of the connecting plate are limited by guide wheels to prevent the connecting plate from tilting, thereby improving the stability of the drive mechanism.

[0045] The above description of the disclosed content and the following description of the embodiments are intended to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

[0046] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0047] Figure 1 This is a schematic diagram (a) of the chassis structure in this utility model;

[0048] Figure 2 This is a bottom view of a partial structure of the chassis in this utility model;

[0049] Figure 3 This is a schematic diagram (II) of the chassis structure in this utility model;

[0050] Figure 4 This is a schematic diagram of the chassis in this utility model;

[0051] Figure 5 This is a schematic diagram of the drive mechanism and magnetic navigation sensor in this utility model;

[0052] Figure 6 This is a schematic diagram of the drive mechanism in this utility model;

[0053] Figure 7 This is a partial cross-sectional schematic diagram of the drive mechanism and chassis in this utility model;

[0054] Figure 8 This is a schematic diagram of the lifting mechanism in this utility model;

[0055] Figure 9 This is a schematic diagram of the connecting frame in this utility model;

[0056] Figure 10 This is a partial structural diagram of the lifting mechanism in this utility model;

[0057] Figure 11 This is a schematic diagram of the support mechanism in this utility model.

[0058] Explanation of icon numbers:

[0059] 1. Chassis; 11. Axle;

[0060] 2. Drive mechanism; 21. Support plate; 22. Drive wheel; 23. Drive device; 24. Connecting plate; 241. Baffle; 25. First bearing seat; 26. Spring; 27. Guide plate; 28. Guide wheel;

[0061] 3. Lifting mechanism; 31. Connecting frame; 311. Support; 312. Connecting rod; 313. Receiving cavity; 32. Auxiliary wheel; 33. Lifting device; 34. Second bearing seat; 35. Pin;

[0062] 4. Limiting components; 41. Mating surfaces;

[0063] 5. Support mechanism; 51. Casters; 52. Support base

[0064] 6. Side panels;

[0065] 7. Indicator lights;

[0066] 8. Navigation mechanism; 81. RFID reader; 82. Magnetic navigation sensor; 83. Laser anti-collision sensor; 84. Support frame;

[0067] 9. Anti-collision contact edge. Detailed Implementation

[0068] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0069] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the utility model.

[0070] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0071] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0072] This utility model discloses a chassis structure. The chassis structure is suitable for mounting on a robot to drive the robot to move.

[0073] Please see Figures 1-4 As shown, the chassis structure includes a chassis 1, a drive mechanism 2, a lifting mechanism 3, and a controller. The drive mechanism 2 is located below the chassis 1 and is rotatably mounted at the bottom center of the chassis 1 via a rotating shaft 11. The rotating shaft 11 is vertically positioned. The drive mechanism 2 is adapted to drive the chassis 1 to move on the ground. A limiting member 4 is provided between the chassis 1 and the drive mechanism 2. Several limiting members 4 are respectively provided on the chassis 1 and the drive mechanism 2. The limiting members 4 are adapted to limit the rotation angle of the drive mechanism 2. In this embodiment, the rotation angle is -90° to 90°. The robot can be mounted on top of the chassis 1.

[0074] There are at least two lifting mechanisms 3. Multiple lifting mechanisms 3 are symmetrically distributed on the front and rear sides of the drive mechanism 2. The lifting mechanisms 3 are vertically and flexibly mounted at the bottom of the chassis 1. A controller is connected to both the drive mechanism 2 and the lifting mechanisms 3.

[0075] Specifically, when the controller controls the drive mechanism 2 to move forward, the controller simultaneously controls the lifting mechanism 3 located in front of the drive mechanism 2 to separate from the ground, and controls the lifting mechanism 3 located behind the drive mechanism 2 to contact the ground, thereby improving the grip of the rear end of the chassis structure. When the controller controls the drive mechanism 2 to reverse, the controller simultaneously controls the lifting mechanism 3 located in front of the drive mechanism 2 to contact the ground, and controls the lifting mechanism 3 located behind the drive mechanism 2 to separate from the ground, thereby improving the grip of the front end of the chassis structure.

[0076] This invention improves the grip between the chassis structure and the ground by cooperating between the drive mechanism 2 and the lifting mechanism 3, thereby preventing the chassis structure from slipping.

