Chassis for mobile robots and mobile robots

Abstract

This application relates to the field of robotics technology, and discloses a chassis for a mobile robot and the mobile robot itself. The chassis includes a chassis frame and a drive module. The drive module includes a fixed plate, a hinge assembly, an elastic assembly, a drive wheel assembly, and a driven wheel assembly. The fixed plate is hinged to the chassis frame via the hinge assembly. The drive wheel assembly and the driven wheel assembly are respectively disposed on both sides of the hinge assembly along a first direction. The two ends of the elastic assembly are respectively connected to the fixed plate and the chassis frame. The driven wheel assembly includes a first driven wheel and a second driven wheel. The drive wheel assembly, the first driven wheel, and the second driven wheel are connected to the fixed plate. The first driven wheel and the second driven wheel are spaced apart in a second direction. The drive wheel assembly, the first driven wheel, and the second driven wheel form a triangular structure in the same plane. This application aims to solve the technical problem of mobile robots easily swaying when traveling on uneven ground.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a chassis for a mobile robot and the mobile robot itself. Background Technology

[0002] Wafers are a core component in semiconductor manufacturing, and high product quality is required. To meet these quality demands, wafer production lines are gradually transitioning to high levels of automation. In practical applications, mobile robots are used to handle wafers, improving production efficiency and reducing labor costs.

[0003] In current technology, mobile robots encounter complex terrain such as ditches, ridges, and other uneven surfaces during material handling between wafer warehouses and production lines, as well as between upstream and downstream of the production line. When mobile robots travel on these uneven surfaces, they are prone to shaking, which can damage the wafers and reduce the yield of wafers. Utility Model Content

[0004] The purpose of this application is to provide a chassis and a mobile robot for use in mobile robots, so as to solve the technical problem that mobile robots are prone to shaking when traveling on uneven ground.

[0005] In a first aspect, this application provides a chassis for a mobile robot, comprising a chassis frame and a drive module. The drive module includes a fixed plate, a hinge assembly, an elastic assembly, a drive wheel assembly, and a driven wheel assembly. The fixed plate is hinged to the chassis frame via the hinge assembly. The drive wheel assembly and the driven wheel assembly are respectively disposed on both sides of the hinge assembly along a first direction. The two ends of the elastic assembly are respectively connected to the fixed plate and the chassis frame.

[0006] The driven wheel assembly includes a first driven wheel and a second driven wheel. The drive wheel assembly, the first driven wheel, and the second driven wheel are connected to the fixed plate. The first driven wheel and the second driven wheel are spaced apart in a second direction. The drive wheel assembly, the first driven wheel, and the second driven wheel form a triangular structure in the same plane.

[0007] Optionally, the drive wheel assembly includes a first drive wheel, a second drive wheel, a first motor, and a second motor, wherein the first motor and the second motor are mounted on the fixed plate;

[0008] The first motor is connected to the first drive wheel and provides driving power to the first drive wheel; the second motor is connected to the second drive wheel and provides driving power to the second drive wheel.

[0009] When the mobile robot turns, the speed of the first drive wheel controlled by the first motor is not equal to the speed of the second drive wheel controlled by the second motor.

[0010] Optionally, the drive wheel assembly further includes a mounting plate assembly and a slewing bearing. The slewing bearing includes an inner ring and an outer ring. The inner ring of the slewing bearing is fixedly connected to the fixed plate, and the outer ring of the slewing bearing is fixedly connected to the mounting plate assembly. The first motor and the second motor are mounted on the mounting plate assembly.

[0011] Optionally, the mounting plate assembly includes a first mounting plate and a second mounting plate, the first mounting plate being disposed between the fixed plate and the second mounting plate; the first motor and the second motor being mounted on the second mounting plate; and the outer ring of the slewing bearing being fixedly connected to the first mounting plate.

[0012] The drive wheel assembly further includes a hinge assembly, which includes a first hinge seat and a second hinge seat. The first hinge seat is fixedly connected to the first mounting plate, and the second hinge seat is fixedly connected to the second mounting plate. The first hinge seat and the second hinge seat are rotatably connected so that the second mounting plate can rotate relative to the first mounting plate in the second direction.

[0013] Optionally, the first mounting plate is provided with limiting grooves on both the side away from and the side facing the driven wheel assembly, and the drive wheel assembly includes two hinge assemblies, each hinge assembly being disposed in a corresponding limiting groove.

[0014] Optionally, the second hinge seat is disposed in the limiting groove, and a bushing is sleeved inside the second hinge seat;

[0015] The first hinge seat is provided with a hinge shaft facing the second hinge seat. The hinge shaft passes through the bushing to realize the rotational connection between the first hinge seat and the second hinge seat in the first direction.

