Mobile chassis with wheeled robot

Abstract

This application relates to a mobile chassis and a wheeled robot. The mobile chassis includes: a chassis structure; a first wheel rotatably mounted on the chassis structure; and a suspension structure including two side cantilever arms arranged along a first direction, rotatably connected to the chassis structure, and the rotation axis of the side cantilever arms being arranged along the first direction; wherein a second wheel and a third wheel are rotatably connected to the side cantilever arms; the third wheel is located between the second wheel and the first wheel along a second direction; wherein the first direction intersects the second direction. In summary, the wheeled robot in this embodiment, through the above-described configuration, can reduce the risk of rollover, improve movement stability, and enhance obstacle-crossing ability.

Description

Technical Field

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

[0002] With the development of robotics technology, intelligent robots are widely used. Intelligent robots include two categories: legged robots and wheeled robots, with wheeled robots using a wheeled chassis. However, the chassis of wheeled robots is difficult to adapt to uneven terrain, preventing them from moving smoothly on rough roads. Utility Model Content

[0003] Therefore, it is necessary to propose a mobile chassis and wheeled robot to address the problem that the chassis of current wheeled robots cannot adapt to uneven ground.

[0004] A mobile chassis, comprising:

[0005] Chassis structure;

[0006] A first wheel, rotatably mounted on the chassis structure; and

[0007] The suspension structure includes two side arms, which are arranged along the first direction. The side arms are rotatably connected to the chassis structure, and the rotation axis of the side arms is set along the first direction.

[0008] The side cantilever is rotatably connected to a second wheel and a third wheel. When the mobile chassis is on the ground or a workbench, both the second wheel and the third wheel are in contact with the ground or workbench. Along the second direction, the third wheel is located between the second wheel and the first wheel. The first direction intersects the second direction.

[0009] In one embodiment, the suspension structure further includes a lateral cantilever arm disposed on the chassis structure, and two first wheels arranged along the first direction are rotatably connected to the lateral cantilever arm.

[0010] In one embodiment, a second wheel corresponds to a first wheel; the second wheel and the corresponding first wheel are arranged along the second direction;

[0011] And / or, the diameter of the second wheel is equal to the diameter of the corresponding first wheel.

[0012] In one embodiment, the transverse cantilever is rotatably connected to the chassis structure, and the axis of rotation of the transverse cantilever is configured along the second direction;

[0013] Of the two first wheels, one first wheel is rotatably connected to one side of the transverse cantilever along the first direction, and the other first wheel is rotatably connected to the other side of the transverse cantilever along the first direction.

[0014] In one embodiment, the mobile chassis includes a support frame; the support frame is disposed on one side of the chassis structure along a third direction and is located between the two side cantilever arms, the side cantilever arms are rotatably connected to the support frame, and the side cantilever arms are rotatably connected to the chassis structure through the rotatable connection with the support frame; both the first direction and the second direction intersect the third direction.

[0015] In one embodiment, the support frame is provided with first stops on both opposite sides along the first direction; one first stop corresponds to one side cantilever.

[0016] The side cantilever includes a rotating part and a swinging part. The rotating part is rotatably connected to the support frame. The swinging part is connected to the rotating part. The swinging part is at least partially located on the side of the corresponding first stop block that is close to the chassis structure along the third direction and is spaced apart from the corresponding first stop block.

[0017] Both the second wheel and the third wheel are rotatably connected to the swinging part.

[0018] In one embodiment, the support frame is further provided with second blocks on opposite sides along the first direction; a second block corresponds to a first block, and the second block is located on one side of the corresponding first block along the second direction near the transverse cantilever.

[0019] The rotating part is located between the corresponding first stop and the corresponding second stop; a part of the swinging part is located on the side of the corresponding first stop close to the chassis structure along the third direction, and is spaced apart from the corresponding first stop; the other part of the swinging part is located on the side of the corresponding second stop close to the chassis structure along the third direction, and is spaced apart from the corresponding second stop.