[0077] Please see Figure 4 and Figure 5 As shown, the chassis 1 is horizontally positioned. A rotating shaft 11 is mounted at the center of the bottom of the chassis 1. The rotating shaft 11 is rotatably connected to the drive mechanism 2 via bearings.

[0078] Furthermore, to effectively protect the drive mechanism 2 and the lifting mechanism 3, the chassis structure also includes side plates 6 (such as...). Figure 1 (As shown). The side plate 6 is fixed to the edge of the chassis 1 and positioned below the chassis 1. The side plate 6 and the chassis 1 form a cavity with an opening at the lower end. The drive mechanism 2 and the lifting mechanism 3 are both located within the cavity. In this embodiment, four indicator lights 7 are embedded in the side plate 6, distributed at the four corners of the chassis 1. In this embodiment, the indicator lights 7 are turn signals used for turning indication to alert nearby personnel and improve safety. The indicator lights 7 are existing technology and will not be described in detail.

[0079] Please see Figures 5-7As shown, the drive mechanism 2 includes a support plate 21, a drive wheel 22, a drive device 23, and a connecting plate 24. The center of the support plate 21 is rotatably disposed at the bottom center of the chassis 1 via a rotating shaft 11 and a bearing. Limiting members 4 are disposed between the support plate 21 and the chassis 1. In this embodiment, there are four limiting members 4. The four limiting members 4 are arranged in a rectangular pattern. Two limiting members 4 on one diagonal are threaded to the bottom of the chassis 1, and two limiting members 4 on the other diagonal are threaded to the top of the support plate 21. Through the mutual cooperation between the limiting members 4 on the chassis 1 and the limiting members 4 on the support plate 21, the rotation angle of the support plate 21 is limited.

[0080] Furthermore, the limiting member 4 is a limiting post. The side wall of the limiting member 4 is provided with a mating surface 41 to reduce the assembly difficulty of the limiting member 4. The mating surface 41 is suitable for being held by a wrench, so that the operator can hold the mating surface 41 with a wrench and then thread the limiting member 4 onto the chassis 1 or the support plate 21.

[0081] There are two drive wheels 22, two drive units 23, and two connecting plates 24. The drive wheels 22 are rubber-coated wheels. The two drive wheels 22 are set on the left and right sides of the support plate 21 through corresponding connecting plates 24. The two drive units 23 are respectively connected to the corresponding drive wheels 22. The drive units 23 are placed between the two drive wheels 22 and below the support plate 21. The drive units 23 are adapted to drive the drive wheels 22 to rotate. The drive mechanism 2 achieves the turning of the chassis structure through the speed difference between the two drive wheels 22.

[0082] Two connecting plates 24 are centrally symmetrically distributed below the support plate 21. The connecting plates 24 are arranged along the front-to-back direction. One end of the connecting plate 24 is mounted on the bottom of the support plate 21 via a first bearing seat 25, and the other end is mounted on the bottom of the support plate 21 via a spring 26. The connecting plate 24 is adapted to swing up and down around the first bearing seat 25. The drive wheel 22 is located in the middle section of the connecting plate 24, that is, the drive wheel 22 is located between the corresponding first bearing seat 25 and the spring 26.

[0083] In this embodiment, the front end of one connecting plate 24 is mounted on the support plate 21 via a first bearing seat 25, and the rear end of the connecting plate 24 is mounted on the support plate 21 via a spring 26. The front end of another connecting plate 24 is mounted on the support plate 21 via a spring 26, and the rear end of the connecting plate 24 is mounted on the support plate 21 via a first bearing seat 25. The spring 26 is vertically arranged. The upper and lower ends of the spring 26 are respectively fixed to the support plate 21 and a baffle 241 provided on the side wall of the connecting plate 24. The inner ring of the spring 26 is provided with upper and lower spring shafts. The upper and lower spring shafts are respectively fixed to the support plate 21 and the baffle 241 to guide the spring 26 and improve its service life.

[0084] Furthermore, to improve the stability of the drive mechanism 2, the drive mechanism 2 also includes a guide plate 27 and guide wheels 28. The guide wheels 28 are disposed at the bottom of the support plate 21 via corresponding guide plates 27. The guide wheels 28 are located on the left and right sides of the corresponding connecting plate 24 and are slidably connected to the connecting plate 24. In this embodiment, there are two guide plates 27, located at the ends of the corresponding connecting plates 24 and near the corresponding springs 26. Each guide plate 27 has two guide wheels 28. The two guide wheels 28 are located on the left and right sides of the end of the connecting plate 24. The guide wheels 28 are adapted to limit the left and right sides of the connecting plate 24, preventing the connecting plate 24 from tilting, so that the connecting plate 24 can only swing up and down.