[0016] Optionally, the midpoint of the line connecting the first driven wheel and the second driven wheel is used as the reference point, and the hinge assembly is disposed on the extension line of the slewing bearing and the reference point.

[0017] Optionally, the hinge assembly includes a connecting shaft, a first hinge block, a second hinge block, a first mounting block, and a second mounting block;

[0018] The first hinge block and the second hinge block are spaced apart on the fixed plate along the second direction; the first mounting block and the second mounting block are spaced apart on the chassis frame along the second direction; one end of the connecting shaft passes through the first hinge block and the first mounting block, and the other end of the connecting shaft passes through the second hinge block and the second mounting block, so that the fixed plate is hinged to the chassis frame.

[0019] Optionally, the line connecting the first hinge block and the second hinge block is a reference line;

[0020] The distance from the reference point to the reference line is greater than the distance from the slewing bearing to the reference line, and the elastic component is disposed on the side of the reference line closer to the driven wheel assembly.

[0021] Optionally, the elastic component includes a first elastic element and a second elastic element;

[0022] The first elastic element corresponds to the position of the first driven wheel, and the two ends of the first elastic element are respectively connected to the fixed plate and the chassis frame;

[0023] The second elastic element corresponds to the position of the second driven wheel, and the two ends of the second elastic element are respectively connected to the fixed plate and the chassis frame.

[0024] Optionally, the drive module includes a first anti-collision component and a second anti-collision component, which are spaced apart on the fixed plate to limit the collision between the drive module and the chassis frame.

[0025] Optionally, the chassis includes two drive modules, and the chassis frame has a first end and a second end spaced apart along a first direction, with the two drive modules respectively mounted on the first end and the second end of the chassis frame.

[0026] Secondly, this application also provides a mobile robot, including a robot body and a chassis for the mobile robot, the chassis being used to support the robot body.

[0027] This application provides a chassis for a mobile robot, which has the following advantages:

[0028] The chassis includes a chassis frame and a drive module. The chassis frame connects to the robot body, and the fixed plate is hinged to the chassis frame via a hinge assembly, allowing the fixed plate to rotate relative to the chassis frame within a preset angle range. An elastic component deforms when the fixed plate rotates relative to the chassis frame. Drive wheel sets and driven wheel sets are respectively positioned on both sides of the hinge assembly along a first direction, forming a triangular support structure on the fixed plate with the drive wheel sets, the first driven wheel, and the second driven wheel.

[0029] When the mobile robot travels on a flat surface, the drive wheel assembly propels it along a primary direction. The articulated and elastic components remain relatively stable, with no significant relative movement between the fixed plate and the chassis frame. However, when the robot travels on uneven ground, such as encountering ditches or bumps, the ground impacts the drive and driven wheel assemblies. In this case, the fixed plate rotates relative to the chassis frame, and the elastic components adapt by extending and contracting, absorbing and buffering the impact force, thus reducing chassis sway. Furthermore, because the drive wheel assembly, the first driven wheel, and the second driven wheel form a triangular support structure on the plane of the fixed plate, this triangular support provides stability, ensuring the robot's smoothness during travel and further reducing chassis sway. This prevents damage to the wafers carried by the robot, thereby improving wafer yield. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the mobile robot provided in the embodiments of this application;

[0031] Figure 2 This is another structural schematic diagram of the mobile robot provided in the embodiments of this application;

[0032] Figure 3 A simplified schematic diagram of the chassis structure provided in the embodiments of this application;

[0033] Figure 4 Another schematic diagram of the chassis provided in this application embodiment;

[0034] Figure 5 This is a schematic diagram of the structure of the drive module provided in the embodiments of this application;

[0035] Figure 6 This is another structural schematic diagram of the drive module provided in the embodiments of this application;

[0036] Figure 7 This is an exploded view of the drive module provided in an embodiment of this application;

[0037] Figure 8 This is another structural schematic diagram of the drive module provided in the embodiments of this application;

[0038] Figure 9 This is a schematic diagram of the drive wheel assembly provided in an embodiment of this application;

[0039] Figure 10 This is an exploded view of the drive wheel assembly provided in an embodiment of this application.