[0020] In one embodiment, the mobile chassis includes a mounting base disposed on the side of the chassis structure opposite to the support frame;

[0021] The transverse cantilever is located on the side of the chassis structure opposite to the support frame and is rotatably connected to the mounting base; and / or, the support frame includes two support frames spaced apart along the first direction;

[0022] The mobile chassis also includes a battery, which is located on the side of the chassis structure near the support frame; the battery is located between the two support frames.

[0023] In one embodiment, the first wheel body includes an omnidirectional wheel; and / or, the third wheel body includes an omnidirectional wheel; and / or, the third wheel body includes a drive wheel; and / or, the rotation axes of the first wheel body, the second wheel body, and the third wheel body are all configured along the first direction; and / or, the diameter of the third wheel body is larger than the diameter of the first wheel body.

[0024] This application also proposes a wheeled robot, including the aforementioned mobile chassis.

[0025] In this embodiment, the mobile chassis and wheeled robot can be configured to have a third wheel on each side cantilever that actively rotates relative to that side cantilever. When moving on a flat road, the third wheel rolls along a second direction and drives the second wheel on the corresponding side cantilever to move synchronously. This causes the chassis structure to move along the second direction on the surface of the flat road under the drive of the two side cantilever arms. During the movement of the chassis structure along the second direction, the first wheel rotates under the drive of the chassis structure and follows the third wheel to roll along the second direction on the surface of the flat road.

[0026] Furthermore, during movement on rough terrain, each side cantilever of the mobile chassis can rotate relative to the chassis structure. When there are potholes or steps ahead of the second wheel on that side cantilever, the second wheel automatically moves towards the surface of the pothole or step, maintaining contact and preventing it from losing contact with the road surface. This ensures the second wheel smoothly passes over potholes or steps, improving the stability and obstacle-crossing ability of the mobile chassis on rough terrain. Additionally, during the rotation of the side cantilever, the first wheel still supports the entire mobile chassis. It should be noted that in other embodiments, the second wheel can also be an actively rotating wheel, i.e., a drive wheel. In summary, this application adopts a cantilever (bridge suspension) design, avoiding the use of a spring-type independent suspension. This has several advantages: First, when the mobile chassis starts and stops on a flat surface, the side cantilever does not amplify the impact force caused by changes in the rotational speed of the second or third wheel; the mobile chassis is less prone to tipping over under impact, allowing the wheeled robot with the mobile chassis to have a higher center of gravity. Second, the mobile chassis is stronger and can support objects with a wider weight range, ensuring that the first, second, and third wheels of the mobile chassis are less likely to lose contact with the ground due to significant changes in the weight of objects on the chassis.

[0027] The mobile chassis and wheeled robot in this embodiment, through the above-described configuration, can reduce the risk of rollover, improve movement stability, and enhance obstacle-crossing ability. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of this application, the drawings used in the description of the embodiments or exemplary embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is an isometric side view of a mobile chassis according to an embodiment of this application.

[0030] Figure 2 for Figure 1 The diagram shows the bottom structure of the mobile chassis.

[0031] Figure label:

[0032] Mobile chassis 10;

[0033] Chassis structure 100;

[0034] Suspension structure 200, lateral cantilever 210, first wheel body 211, side cantilever 220, rotating part 221, swing part 222, second wheel body 223, third wheel body 224;

[0035] Support frame 300, support frame 310, first stop block 311, second stop block 312;

[0036] Mounting base 400;

[0037] Battery 500;

[0038] Cover plate 600. Detailed Implementation

[0039] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0040] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0041] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0043] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0045] In related technologies, the mobile chassis 10 of the wheeled robot adopts independent suspension, which includes a spring mechanism (not shown in the figure). When the center of gravity of the wheeled robot is high, the mobile chassis 10 of the wheeled robot is prone to tipping over during the start-up and stopping process. Moreover, when the wheeled robot encounters uneven road surfaces, the wheels on the mobile chassis 10 of the wheeled robot will usually lose contact with the ground, resulting in reduced stability of the wheeled robot and difficulty in walking smoothly on uneven road surfaces.