[0085] Please see Figure 2 , Figure 5 and Figure 6 As shown, to enable effective movement of the drive mechanism 2, the chassis structure also includes a navigation mechanism 8. In this embodiment, the chassis structure is applied to a ground surface covered with magnetic strips. The navigation mechanism 8 includes an RFID reader 81 and a magnetic navigation sensor 82. The RFID reader 81 is mounted below the support plate 21 via a support frame 84. The RFID reader 81 is located below the rotating shaft 11 and positioned between the two drive devices 23. The magnetic navigation sensor 82 is mounted on the front and rear sides of the bottom of the support plate 21. The RFID reader 81 and the magnetic navigation sensor 82 work together to detect the position of the magnetic strips on the ground and transmit the detected position information to the controller. The controller is adapted to control the drive mechanism 2 to move on the ground based on the information fed back by the RFID reader 81 and the magnetic navigation sensor 82.

[0086] Among them, the existing Chinese patent document with publication number CN216434766U describes a magnetic navigation AGV. Therefore, the combination of RFID reader 81, magnetic navigation sensor 82 and magnetic strip is prior art and will not be described in detail.

[0087] Furthermore, to prevent the chassis structure from colliding with obstacles, the navigation mechanism 8 also includes laser collision avoidance sensors 83. The laser collision avoidance sensors 83 are located at the top corners of the chassis 1. In this embodiment, two laser collision avoidance sensors 83 are used, located at opposite corners of the top of the chassis 1. The laser collision avoidance sensors 83 are used to monitor road conditions near the chassis structure to prevent collisions with obstacles. The controller is adapted to control the drive mechanism 2 to move on the ground based on the information fed back by the laser collision avoidance sensors 83.

[0088] Furthermore, to enhance safety, the lower edge of the side panel 6 is equipped with an anti-collision contact edge 9 (such as...). Figure 1(As shown). The outer shell of the anti-collision contact edge 9 is made of rubber. A vibration sensor is installed inside the anti-collision contact edge 9. The controller is adapted to control the drive mechanism 2 to make an emergency stop based on the information fed back by the vibration sensor when the anti-collision contact edge 9 collides with an obstacle, thereby effectively protecting the chassis structure. Among them, the existing Chinese patent document with publication number CN222248836U describes an AGV mother vehicle. Therefore, the anti-collision contact edge 9 is prior art and will not be described in detail.

[0089] Please see Figure 2 and Figure 8 As shown, there are two lifting mechanisms 3. Each lifting mechanism 3 includes a connecting frame 31, auxiliary wheels 32, and a lifting device 33. The connecting frame 31 is located below the chassis 1. The upper end of the connecting frame 31 is hinged to the bottom of the chassis 1 via a second bearing seat 34. At least two auxiliary wheels 32 are provided at the lower end of the connecting frame 31. The auxiliary wheels 32 are distributed on the left and right sides of the chassis 1. The lifting device 33 is located between the chassis 1 and the connecting frame 31. The lifting device 33 is adapted to drive the connecting frame 31 to swing up and down around the corresponding second bearing seat 34, so that the auxiliary wheels 32 contact or separate from the ground.

[0090] In this embodiment, two auxiliary wheels 32 are provided on the same connecting frame 31. (See also...) Figure 9 and Figure 10 As shown, the connecting frame 31 includes a support 311 and a connecting rod 312. The upper end of the support 311 is hinged to the bottom of the chassis 1 via a second bearing seat 34. The lower end of the support 311 is provided with the connecting rod 312. The connecting rod 312 extends in the left-right direction, and two auxiliary wheels 32 are provided at the left and right ends of the connecting rod 312. A groove is formed at the bottom of the support 311, and the connecting rod 312 covers the groove. That is, the support 311 and the connecting rod 312 form a receiving cavity 313. The lifting device 33 is an electric push rod. The fixed end of the lifting device 33 is fixed to the chassis 1. The driving end of the lifting device 33 passes through the support 311 and extends into the receiving cavity 313. The driving end of the lifting device 33 is slidably mounted in the receiving cavity 313 via a pin 35.