[0040] The markings in the image are as follows:

[0041] 10. Chassis frame; 20. Drive module; 21. Fixing plate; 22. Hinge assembly; 220. Connecting shaft; 221. First hinge block; 222. Second hinge block; 223. First mounting block; 224. Second mounting block; 23. Elastic component; 231. First elastic element; 232. Second elastic element; 24. Drive wheel assembly; 241. First drive wheel; 242. Second drive wheel; 243. First motor; 244. Second motor; 245. Mounting plate assembly; 2451. First mounting plate; 2452. Second mounting plate; 2453, limiting groove; 246, slewing bearing; 2461, inner ring; 2462, outer ring; 247, hinge assembly; 2471, first hinge seat; 2472, second hinge seat; 2473, bushing; 2474, hinge shaft; 25, driven wheel assembly; 251, first driven wheel; 252, second driven wheel; 26, first anti-collision component; 27, second anti-collision component; 28, encoder; 100, chassis; 200, robot body; X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0042] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0043] In the description of this application, it should be noted that the terms "upper", "lower", "front", "rear", "inner", "outer", etc. used in this application to indicate the orientation or positional relationship are based on the positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device and element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] In the description of this application, it should be understood that the terms "first," "second," etc., are used to describe various types of information, but these terms are not limited to them and are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0045] like Figure 1 As shown, this application embodiment provides a mobile robot, including a chassis 100 and a robot body 200, wherein the chassis 100 is used to support the robot body 200.

[0046] Specifically, the chassis 100 serves as the mobile support structure for the mobile robot, supporting the robot body 200 and other components. The mobile robot also includes a power system, actuators, and a control system, which can be housed within the robot body 200. The power system includes a battery and a power management module; the battery provides power to the robot, and the power management module monitors and regulates power output. The control system includes a processor, sensors, and a communication module. The processor processes various data and instructions and controls the robot's movement; the sensors perceive the robot's surrounding environment; and the communication module enables communication between the robot and external devices, such as wireless LAN or Bluetooth. The actuators include a robotic arm, used for grasping and transporting objects such as wafer cassettes.

[0047] like Figures 1 to 5 As shown, this application embodiment provides a chassis 100 for a mobile robot, which includes a chassis frame 10 and a drive module 20. The drive module 20 includes a fixed plate 21, a hinge assembly 22, an elastic assembly 23, a drive wheel assembly 24, and a driven wheel assembly 25. The fixed plate 21 is hinged to the chassis frame 10 through the hinge assembly 22. The drive wheel assembly 24 and the driven wheel assembly 25 are respectively disposed on both sides of the hinge assembly 22 along a first direction X. The two ends of the elastic assembly 23 are respectively connected to the fixed plate 21 and the chassis frame 10. The driven wheel assembly 25 includes a first driven wheel 251 and a second driven wheel 252. The drive wheel assembly 24, the first driven wheel 251, and the second driven wheel 252 are connected to the fixed plate 21. The first driven wheel 251 and the second driven wheel 252 are spaced apart in a second direction Y. The drive wheel assembly 24, the first driven wheel 251, and the second driven wheel 252 form a triangular structure in the same plane.

[0048] In this embodiment, the chassis 100 (or mobile robot) has a first direction X, a second direction Y, and a third direction Z. The first direction X is the forward-backward direction when the robot moves, the second direction Y is the left-right direction when the robot moves forward-backward, and the third direction Z is the height direction of the robot. For ease of explanation, this application describes the chassis 100 as being placed on a horizontal plane.

[0049] The chassis frame 10 is connected to the robot body 200. The fixed plate 21 is hinged to the chassis frame 10 via a hinge assembly 22, for example, the hinge assembly 22 is set at the middle position of the fixed plate 21 or at both sides along the second direction Y. The fixed plate 21 can rotate relative to the chassis frame 10 within a preset angle range. The top end of the elastic component 23 is connected to the chassis frame 10, and the bottom end of the elastic component 23 is connected to the fixed plate 21. The elastic component 23 can deform accordingly when the fixed plate 21 rotates relative to the chassis frame 10. The drive wheel set 24 and the driven wheel set 25 are respectively set on both sides of the hinge assembly 22 along the first direction X, so that the drive wheel set 24, the first driven wheel 251 and the second driven wheel 252 form a triangular support structure on the fixed plate 21.

[0050] It should be noted that the drive wheel assembly 24, the first driven wheel 251, and the second driven wheel 252 are connected to the fixed plate 21, meaning that the drive wheel assembly 24, the first driven wheel 251, and the second driven wheel 252 are mounted on the fixed plate 21 and can roll, thereby driving the fixed plate 21 to move together.

[0051] Based on the above technical solution, when the mobile robot travels on a flat surface, the drive wheel assembly 24 drives the mobile robot to move along the first direction X. At this time, the hinge assembly 22 and the elastic assembly 23 are in a relatively stable state, and there is no significant relative movement between the fixed plate 21 and the chassis frame 10. When the mobile robot travels on uneven ground, such as encountering ditches or bumps, the ground will generate impact force on the drive wheel assembly 24 and the driven wheel assembly 25. At this time, the fixed plate 21 has a certain rotation angle relative to the chassis frame 10, and the elastic assembly 23 adaptably generates extension and contraction deformation to absorb and buffer the vibration impact force, reducing the sway amplitude of the chassis 100. Furthermore, since the drive wheel assembly 24, the first driven wheel 251, and the second driven wheel 252 form a triangular support structure, the triangular support has stability, ensuring the smoothness of the mobile robot during travel, further reducing the sway amplitude of the chassis 100, avoiding damage to the wafers it carries, thereby improving the yield rate of the wafers.

