Joint module, chassis unit, and mobile robot

Abstract

A joint module, a chassis unit, and a mobile robot. The joint module comprises: a fixing assembly (10); a transmission assembly (20), comprising a rotary shaft (21); a traveling assembly (30), comprising wheels (31), the wheels (31) being connected to the rotary shaft (21); a first power assembly (40) connected to the fixing assembly (10), the first power assembly (40) being connected to the rotary shaft (21); and a second power assembly (50) connected to the fixing assembly (10), the second power assembly (50) being in transmission connection with the rotary shaft (21). The first power assembly (40) and the second power assembly (50) are used to jointly drive the rotary shaft (21) to rotate about a first center line relative to the fixing assembly (10), and the first power assembly (40) and the second power assembly (50) are further used to jointly drive the rotary shaft (21) to rotate about a second center line relative to the fixing assembly (10). The joint module, the chassis unit, and the mobile robot can alleviate the problem of high output torque demands on two motors caused by the motors individually controlling wheels to implement steering and pitching functions.

Description

Joint modules, chassis units, and mobile robots

[0001] This application claims priority to Chinese patent application filed on October 17, 2024, with application number 202411456471.3 and entitled "Joint Module, Chassis Unit and Mobile Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of mobile robot technology, and in particular to a joint module, chassis unit and mobile robot. Background Technology

[0003] With the rapid development of technology, all kinds of mobile robots have emerged, such as tracked mobile robots, legged mobile robots and wheeled mobile robots. These robots are used in warehousing, logistics, shopping mall guidance, home services and other occasions. Wheeled mobile robots have gained wider application due to their advantages of high motion efficiency and low noise.

[0004] In related technologies, the chassis unit of a wheeled mobile robot generally includes a chassis and a joint module. During use, the joint module needs to control the wheels to achieve steering and pitching functions in order to meet the mobility requirements of the mobile robot.

[0005] In traditional mobile robots, the joint module typically includes two motors. One motor is used to control the wheels individually to achieve the steering function, and the other motor is used to control the wheels individually to achieve the pitch function. Since the two motors control the wheels individually to achieve the steering and pitch functions, the output torque requirements of the motors are relatively high. Summary of the Invention

[0006] This application provides a joint module, chassis unit, and mobile robot to improve the problem in related technologies where two motors independently control the wheels to achieve steering and pitch functions, resulting in high requirements for the output torque of the motors.

[0007] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0008] In a first aspect, embodiments of this application provide a joint module, the joint module comprising:

[0009] A mounting component for connection to the chassis of a mobile robot;

[0010] Transmission components, including a rotating shaft;

[0011] A driving component includes a wheel connected to the axle, wherein the axis of the wheel is not collinear with the axis of the axle;

[0012] A first power component is connected to the fixed component, and the first power component is connected to the rotating shaft transmission.

[0013] The second power component is connected to the fixed component, and the second power component is connected to the rotating shaft transmission.

[0014] The first power component and the second power component are used to jointly drive the rotating shaft to rotate about a first center line relative to the fixed component. The first power component and the second power component are also used to jointly drive the rotating shaft to rotate about a second center line relative to the fixed component. The second center line is perpendicular to the first center line, and the axis of the rotating shaft is collinear with the first center line.

[0015] The joint module provided in this application embodiment has at least the following technical effects:

[0016] Since the fixed component is used to connect to the chassis of the mobile robot, the transmission component includes a rotating shaft, the traveling component includes wheels, the wheels are connected to the rotating shaft, the axis of the wheel is not collinear with the axis of the rotating shaft, and the first power component is connected to the fixed component and driven by the rotating shaft, the second power component is connected to the fixed component and driven by the rotating shaft. Therefore, not only can the rotating shaft be driven to rotate relative to the fixed component around a first center line to control the wheels to achieve the pitch function by the first and second power components working together, but the rotating shaft can also be driven to rotate relative to the fixed component around a second center line perpendicular to the first center line to control the wheels to achieve the steering function by the first and second power components working together. The chassis unit provided in this application embodiment, since both the pitch and steering functions of the wheels are controlled by the joint drive of the first and second power components, does not require high output torque from either the first or second power component. This improves the problem in related technologies where two motors separately control the wheels to achieve steering and pitch functions, resulting in high requirements for the motor output torque.