[0046] The applicant discovered that when the mobile chassis 10 of the wheeled robot in the related technology starts and stops moving, the spring mechanism in the independent suspension amplifies the impact force generated by the change in speed of the mobile chassis 10 of the wheeled robot. The amplified impact force causes the mobile chassis 10 of the wheeled robot to overturn during the start and stop of movement, making it difficult to make the center of gravity of the wheeled robot higher.

[0047] In addition, the applicant also discovered that in order to ensure the normal operation of the independent suspension elastic mechanism, the weight of the wheeled robot needs to be controlled within a certain range. When the weight of the wheeled robot fluctuates greatly, the front and rear wheels on the mobile chassis 10 of the wheeled robot will also lose contact with the ground.

[0048] Please see Figure 1 and Figure 2 , Figure 1 A schematic diagram of a mobile chassis according to an embodiment of this application is shown. An embodiment of this application provides a mobile chassis 10 comprising: a chassis structure 100, a first wheel 211, and a suspension structure 200. The first wheel 211 is rotatably mounted on the chassis structure 100. The suspension structure 200 includes two side cantilever arms 220; the two side cantilever arms 220 are arranged along a first direction, and the side cantilever arms 220 are rotatably connected to the chassis structure 100, with the rotation axis of the side cantilever arms 220 set along the first direction. A second wheel 223 and a third wheel 224 are rotatably connected to the side cantilever arms 220. When the mobile chassis 10 is on the ground or a workbench, both the second wheel 223 and the third wheel 224 are in contact with the ground or workbench. Along a second direction, the third wheel 224 is located between the second wheel 223 and the first wheel 211; wherein the first direction intersects the second direction.

[0049] In this embodiment, the mobile chassis 10 can be configured to have a third wheel 224 on each side cantilever 220 actively rotating relative to that side cantilever 220. When moving on a flat road section, the third wheel 224 rolls along the second direction and drives the second wheel 223 on the corresponding side cantilever 220 to move synchronously, thereby causing the chassis structure 100 to move along the second direction on the surface of the flat road section under the drive of the two side cantilever 220. During the movement of the chassis structure 100 along the second direction, the first wheel 211 will rotate under the drive of the chassis structure 100 and follow the third wheel 224 to roll along the second direction on the surface of the flat road section.

[0050] Furthermore, during movement on rough terrain, each side cantilever 220 of the mobile chassis 10 can rotate relative to the chassis structure 100. When there is a pothole or step in front of the second wheel 223 on that side cantilever 220, the second wheel 223 automatically moves towards the surface of the pothole or step, thus maintaining contact between the second wheel 223 and the surface of the pothole or step in front, preventing the second wheel 223 from losing contact with the road surface. This ultimately ensures that the second wheel 223 smoothly passes through potholes or steps in the road section ahead, improving the stability and obstacle-crossing ability of the mobile chassis 10 on rough terrain. Additionally, during the rotation of the side cantilever 220, the first wheel 211 can still support the entire mobile chassis 10. It should be noted that in other embodiments, the second wheel 223 can also be configured as an actively rotating wheel, i.e., a drive wheel. In summary, this application adopts a cantilever (bridge suspension) scheme, avoiding the use of a spring-type independent suspension scheme. This has several advantages: First, when the mobile chassis 10 starts and stops on a flat road, the side cantilever 220 will not amplify the impact force caused by changes in the rotational speed of the second wheel 223 or the third wheel 224. The mobile chassis 10 is less prone to overturning under impact forces, allowing the wheeled robot with the mobile chassis 10 to have a higher center of gravity. Second, the mobile chassis 10 is stronger and can carry objects with a wider weight range. This ensures that the first wheel 211, second wheel 223, and third wheel 224 in the mobile chassis 10 are less likely to lose contact with the ground due to significant changes in the weight of the objects on the mobile chassis 10. Through the above-described design, the mobile chassis 10 in this embodiment can reduce the risk of overturning, improve the load-bearing capacity, and enhance the stability and obstacle-crossing ability of movement.