[0052] In some embodiments, such as Figure 4 and Figure 5 As shown, the distance from the drive wheel assembly 24 to the first driven wheel 251 is equal to the distance from the drive wheel assembly 24 to the second driven wheel 252. The drive wheel assembly 24, the first driven wheel 251, and the second driven wheel 252 form an isosceles triangle support structure, which improves the balance and stability of the drive module 20. When the mobile robot travels in a straight line, the isosceles triangle support structure helps to maintain the stability of the traveling direction and prevents deviation.

[0053] In some embodiments, such as Figures 2 to 4As shown, the chassis 100 includes two drive modules 20, and the chassis frame 10 has a first end and a second end that are spaced apart along a first direction X. The two drive modules 20 are respectively installed at the first end and the second end of the chassis frame 10.

[0054] Specifically, the first end of the chassis frame 10 is the front end of the chassis frame 10, and the second end of the chassis frame 10 is the rear end of the chassis frame 10; or the first end of the chassis frame 10 is the rear end of the chassis frame 10, and the second end of the chassis frame 10 is the front end of the chassis frame 10.

[0055] In this embodiment, drive modules 20 are respectively provided at the front and rear ends of the chassis frame 10. The driving and steering of the mobile robot are controlled by the drive modules 20 at both ends of the chassis frame 10. When the mobile robot encounters situations such as ditches, bumps, or uneven surfaces, the drive modules 20 at both ends share the reaction force of the ground, avoiding excessive local impact force, reducing the shaking and bumping of the chassis 100, thereby improving the driving stability of the mobile robot.

[0056] In some embodiments, a drive module 20 is provided at the first end of the chassis frame 10, and a driven wheel or omnidirectional wheel is provided at the second end of the chassis frame 10; or a drive module 20 is provided at the second end of the chassis frame 10, and a driven wheel or omnidirectional wheel is provided at the first end of the chassis frame 10, and the driving module 20 at one end of the chassis frame 10 controls the movement and steering of the mobile robot.

[0057] In some embodiments, such as Figure 4 As shown, the drive wheel assembly 24 is positioned on the side away from the center of the chassis frame 10, while the driven wheel assembly 25 is positioned on the side closer to the center of the chassis frame 10. That is, the drive wheel assembly 24 is positioned on the outer side near the chassis frame 10, facilitating replacement and maintenance, while the driven wheel assembly 25 is positioned near the center of the chassis frame 10. Of course, it is also possible to position the drive wheel assembly 24 near the center of the chassis frame 10 and the driven wheel assembly 25 on the outer side near the chassis frame 10.

[0058] In some embodiments, such as Figure 5 and Figure 6 As shown, the drive wheel assembly 24 includes a first drive wheel 241, a second drive wheel 242, a first motor 243, and a second motor 244. The first motor 243 and the second motor 244 are mounted on the fixed plate 21. The first motor 243 is connected to the first drive wheel 241 and provides walking power to the first drive wheel 241. The second motor 244 is connected to the second drive wheel 242 and provides walking power to the second drive wheel 242. When the mobile robot turns, the speed of the first drive wheel 241 controlled by the first motor 243 is not equal to the speed of the second drive wheel 242 controlled by the second motor 244.

[0059] Specifically, the first drive wheel 241 and the second drive wheel 242 are walking components. The first motor 243 and the first drive wheel 241, as well as the second motor 244 and the second drive wheel 242, can be connected by means of chain drive, belt drive or gear drive, etc. This embodiment does not impose specific limitations.

[0060] When the mobile robot travels in a straight line, the first motor 243 and the second motor 244 output power at the same speed and torque. The first motor 243 drives the first drive wheel 241 to rotate at a preset speed; the second motor 244 drives the second drive wheel 242 to rotate at the same speed as the first drive wheel 241. Since the speeds of the first drive wheel 241 and the second drive wheel 242 are equal, the drive wheel assembly 24 does not deflect, thus driving the mobile robot to travel forward or backward along the first direction X.

[0061] When the mobile robot turns, the rotational speeds of the first drive wheel 241 and the second drive wheel 242 are not equal. For example, the first motor 243 reduces the rotational speed of the first drive wheel 241, or the second motor 244 increases the rotational speed of the second drive wheel 242, or both simultaneously, making the speed of the second drive wheel 242 greater than the speed of the first drive wheel 241, causing the mobile robot to turn towards the side with the slower first drive wheel 241. Once the mobile robot has completed the turn, the rotational speeds of the first drive wheel 241 and the second drive wheel 242 are adjusted to make their rotational speeds equal, thus allowing the mobile robot to return to a straight-line driving state.