[0091] The support 311 has a first elongated hole through which the drive end of the lifting device 33 passes, and the first elongated hole communicates with the receiving cavity 313. The first elongated hole extends in the front-back direction, meaning that the pin 35 and the receiving cavity 313 can be slidably connected in the front-back direction. The connecting rod 312 has a second elongated hole through which the drive end of the lifting device 33 passes, and the second elongated hole communicates with the receiving cavity 313. The first elongated hole and the second elongated hole are arranged opposite to each other. The cooperation of the first elongated hole, the second elongated hole, and the pin 35 prevents the drive end of the lifting device 33 from disengaging from the receiving cavity 313. When the lifting device 33 drives the lower end of the connecting frame 31 to rise and fall, under the action of the second bearing seat 34 and the pin 35, the connecting frame 31 can swing up and down around the second bearing seat 34. During this time, the connecting frame 31 shares part of the force of the lifting device 33, thereby preventing the lifting device 33 from jamming.

[0092] Please see Figure 2 and Figure 11 As shown, the chassis structure also includes a support mechanism 5. The support mechanism 5 includes casters 51 and support seats 52. The casters 51 are mounted on the bottom of the chassis 1 via the support seats 52. The casters 51 are positioned between the drive wheels 22 and the auxiliary wheels 32, and are distributed on the left and right sides of the chassis 1. The support mechanism 5 is adapted to contact the ground, thereby providing support for the chassis 1.

[0093] In this embodiment, there are four support mechanisms 5, which are respectively arranged between the corresponding drive wheel 22 and auxiliary wheel 32.

[0094] The controller is electrically connected to the drive unit 23, the lifting unit 33, the indicator light 7, the RFID reader 81, the magnetic navigation sensor 82, the laser anti-collision sensor 83, and the anti-collision contact edge 9. In this embodiment, the controller is mounted on the chassis 1. The controller is a PLC controller.

[0095] In this embodiment, the chassis 1 is also provided with a mobile power supply for supplying power to the chassis structure.

[0096] This invention improves the grip between the chassis structure and the ground by coordinating the drive mechanism and the lifting mechanism, thereby preventing slippage and enhancing safety. A connecting frame is incorporated to distribute some of the load on the lifting device, preventing it from jamming. Guide wheels limit the left and right sides of the connecting plate, preventing it from tilting and improving the stability of the drive mechanism.

[0097] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A chassis structure, characterized by, It includes a chassis (1), a drive mechanism (2), a lifting mechanism (3), and a controller; The drive mechanism (2) is rotatably mounted at the bottom center of the chassis (1) via a rotating shaft (11), which is vertically mounted; the drive mechanism (2) is adapted to drive the chassis (1) to move on the ground; A limiting member (4) is provided between the chassis (1) and the drive mechanism (2). The limiting member (4) is adapted to limit the rotation angle of the drive mechanism (2), and the rotation angle is -90° to 90°. There are at least two lifting mechanisms (3), which are symmetrically distributed on the front and rear sides of the drive mechanism (2); the lifting mechanisms (3) are vertically and vertically arranged at the bottom of the chassis (1); The controller is connected to the drive mechanism (2) and the lifting mechanism (3) respectively; The controller is adapted to simultaneously control the lifting mechanism (3) located in front of the driving mechanism (2) to separate from the ground and control the lifting mechanism (3) located behind the driving mechanism (2) to contact the ground when controlling the driving mechanism (2) to move forward; the controller is also adapted to simultaneously control the lifting mechanism (3) located in front of the driving mechanism (2) to contact the ground and control the lifting mechanism (3) located behind the driving mechanism (2) to separate from the ground when controlling the driving mechanism (2) to reverse.

2. The chassis structure according to claim 1, characterized in that, The drive mechanism (2) includes a support plate (21), a drive wheel (22), a drive device (23), and a connecting plate (24). The center of the support plate (21) is rotatably disposed at the bottom center of the chassis (1) via the pivot (11); the limiting member (4) is disposed between the support plate (21) and the chassis (1); There are two drive wheels (22), which are set on the left and right sides of the support plate (21) through corresponding connecting plates (24); There are two drive devices (23), and each drive device (23) is connected to a corresponding drive wheel (22); the drive device (23) is adapted to drive the drive wheel (22) to rotate; There are two connecting plates (24), which are centrally symmetrically distributed below the support plate (21); the connecting plates (24) are arranged in the front-back direction, one end of which is installed at the bottom of the support plate (21) through the first bearing seat (25), and the other end of which is installed at the bottom of the support plate (21) through the spring (26); the connecting plates (24) are adapted to swing up and down around the first bearing seat (25); the drive wheel (22) is located in the middle section of the connecting plate (24).