[0051] Please continue reading. Figure 1 and Figure 2 In some embodiments, the suspension structure 200 further includes a lateral cantilever 210, which is disposed on the chassis structure 100, and two first wheel bodies 211 arranged along a first direction are rotatably connected to the lateral cantilever 210.

[0052] In this embodiment, during the movement of the chassis structure 100 along the second direction, the first wheel 211 rotates relative to the transverse cantilever 210 under the drive of the chassis structure 100, and rolls along the second direction on the surface of the flat road section along with the third wheel 224. Because a cantilever (bridge suspension) scheme is adopted, avoiding the use of a spring-type independent suspension scheme, when the mobile chassis 10 starts and stops on the flat road section, the transverse cantilever 210 will not amplify the impact force generated by the change in the rotational speed of the first wheel 211, further reducing the risk of the mobile chassis 10 overturning under the impact force.

[0053] Please continue reading. Figure 1 and Figure 2 In some embodiments, a second wheel body 223 corresponds to a first wheel body 211; the second wheel body 223 and the corresponding first wheel body 211 are arranged along a second direction; and / or, the diameter D2 of the second wheel body 223 is equal to the diameter D1 of the corresponding first wheel body 211.

[0054] In this embodiment, the mobile chassis 10, by arranging the second wheel 223 and the corresponding first wheel 211 along a second direction, reduces the risk of the mobile chassis 10 spinning in place on the road surface. Furthermore, by setting the diameter D1 of the first wheel 211 to be equal to the diameter D2 of the second wheel 223, the tires serving as the first wheel 211 and the second wheel 223 can be manufactured using the same process, and a new second wheel 223 can be used to replace a damaged first wheel 211, or a new first wheel 211 can be used to replace a damaged second wheel 223, thereby reducing the manufacturing and maintenance costs of the mobile chassis 10.

[0055] Please continue reading. Figure 1 and Figure 2 In some embodiments, the transverse cantilever 210 is rotatably connected to the chassis structure 100, and the axis of rotation of the transverse cantilever 210 is configured along a second direction. Of the two first wheel bodies 211, one first wheel body 211 is rotatably connected to one side of the transverse cantilever 210 along the first direction, and the other first wheel body 211 is rotatably connected to the other side of the transverse cantilever 210 along the first direction.

[0056] In this embodiment, the mobile chassis 10 has a transverse cantilever 210 that can rotate relative to the chassis structure 100 about a rotation axis along a second direction. When a pothole or step exists in front of any of the first wheels 211 on the transverse cantilever 210, the corresponding first wheel 211 automatically moves towards the surface of the pothole or step, thus maintaining contact between the corresponding first wheel 211 and the surface of the pothole or step. This prevents the first wheel 211 from losing contact with the road surface and ultimately ensures that the first wheel 211 smoothly passes through the pothole or step in the road section ahead, improving the stability and obstacle-crossing ability of the mobile chassis 10 on rough roads. In summary, through the above arrangement, it can be ensured that when the mobile chassis 10 passes through rough roads, more wheels (e.g., Figure 2 The six wheels shown in the diagram maintain contact with the road surface simultaneously, improving the stability of the mobile chassis 10 and also providing good obstacle-crossing ability.

[0057] In summary, the mobile chassis 10 described in this application has three sets of bridge suspensions. The second wheel 223 and third wheel 224 located on one side of the chassis structure 100 along the first direction form one set of longitudinal bridges, and the second wheel 223 and third wheel 224 located on the other side of the chassis structure 100 along the first direction form another set of longitudinal bridges. The two first wheels 211 on the transverse cantilever 210 form a transverse bridge. These three sets of bridge suspensions have three rotation axes and three-point support, thus ensuring that all six wheels are in contact with the ground simultaneously without exceeding the travel limit. When the machine ascends or descends steps, the two longitudinal bridge structures located on opposite sides of the chassis structure 100 along the first direction rotate around the rotation axes, ensuring that the second wheel 223 can overcome obstacles with large elevation changes while maintaining a small body tilt angle.