[0062] In some embodiments, such as Figures 7 to 9 As shown, the drive wheel assembly 24 also includes a mounting plate assembly 245 and a slewing bearing 246. The slewing bearing 246 includes an inner ring 2461 and an outer ring 2462. The inner ring 2461 of the slewing bearing 246 is fixedly connected to the fixed plate 21, and the outer ring 2462 of the slewing bearing 246 is fixedly connected to the mounting plate assembly 245. The first motor 243 and the second motor 244 are mounted on the mounting plate assembly 245.

[0063] Specifically, the slewing bearing 246 is a load-bearing bearing, which consists of an inner ring 2461, an outer ring 2462, rolling elements (such as balls or rollers), and a cage. Based on the principle of rolling friction, the slewing bearing 246 achieves relative rotation between the inner ring 2461 and the outer ring 2462 by the rolling of the rolling elements between the raceways of the inner ring 2461 and the outer ring 2462.

[0064] For example, the inner ring 2461 is fixedly connected to the fixed plate 21 by bolts, and the outer ring 2462 is fixedly connected to the mounting plate assembly 245 by bolts. When the rotation speeds of the first drive wheel 241 and the second drive wheel 242 are different, the mounting plate assembly 245 rotates relative to the fixed plate 21 under the relative rotation of the inner ring 2461 and the outer ring 2462, thereby realizing the rotation of the drive wheel set 24 and thus realizing the steering function of the mobile robot.

[0065] In some embodiments, such as Figure 9 and Figure 10 As shown, the mounting plate assembly 245 includes a first mounting plate 2451 and a second mounting plate 2452. The first mounting plate 2451 is disposed between the fixed plate 21 and the second mounting plate 2452. The outer ring 2462 of the slewing bearing 246 is fixedly connected to the first mounting plate 2451. The first motor 243 and the second motor 244 are mounted on the second mounting plate 2452. The drive wheel assembly 24 also includes a hinge assembly 247, which includes a first hinge seat 2471 and a second hinge seat 2472. The first hinge seat 2471 is fixedly connected to the first mounting plate 2451, and the second hinge seat 2472 is fixedly connected to the second mounting plate 2452. The first hinge seat 2471 and the second hinge seat 2472 are rotatably connected so that the second mounting plate 2452 can rotate relative to the first mounting plate 2451 in the second direction Y.

[0066] Specifically, the fixed plate 21, the first mounting plate 2451, and the second mounting plate 2452 are arranged sequentially from top to bottom in the third direction Z. The first motor 243 and the second motor 244 are mounted below the second mounting plate 2452. The first mounting plate 2451 has a mounting groove, and the outer ring 2462 is mounted in the mounting groove of the first mounting plate 2451. The first mounting plate 2451 and the second mounting plate 2452 are spaced apart and connected by a hinge assembly 247, so that the first mounting plate 2451 and the second mounting plate 2452 are connected as one unit. Under the rotation of the inner ring 2461 and the outer ring 2462, the first mounting plate 2451 and the second mounting plate 2452 rotate relative to the fixed plate 21.

[0067] The first hinge seat 2471 is fixedly connected to the first mounting plate 2451 by screws, and the second hinge seat 2472 is fixedly connected to the second mounting plate 2452 by screws. The first hinge seat 2471 and the second hinge seat 2472 are rotatably connected. In the axial direction along the first direction X, the first hinge seat 2471 rotates relative to the second hinge seat 2472, and the second mounting plate 2452 rotates relative to the first mounting plate 2451 to realize the left and right swing of the second mounting plate 2452.

[0068] It should be noted that the rotation of the first hinge seat 2471 relative to the second hinge seat 2472 refers to a micro-rotation within a preset angle range. In this embodiment, the second mounting plate 2452 is connected to the first mounting plate 2451 through the hinge connection between the first hinge seat 2471 and the second hinge seat 2472. The fixed plate 21 has a certain rotation angle relative to the chassis frame 10 in the first direction X, meaning the drive wheel assembly 24 has a degree of freedom in the first direction X. The hinge assembly 247 increases the degree of freedom of the drive wheel assembly 24 in the second direction Y. The drive wheel assembly 24 has a certain rotation angle relative to the chassis frame 10 in the second direction Y, thus improving the driving stability of the chassis 100.

[0069] In some embodiments, such as Figure 9 and Figure 10 As shown, the first mounting plate 2451 has a limiting groove 2453 on the side opposite to and facing the driven wheel assembly 25. The drive wheel assembly 24 includes two hinge assemblies 247, and each hinge assembly 247 is arranged in a corresponding limiting groove 2453.