[0017] In some embodiments, the transmission assembly includes a transmission bevel gear coaxially and fixedly connected to the rotating shaft; the first power assembly includes a first power member and a first bevel gear, the axis of the first bevel gear is collinear with the second center line, the first bevel gear is drivingly connected to the transmission bevel gear, and the output end of the first power member is drivingly connected to the first bevel gear, so as to realize the driving connection between the first power assembly and the rotating shaft.

[0018] By adopting the above scheme, not only can the structure of the transmission component and the first power component be made simpler, making it easier to realize the transmission connection between the first power component and the rotating shaft, but the relative position between the output end of the first power component and the rotating shaft can also be changed by the cooperation of the first bevel gear and the transmission bevel gear, thus making it easier to arrange the transmission component and the first power component.

[0019] In some embodiments, the first power component further includes a first connecting shaft rotatably connected to the fixed component, the first bevel gear is coaxially disposed and fixedly connected to the first connecting shaft, and the output end of the first power component is drively connected to the first connecting shaft.

[0020] By adopting the above scheme, it is convenient to define the position of the first bevel gear through the first connecting shaft.

[0021] In some embodiments, the first power component includes a first motor, and the main shaft of the first motor is connected to the first connecting shaft via a synchronous belt drive.

[0022] By adopting the above solution, the motion of the main shaft of the first motor can be transmitted to the first connecting shaft more smoothly, with less loss in the whole process, and the torque requirement of the first motor can be greatly reduced, thereby reducing the specifications of the first motor.

[0023] In some embodiments, the second power assembly includes a second power element and a second bevel gear. The axis of the second bevel gear is collinear with the second center line. The second bevel gear and the first bevel gear are respectively located on both sides of the rotating shaft. The second bevel gear is connected to the transmission bevel gear, and the output end of the second power element is connected to the second bevel gear, so as to realize the transmission connection between the second power assembly and the rotating shaft.

[0024] By adopting the above scheme, not only can the structure of the first power component, the second power component, and the rotating shaft be made more compact and occupy less space, but the relative position of the output end of the second power component and the rotating shaft can also be changed by the second bevel gear cooperating with the transmission bevel gear, thereby making it easier to arrange the transmission component, the first power component, and the second power component.

[0025] In some embodiments, the second bevel gear and the first bevel gear are respectively disposed on opposite sides of the rotating shaft. The first bevel gear and the second bevel gear rotate at the same speed and in opposite directions, which can cause the transmission bevel gear to rotate about the first center line relative to the fixed component. The first bevel gear and the second bevel gear rotate at the same speed and in the same direction, which can cause the transmission bevel gear to rotate about the second center line relative to the fixed component.

[0026] By adopting the above solution, the force on the transmission bevel gear can be more balanced, and no significant shaking will occur.

[0027] In some embodiments, the second power component further includes a second connecting shaft rotatably connected to the fixed component, the second bevel gear being coaxially disposed and fixedly connected to the second connecting shaft, and the output end of the second power component being drively connected to the second connecting shaft.

[0028] By adopting the above scheme, it is convenient to define the position of the second bevel gear through the second connecting shaft.

[0029] In some embodiments, the second power component includes a second motor, the main shaft of which is connected to the connecting shaft via a second synchronous belt drive.

[0030] By adopting the above solution, the motion of the main shaft of the second motor can be transmitted to the second connecting shaft more smoothly, with less loss in the whole process, and the torque requirement of the second motor can be greatly reduced, thereby reducing the specifications of the second motor.

[0031] In some embodiments, the output end of the second power member is oriented opposite to the output end of the first power member.

[0032] By adopting the above scheme, the components that drive the output end of the second power component to the second connecting shaft can be made to drive the output end of the first power component to the first connecting shaft without affecting or interfering with each other, thereby facilitating the arrangement of the first power component and the second power component.