[0058] Please continue reading. Figure 1 and Figure 2 In some embodiments, the mobile chassis 10 includes a support frame 300; the support frame 300 is disposed on one side of the chassis structure 100 along a third direction and is located between two side cantilever arms 220, the side cantilever arms 220 are rotatably connected to the support frame 300, and the side cantilever arms 220 are rotatably connected to the chassis structure 100 through the rotatable connection with the support frame 300; both the first direction and the second direction intersect with the third direction.

[0059] In this embodiment, during movement on rough terrain, each side cantilever 220 of the mobile chassis 10 can rotate relative to the support frame 300 around a rotation axis along a first direction. When there are potholes or steps in front of the second wheel 223 on the side cantilever 220, the second wheel 223 is driven to move towards the surface of the pothole or step in front, thereby keeping the second wheel 223 in contact with the surface of the pothole or step in front of it, preventing the second wheel 223 from losing contact with the road surface in front, and ultimately ensuring that the second wheel 223 smoothly passes through the potholes or steps in the road section in front, improving the stability and obstacle-crossing ability of the mobile chassis 10 on rough terrain.

[0060] Please continue reading. Figure 1 and Figure 2 In some embodiments, the diameter D3 of the third wheel 224 is larger than the diameter D1 of the first wheel 211. When the mobile chassis 10 is located on a horizontal ground or a horizontal workbench, the distance between the rotation axis of the third wheel 224 and the side of the support frame 300 away from the chassis structure 100 is a first value H1; the distance between the first wheel 211 and the side of the support frame 300 away from the chassis structure 100 is a second value H2; the difference between the second value H2 and the first value H1 is greater than zero.

[0061] In this embodiment, the mobile chassis 10 can improve its obstacle-crossing ability by setting the diameter D3 of the third wheel body 224 to be larger than the diameter D1 of the first wheel body 211, making it easier for the mobile chassis 10 to pass through the pits or steps in front of it more smoothly and stably.

[0062] Please continue reading. Figure 1 and Figure 2 In some embodiments, the difference between the second value H2 and the first value H1 is equal to the difference between the diameter D3 of the third wheel body 224 and the diameter D1 of the first wheel body 211.

[0063] In this embodiment, the mobile chassis 10 is configured such that the difference between the second value H2 and the first value H1, and the difference between the diameter D3 of the third wheel 224 and the diameter D1 of the first wheel 211, are equal. This ensures that, along a third direction, the side of the first wheel 211 facing away from the support frame 300 is flush with the side of the third wheel 224 facing away from the support frame 300. This ensures that when the mobile chassis 10 is located on a horizontal ground or a horizontal workbench, the peripheral surfaces of the first wheel 211, the second wheel 223, and the third wheel 224 are simultaneously in contact with the horizontal ground or horizontal workbench.

[0064] Please continue reading. Figure 1 and Figure 2In some embodiments, the support frame 300 has first stops 311 on both opposite sides along a first direction; each first stop 311 corresponds to a side cantilever 220. The side cantilever 220 includes a rotating part 221 and a swinging part 222. The rotating part 221 is located on the side of the corresponding first stop 311 along a second direction, close to or away from the transverse cantilever 210, and is rotatably connected to the support frame 300. The swinging part 222 is connected to the rotating part 221, and is at least partially located on the side of the corresponding first stop 311 along a third direction, close to the chassis structure 100, and is spaced apart from the corresponding first stop 311. The second wheel 223 and the third wheel 224 are both rotatably connected to the swinging part 222.