[0070] Specifically, in the first direction X, a limiting groove 2453 is provided on both the front and rear sides of the first mounting plate 2451, and each hinge assembly 247 is correspondingly disposed in each limiting groove 2453, increasing the swing balance of the second mounting plate 2452 relative to the first mounting plate 2451, thereby improving the rotational balance of the drive wheel assembly 24 relative to the chassis frame 10 in the second direction Y. In addition, the two hinge assemblies 247 at the front and rear increase the connection strength between the second mounting plate 2452 and the first mounting plate 2451.

[0071] In some embodiments, such as Figure 10 As shown, the second hinge seat 2472 is disposed in the limiting groove 2453, and a bushing 2473 is sleeved inside the second hinge seat 2472; the first hinge seat 2471 is provided with a hinge shaft 2474 facing the second hinge seat 2472, and the hinge shaft 2474 passes through the bushing 2473 to realize the rotational connection between the first hinge seat 2471 and the second hinge seat 2472 in the first direction X.

[0072] Specifically, the bushing 2473 can be made of a material with good wear resistance and self-lubricating properties, while the first hinge seat 2471 and the second hinge seat 2472 can be made of metal. During the relative rotation of the first hinge seat 2471 and the second hinge seat 2472, the hinge shaft 2474 does not directly rub against the second hinge seat 2472, but instead contacts the bushing 2473. This reduces direct metal-to-metal contact, lowers the coefficient of friction, and reduces wear on the hinge seats.

[0073] In some embodiments, such as Figure 8As shown, the midpoint of the line connecting the first driven wheel 251 and the second driven wheel 252 is reference point A, and the hinge assembly 247 is arranged on the extension line of the slewing bearing 246 and reference point A.

[0074] Specifically, the hinge assembly 247 is positioned on the extension line of the slewing bearing 246 and the reference point A, so that when the drive wheel assembly 24 drives the fixed plate 21 to rotate, the swing amplitude of the first driven wheel 251 is the same as that of the second driven wheel 252, thus avoiding excessive swing of one of the driven wheels.

[0075] It is understandable that during robot movement, encountering lateral forces or uneven ground conditions may cause the robot to tip over. Positioning the hinge assembly 247 on the extension line of the slewing bearing 246 and reference point A makes the robot's center of gravity more stable, reduces the risk of tipping over, and improves driving safety by enhancing the robot's resistance to lateral forces.

[0076] In some embodiments, such as Figure 7 As shown, the hinge assembly 22 includes a connecting shaft 220, a first hinge block 221, a second hinge block 222, a first mounting block 223, and a second mounting block 224. The first hinge block 221 and the second hinge block 222 are spaced apart on the fixed plate 21 along the second direction Y. The first mounting block 223 and the second mounting block 224 are spaced apart on the chassis frame 10 along the second direction Y. One end of the connecting shaft 220 passes through the first hinge block 221 and the first mounting block 223, and the other end of the connecting shaft 220 passes through the second hinge block 222 and the second mounting block 224, so that the fixed plate 21 is hinged to the chassis frame 10.

[0077] For example, in the second direction Y, the first hinge block 221 and the second hinge block 222 are respectively installed on the left and right sides of the top surface of the fixed plate 21 by screws or other fasteners. The first mounting block 223 and the second mounting block 224 are respectively installed on the bottom of the chassis frame 10 by screws or other fasteners. The connecting shaft 220 extends along the second direction Y. One end of the connecting shaft 220 passes through the first hinge block 221 and is connected to the first mounting block 223. The other end of the connecting shaft 220 passes through the second hinge block 222 and is connected to the second mounting block 224, so that the fixed plate 21 can rotate relative to the chassis frame 10.

[0078] In some embodiments, such as Figure 8 As shown, the line connecting the first hinge block 221 and the second hinge block 222 is the reference line B1-B2; the distance from the reference point A to the reference line B1-B2 is greater than the distance from the slewing bearing 246 to the reference line B1-B2, and the elastic component 23 is located on the side of the reference line B1-B2 near the driven wheel assembly 25.

[0079] Specifically, the reference line B1-B2 is located at the rotational position of the fixed plate 21 relative to the chassis frame 10. The first distance L1 from the reference point A to the reference line B1-B2 is greater than the second distance L2 from the slewing bearing 246 to the reference line B1-B2. The straight-line distance from the first driven wheel 251 and the second driven wheel 252 to the reference line B1-B2 is greater than the straight-line distance from the drive wheel set 24 to the reference line B1-B2. When the mobile robot travels on uneven ground, the lever arm of the first driven wheel 251 and the second driven wheel 252 is greater than the lever arm of the drive wheel set 24. The elastic component 23 is set on the side of the reference line B1-B2 close to the driven wheel set 25. Through the elastic action of the elastic component 23, it provides a reverse elastic force when the first driven wheel 251 and the second driven wheel 252 swing up and down, so as to avoid the first driven wheel 251 and the second driven wheel 252 swinging too much.