3. The chassis structure according to claim 2, characterized in that, The drive mechanism (2) also includes a guide plate (27) and a guide wheel (28); The guide wheel (28) is disposed at the bottom of the support plate (21) via the corresponding guide plate (27); the guide wheel (28) is placed on the left and right sides of the corresponding connecting plate (24) and is slidably connected to the connecting plate (24); The guide wheel (28) is adapted to limit the left and right sides of the connecting plate (24) to prevent the connecting plate (24) from tilting, so that the connecting plate (24) can only swing up and down.

4. The chassis structure according to claim 1, characterized in that, The lifting mechanism (3) includes a connecting frame (31), auxiliary wheels (32) and a lifting device (33). The connecting frame (31) is placed below the chassis (1). The upper end of the connecting frame (31) is hinged to the bottom of the chassis (1) through the second bearing seat (34). At least two auxiliary wheels (32) are provided at the lower end of the connecting frame (31). The auxiliary wheels (32) are distributed on the left and right sides of the chassis (1). The lifting device (33) is disposed between the chassis (1) and the connecting frame (31). The lifting device (33) is adapted to drive the connecting frame (31) to swing up and down around the corresponding second bearing seat (34) so ​​that the auxiliary wheel (32) contacts the ground or separates from the ground.

5. The chassis structure according to claim 4, characterized in that, The connecting frame (31) includes a support (311) and a connecting rod (312); The upper end of the support (311) is hinged to the bottom of the chassis (1) through the second bearing seat (34); the lower end of the support (311) is provided with the connecting rod (312); the connecting rod (312) extends in the left and right direction, and the auxiliary wheel (32) is provided at the left and right ends of the connecting rod (312). The support (311) and the connecting rod (312) together form a receiving cavity (313). The fixed end of the lifting device (33) is fixed on the chassis (1), and the driving end of the lifting device (33) extends into the receiving cavity (313) and is slidably installed in the receiving cavity (313) by means of a pin (35).

6. The chassis structure according to claim 1, characterized in that, It also includes navigation agencies (8); The navigation mechanism (8) includes an RFID reader (81) and a magnetic navigation sensor (82). The RFID reader (81) and the magnetic navigation sensor (82) are mounted on the drive mechanism (2) and are adapted to detect the position of the magnetic strip laid on the ground and transmit the detected position information to the controller. The controller is adapted to control the drive mechanism (2) to move on the ground based on the information fed back by the RFID reader (81) and the magnetic navigation sensor (82).

7. The chassis structure according to claim 6, characterized in that, The navigation mechanism (8) also includes a laser anti-collision sensor (83); The laser anti-collision sensor (83) is located at the corner of the chassis (1); The controller is adapted to control the drive mechanism (2) to move on the ground based on the information fed back by the laser collision avoidance sensor (83).

8. The chassis structure according to claim 1, characterized in that, It also includes support structures (5); The support mechanism (5) includes casters (51) and support base (52); The caster wheel (51) is mounted on the bottom of the chassis (1) via the support base (52); the caster wheel (51) is located between the drive mechanism (2) and the lifting mechanism (3), and is distributed on the left and right sides of the chassis (1).

9. The chassis structure according to claim 1, characterized in that, It also includes the side panel (6); The side plate (6) surrounds and is fixed to the edge of the chassis (1), and the side plate (6) and the chassis (1) form a cavity with an opening at the lower end; the drive mechanism (2) and the lifting mechanism (3) are both placed in the cavity; An indicator light (7) is embedded in the side panel (6).

10. The chassis structure according to claim 9, characterized in that, The lower edge of the side plate (6) is provided with an anti-collision contact edge (9), and a vibration sensor is provided inside the anti-collision contact edge (9); The controller is adapted to control the drive mechanism (2) to perform an emergency stop based on the information fed back by the vibration sensor when the anti-collision contact edge (9) collides with an obstacle.

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