[0065] In this embodiment, when there is a step in front of the second wheel 223 on the side cantilever 220, the rotating part 221 of the side cantilever 220 will rotate relative to the support frame 300 around the rotation axis along the first direction, so as to drive the swing part 222 on the side cantilever 220 to approach the first stop 311, so that the second wheel 223 on the swing part 222 can move to the top of the step in front of the side cantilever 220, and the mobile chassis 10 can smoothly cross the step in the front section of the road.

[0066] Furthermore, when the swing portion 222 of the side suspension arm 220 contacts the corresponding first stop 311, the first stop 311 will hinder the rotation of the swing portion 222 of the side suspension arm 220, preventing the mobile chassis 10 from tilting severely due to excessive swing amplitude of the swing portion 222 of the side suspension arm 220 when it is overturning the step; thus reducing the risk of rollover during the process of the mobile chassis 10 overturning the step.

[0067] Please continue reading. Figure 1 and Figure 2 In some embodiments, the support frame 300 is further provided with second stops 312 on opposite sides along the first direction; one second stop 312 corresponds to one first stop 311, and the second stop 312 is located on one side of the corresponding first stop 311 along the second direction near the transverse cantilever 210. The rotating part 221 is located between the corresponding first stop 311 and the second stop 312; a part of the swing part 222 is located on the side of the corresponding first stop 311 along the third direction near the chassis structure 100, and is spaced apart from the corresponding first stop 311; the other part of the swing part 222 is located on the side of the corresponding second stop 312 along the third direction near the chassis structure 100, and is spaced apart from the corresponding second stop 312.

[0068] In this embodiment, when there is a pothole in front of the second wheel 223 on the side cantilever 220, the rotating part 221 of the side cantilever 220 will rotate relative to the support frame 300 around the rotation axis along the first direction. This will cause the swing part 222 on the side cantilever 220 located on the side of the first stop 311 along the third direction to move away from the first stop 311. This will cause the second wheel 223 on the swing part 222 to approach the pothole and contact the surface of the pothole, thereby facilitating the smooth passage of the mobile chassis 10 through the pothole in front of it.

[0069] Furthermore, as the portion of the swing arm 222 on the side suspension 220 located on the third-direction side of the first stop 311 moves away from the first stop 311, the portion of the swing arm 222 on the third-direction side of the second stop 312 approaches the second stop 312 and stops moving upon contact with it. Obstructed by the second stop 312, the swing arm 222 of the side suspension 220 stops rotating. By providing the second stop 312, excessive swing amplitude of the swing arm 222 can be prevented from causing severe tilting when the mobile chassis 10 passes over a pothole, thus reducing the risk of rollover during the process.

[0070] Please continue reading. Figure 1 and Figure 2 In some embodiments, the mobile chassis 10 includes a mounting base 400 disposed on the side of the chassis structure 100 opposite to the support frame 300. A transverse cantilever 210 is located on the side of the chassis structure 100 opposite to the support frame 300 and is rotatably connected to the mounting base 400. And / or, the support frame 300 includes two support frames 310 spaced apart along a first direction. The mobile chassis 10 also includes a battery 500 disposed on the side of the chassis structure 100 near the support frame 300; the battery 500 is located between the two support frames 310.

[0071] In this embodiment, the mobile chassis 10 has a transverse cantilever 210 that can rotate relative to the mounting base 400 about a rotation axis along the second direction. When there is a pit or step in front of any first wheel 211 on the transverse cantilever 210, the corresponding first wheel 211 is driven to move toward the surface of the pit or step in front of it, thereby keeping the corresponding first wheel 211 in contact with the surface of the pit or step in front of it and preventing the corresponding first wheel 211 from losing contact with the road surface in front.

[0072] It should be further noted that in this embodiment, one support frame 310 corresponds to one side cantilever 220, and each side cantilever 220 can rotate relative to its corresponding support frame 310 about a rotation axis along the first direction. A battery 500 is placed between the two support frames 310 and provides the electrical energy required for the movement of the mobile chassis 10. The presence of two support frames 310 reduces the risk of the battery 500 falling off the mobile chassis 10.