[0080] It is understandable that when the driven wheel swings upward, the elastic component 23 is compressed, generating a downward elastic force to prevent the driven wheel from swinging further upward; when the driven wheel swings downward, the elastic component 23 is stretched, generating an upward elastic force to reduce the downward impact of the driven wheel, thereby limiting the swing amplitude of the driven wheel and making its movement more stable. In this way, when the robot travels on uneven ground, the elastic component 23 extends and retracts with the swing of the driven wheel, maintaining good contact between the driven wheel and the ground, and improving the robot's driving stability.

[0081] In some embodiments, such as Figure 7 As shown, the elastic component 23 includes a first elastic element 231 and a second elastic element 232; the first elastic element 231 corresponds to the position of the first driven wheel 251, and the two ends of the first elastic element 231 are respectively connected to the fixing plate 21 and the chassis frame 10; the second elastic element 232 corresponds to the position of the second driven wheel 252, and the two ends of the second elastic element 232 are respectively connected to the fixing plate 21 and the chassis frame 10.

[0082] Specifically, the top end of the first elastic element 231 is connected to the chassis frame 10, and the bottom end of the first elastic element 231 is connected to the fixing plate 21. The first elastic element 231 corresponds to the position of the first driven wheel 251, and is located above the first driven wheel 251. The top end of the second elastic element 232 is connected to the chassis frame 10, and the bottom end of the second elastic element 232 is connected to the fixing plate 21. The second elastic element 232 corresponds to the position of the second driven wheel 252, and is located directly above the second driven wheel 252. When the robot travels on uneven ground, the first driven wheel 251 and the second driven wheel 252 swing up and down due to the undulations of the ground, and correspondingly, the first elastic element 231 and the second elastic element 232 undergo elastic deformation. When the robot turns or travels on a slope, the ground reaction forces on the first driven wheel 251 and the second driven wheel 252 are different. The first elastic element 231 and the second elastic element 232 can provide elastic support for the first driven wheel 251 and the second driven wheel 252, thereby balancing the force on the robot as a whole and avoiding uneven force distribution that could lead to unstable travel.

[0083] For example, the first elastic element 231 and the second elastic element 232 are cylindrical springs or elastic columns, and there are no specific restrictions on the structure and number of elastic components 23.

[0084] In some embodiments, such as Figure 5 and Figure 8 As shown, the drive module 20 includes a first anti-collision member 26 and a second anti-collision member 27. The first anti-collision member 26 and the second anti-collision member 27 are spaced apart on the fixed plate 21 to limit the collision between the drive module 20 and the chassis frame 10.

[0085] Specifically, the first anti-collision member 26 is disposed on the fixed plate 21 near the slewing bearing 246, and the second anti-collision member 27 is disposed on the fixed plate 21 near the first driven wheel 251 or the second driven wheel 252. The first anti-collision member 26 and the second anti-collision member 27 are respectively disposed on both sides of the baseline B1-B2 to prevent the drive module 20 from directly colliding with the chassis frame 10 when the fixed plate 21 rotates relative to the chassis frame 10, thereby preventing damage to the components on the drive module 20.

[0086] In some embodiments, such as Figure 5 and Figure 8 As shown, the first anti-collision member 26 and the second anti-collision member 27 are spaced apart at diagonal positions on the fixed plate 21.

[0087] In some embodiments, such as Figure 8 As shown, the drive module 20 includes an encoder 28, which is used to record the current rotation angle of the drive module 20.

[0088] Specifically, encoder 28 is a rotary sensor that converts rotational displacement into a series of digital pulse signals. Encoder 28 operates based on principles such as photoelectric, magnetoelectric, or capacitive. Taking photoelectric encoder 28 as an example, it has a disk inside with evenly distributed light-transmitting and opaque slits. When the disk rotates with drive module 20, light emitted from the light source shines through the slits onto the photosensitive element. The photosensitive element converts the light signal into an electrical signal, and then determines the rotation angle of the disk by detecting changes in the electrical signal, thereby obtaining the rotation angle of drive module 20.