[0073] Please continue reading. Figure 1 and Figure 2 In some embodiments, the movable chassis 10 further includes a cover plate 600; a portion of the cover plate 600 is located on the side of the two support frames 310 opposite to the chassis structure 100, and another portion is located on the side of the battery 500 opposite to the chassis structure 100. The projection of the battery 500 onto the chassis structure 100 is within the projection range of the cover plate 600 onto the chassis structure 100.

[0074] In this embodiment, the mobile chassis 10 has a cover plate 600 on the side opposite to the chassis structure 100, which is used to support objects. When the mobile chassis 10 is used for a wheeled robot, the robot's robotic arm can be mounted on the side of the cover plate 600 opposite to the chassis structure 100, and the cover plate 600 can be used to support the robotic arm.

[0075] Please continue reading. Figure 1 and Figure 2 In some embodiments, the first wheel body 211 includes an omnidirectional wheel; and / or, the second wheel body 223 includes an omnidirectional wheel; and / or, the third wheel body 224 includes a drive wheel; and / or, the rotation axes of the first wheel body 211, the second wheel body 223, and the third wheel body 224 are all configured along a first direction; and / or, the diameter of the third wheel body 224 is larger than the diameter of the first wheel body 211.

[0076] In this embodiment, when the first wheel body 211 includes an omnidirectional wheel and the third wheel body 224 includes an omnidirectional wheel, the mobile chassis 10 can move forward in a straight line, turn in place, and move diagonally on the road surface, thereby achieving all-round movement.

[0077] When the rotation axes of the first wheel 211, the second wheel 223, and the third wheel 224 are all configured to be along the first direction, the first wheel 211, the second wheel 223, and the third wheel 224 can simultaneously roll on the road surface along the second direction, thereby driving the chassis structure 100 to move along the second direction.

[0078] This application also proposes a wheeled robot, including a mobile chassis 10.

[0079] In this embodiment of the wheeled robot, a third wheel 224 on each side arm 220 can be set to actively rotate relative to that side arm 220. When moving on a flat road, the third wheel 224 rolls along the second direction on the surface of the flat road and drives the second wheel 223 on the corresponding side arm 220 to move synchronously. This causes the chassis structure 100 to move along the second direction on the surface of the flat road under the drive of the two side arms 220. During the movement of the chassis structure 100 along the second direction, the first wheel 211 will rotate under the drive of the chassis structure 100 and follow the third wheel 224 to roll along the second direction on the surface of the flat road.

[0080] Furthermore, during movement on rough terrain, each side cantilever 220 of the mobile chassis 10 can rotate relative to the chassis structure 100. When there is a pothole or step in front of the second wheel 223 on that side cantilever 220, the second wheel 223 automatically moves towards the surface of the pothole or step, thus maintaining contact between the second wheel 223 and the surface of the pothole or step in front, preventing the second wheel 223 from losing contact with the road surface. This ultimately ensures that the second wheel 223 smoothly passes through potholes or steps in the road section ahead, improving the stability and obstacle-crossing ability of the mobile chassis 10 on rough terrain. Additionally, during the rotation of the side cantilever 220, the first wheel 211 can still support the entire mobile chassis 10. It should be noted that in other embodiments, the second wheel 223 can also be configured as an actively rotating wheel, i.e., a drive wheel. In summary, this application adopts a cantilever (bridge suspension) scheme, avoiding the use of a spring-type independent suspension scheme. This has several advantages: First, when the mobile chassis 10 starts and stops on a flat road, the side cantilever 220 will not amplify the impact force caused by changes in the rotational speed of the second wheel 223 or the third wheel 224. The mobile chassis 10 is less prone to tipping over under impact forces, allowing the wheeled robot with the mobile chassis 10 to have a higher center of gravity. Second, the mobile chassis 10 is stronger and can support objects with a wider weight range. This ensures that the first wheel 211, second wheel 223, and third wheel 224 in the mobile chassis 10 are less likely to lose contact with the ground due to significant changes in the weight of objects on the mobile chassis 10. Through the above-mentioned design, the wheeled robot in this embodiment can reduce the risk of tipping over, improve movement stability, and enhance obstacle-crossing ability.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A mobile chassis, characterized in that, The mobile chassis includes: Chassis structure; A first wheel, rotatably mounted on the chassis structure; and The suspension structure includes two side arms, which are arranged along a first direction. The side arms are rotatably connected to the chassis structure, and the rotation axis of the side arms is set along the first direction. The side cantilever is rotatably connected to a second wheel and a third wheel. When the mobile chassis is on the ground or a workbench, both the second wheel and the third wheel are in contact with the ground or workbench. Along the second direction, the third wheel is located between the second wheel and the first wheel. The first direction intersects the second direction.

2. The mobile chassis according to claim 1, characterized in that, The suspension structure also includes a lateral cantilever arm, which is disposed on the chassis structure, and two first wheels arranged along the first direction are rotatably connected to the lateral cantilever arm.

3. The mobile chassis according to claim 2, characterized in that, A second wheel body corresponds to a first wheel body; the second wheel body and the corresponding first wheel body are arranged along the second direction; And / or, the diameter of the second wheel is equal to the diameter of the corresponding first wheel.

4. The mobile chassis according to claim 2, characterized in that, The transverse cantilever is rotatably connected to the chassis structure, and the axis of rotation of the transverse cantilever is configured to be along the second direction; Of the two first wheels, one first wheel is rotatably connected to one side of the transverse cantilever along the first direction, and the other first wheel is rotatably connected to the other side of the transverse cantilever along the first direction.

5. The mobile chassis according to claim 4, characterized in that, The mobile chassis includes a support frame; the support frame is disposed on one side of the chassis structure along a third direction and is located between the two side cantilever arms, the side cantilever arms are rotatably connected to the support frame, and the side cantilever arms are rotatably connected to the chassis structure through the rotatable connection with the support frame; both the first direction and the second direction intersect the third direction.

6. The mobile chassis according to claim 5, characterized in that, The support frame is provided with first blocks on both sides of the first direction; one first block corresponds to one side cantilever. The side cantilever includes a rotating part and a swinging part. The rotating part is rotatably connected to the support frame. The swinging part is connected to the rotating part. The swinging part is at least partially located on the side of the corresponding first stop block that is close to the chassis structure along the third direction and is spaced apart from the corresponding first stop block. Both the second wheel and the third wheel are rotatably connected to the swinging part.

7. The mobile chassis according to claim 6, characterized in that, The support frame is further provided with second blocks on opposite sides along the first direction; a second block corresponds to a first block, and the second block is located on one side of the corresponding first block along the second direction near the transverse cantilever. The rotating part is located between the corresponding first stop and the second stop; a portion of the swinging part is located on the side of the corresponding first stop close to the chassis structure along the third direction, and is spaced apart from the corresponding first stop. Another part of the swing section is located on the side of the corresponding second stop block along the third direction close to the chassis structure, and is arranged at intervals with the corresponding second stop block.

8. The mobile chassis according to claim 5, characterized in that, The mobile chassis includes a mounting base, which is located on the side of the chassis structure opposite to the support frame; The transverse cantilever is located on the side of the chassis structure opposite to the support frame and is rotatably connected to the mounting base; And / or, the support frame includes two support frames spaced apart along the first direction; The mobile chassis also includes a battery, which is located on the side of the chassis structure near the support frame; the battery is located between the two support frames.

9. The mobile chassis according to any one of claims 1 to 8, characterized in that, The first wheel body includes an omnidirectional wheel; and / or, the second wheel body includes an omnidirectional wheel; and / or, the third wheel body includes a drive wheel; and / or, the rotation axes of the first wheel body, the second wheel body, and the third wheel body are all configured along the first direction; and / or, the diameter of the third wheel body is larger than the diameter of the first wheel body.

10. A wheeled robot, characterized in that, Includes the mobile chassis described in any one of claims 1 to 9.

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