[0089] It should be understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, herein, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0090] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above descriptions are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A chassis for a mobile robot, characterized in that, The system includes a chassis frame and a drive module. The drive module includes a fixed plate, a hinge assembly, an elastic assembly, a drive wheel assembly, and a driven wheel assembly. The fixed plate is hinged to the chassis frame via the hinge assembly. The drive wheel assembly and the driven wheel assembly are respectively disposed on both sides of the hinge assembly along a first direction. The two ends of the elastic assembly are respectively connected to the fixed plate and the chassis frame. The driven wheel assembly includes a first driven wheel and a second driven wheel. The drive wheel assembly, the first driven wheel, and the second driven wheel are connected to the fixed plate. The first driven wheel and the second driven wheel are spaced apart in a second direction. The drive wheel assembly, the first driven wheel, and the second driven wheel form a triangular structure in the same plane.

2. The chassis for a mobile robot according to claim 1, characterized in that, The drive wheel assembly includes a first drive wheel, a second drive wheel, a first motor, and a second motor, with the first motor and the second motor mounted on the fixed plate; The first motor is connected to the first drive wheel and provides driving power to the first drive wheel; the second motor is connected to the second drive wheel and provides driving power to the second drive wheel. When the mobile robot turns, the speed of the first drive wheel controlled by the first motor is not equal to the speed of the second drive wheel controlled by the second motor.

3. The chassis for a mobile robot according to claim 2, characterized in that, The drive wheel assembly also includes a mounting plate assembly and a slewing bearing. The slewing bearing includes an inner ring and an outer ring. The inner ring of the slewing bearing is fixedly connected to the fixed plate, and the outer ring of the slewing bearing is fixedly connected to the mounting plate assembly. The first motor and the second motor are mounted on the mounting plate assembly.

4. The chassis for a mobile robot according to claim 3, characterized in that, The mounting plate assembly includes a first mounting plate and a second mounting plate, with the first mounting plate disposed between the fixed plate and the second mounting plate; the first motor and the second motor are mounted on the second mounting plate; and the outer ring of the slewing bearing is fixedly connected to the first mounting plate. The drive wheel assembly further includes a hinge assembly, which includes a first hinge seat and a second hinge seat. The first hinge seat is fixedly connected to the first mounting plate, and the second hinge seat is fixedly connected to the second mounting plate. The first hinge seat and the second hinge seat are rotatably connected so that the second mounting plate can rotate relative to the first mounting plate in the second direction.

5. The chassis for a mobile robot according to claim 4, characterized in that, The first mounting plate has a limiting groove on the side facing away from and towards the driven wheel assembly. The drive wheel assembly includes two hinge assemblies, and each hinge assembly is correspondingly arranged in the limiting groove.

6. The chassis for a mobile robot according to claim 5, characterized in that, The second hinge seat is disposed in the limiting groove, and a bushing is sleeved inside the second hinge seat; The first hinge seat is provided with a hinge shaft facing the second hinge seat. The hinge shaft passes through the bushing to realize the rotational connection between the first hinge seat and the second hinge seat in the first direction.

7. The chassis for a mobile robot according to claim 4, characterized in that, The midpoint of the line connecting the first driven wheel and the second driven wheel is the reference point, and the hinge assembly is arranged on the extension line of the slewing bearing and the reference point.

8. The chassis for a mobile robot according to claim 7, characterized in that, The hinge assembly includes a connecting shaft, a first hinge block, a second hinge block, a first mounting block, and a second mounting block; The first hinge block and the second hinge block are spaced apart on the fixed plate along the second direction; the first mounting block and the second mounting block are spaced apart on the chassis frame along the second direction; one end of the connecting shaft passes through the first hinge block and the first mounting block, and the other end of the connecting shaft passes through the second hinge block and the second mounting block, so that the fixed plate is hinged to the chassis frame.

9. The chassis for a mobile robot according to claim 8, characterized in that, The line connecting the first hinge block and the second hinge block is the baseline; The distance from the reference point to the reference line is greater than the distance from the slewing bearing to the reference line, and the elastic component is disposed on the side of the reference line closer to the driven wheel assembly.

10. The chassis for a mobile robot according to claim 9, characterized in that, The elastic component includes a first elastic element and a second elastic element; The first elastic element corresponds to the position of the first driven wheel, and the two ends of the first elastic element are respectively connected to the fixed plate and the chassis frame; The second elastic element corresponds to the position of the second driven wheel, and the two ends of the second elastic element are respectively connected to the fixed plate and the chassis frame.

11. The chassis for a mobile robot according to any one of claims 1 to 10, characterized in that, The drive module includes a first anti-collision component and a second anti-collision component, which are spaced apart on the fixed plate to limit the collision between the drive module and the chassis frame.

12. The chassis for a mobile robot according to any one of claims 1 to 10, characterized in that, The chassis includes two drive modules, and the chassis frame has a first end and a second end spaced apart along a first direction. The two drive modules are respectively installed at the first end and the second end of the chassis frame.

13. A mobile robot, characterized in that, It includes a robot body and a chassis for a mobile robot as described in any one of claims 1 to 12, the chassis being used to support the robot body.

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