[0033] In some embodiments, the driving assembly further includes a connected drive member and a connecting swing arm, the connecting swing arm being connected to the pivot shaft, and the drive member being driven to drive the wheel to rotate about the wheel's axis.

[0034] By adopting the above scheme, the drive component can be used to drive the wheel to rotate around the wheel's axis, so that the joint module can achieve forward and backward movement functions.

[0035] In some embodiments, the fixing component includes a fixing base and a support, the rotating shaft is connected to the support and the rotating shaft is rotatable relative to the support about a first center line, the support is connected to the fixing base and the support is rotatable together with the rotating shaft relative to the fixing base about a second center line.

[0036] By adopting the above scheme, the position of the rotating shaft can be limited by the support, making the rotating shaft more stable when rotating around the first center line and around the second center line.

[0037] Secondly, embodiments of this application provide a chassis unit, including:

[0038] Chassis;

[0039] The joint module as described in the first aspect is connected to the chassis.

[0040] The chassis unit of this application embodiment has at least the following technical effects:

[0041] Because the fixed component in the joint module is used to connect to the chassis of the mobile robot, the transmission component includes a rotating shaft, and the travel component includes wheels connected to the rotating shaft, the axis of the wheel is not collinear with the axis of the rotating shaft. The first power component is connected to the fixed component and is drively connected to the rotating shaft. The second power component is also connected to the fixed component and is drively connected to the rotating shaft. Therefore, not only can the rotating shaft be driven to rotate relative to the fixed component around a first centerline to control the wheels to achieve pitch, but the rotating shaft can also be driven to rotate relative to the fixed component around a second centerline perpendicular to the first centerline to control the wheels to achieve steering. The joint module provided in this application embodiment, because both pitch and steering are achieved through the joint drive of the first and second power components, does not require high output torque from either the first or second power component. This improves upon the problem in related technologies where two motors separately control the wheels to achieve steering and pitch functions, resulting in high requirements for motor output torque.

[0042] In some embodiments, the chassis unit further includes an outer shell connected to the chassis, the outer shell and the chassis forming a mounting cavity, the outer shell having a clearance opening, the driving component being located in the outer space of the mounting cavity, and the rotating shaft extending from the mounting cavity through the clearance opening to the outer space of the mounting cavity and being connected to the driving component.

[0043] By adopting the above solution, the chassis and outer shell can protect the joint modules (such as the first power assembly and the second power assembly) located in the mounting cavity. Furthermore, by setting the clearance opening, interference between the rotating shaft and the outer shell can be avoided during the rotation of the rotating shaft relative to the fixed assembly around the first center line driven by the first power assembly and the second power assembly, as well as during the rotation of the rotating shaft relative to the fixed assembly around a second center line perpendicular to the first center line. This eliminates the need to move the entire joint module outside the outer shell, avoids increasing the width of the chassis unit, and prevents reduced passage in narrow spaces due to the chassis unit.

[0044] In some embodiments, the housing has a first outer side wall and a second outer side wall arranged at an angle, the clearance includes a first opening formed in the first outer side wall and a second opening formed in the second outer side wall, and the pivot rotates about the second center line relative to the fixing assembly, such that the pivot moves from the first opening to the second opening.

[0045] By adopting the above scheme, interference between the rotating shaft and the first and second outer walls can be avoided during the process when the first power component and the second power component jointly drive the rotating shaft to rotate relative to the fixed component around the first center line, and during the process when the first power component and the second power component jointly drive the rotating shaft to rotate relative to the fixed component around the second center line that is perpendicular to the first center line.

[0046] In some embodiments, the joint module further includes a shield connected to the pivot, the shield having a first portion extending into the mounting cavity and slidably contacting the inner wall of the mounting cavity at the first opening, the first portion always shielding the first opening as the pivot rotates relative to the fixing assembly about the second centerline.

[0047] By adopting the above solution, the first part can always cover the first opening during the rotation of the rotating shaft relative to the fixed component around the second center line, preventing foreign objects from entering the mounting cavity through the first opening, without increasing the width of the chassis unit, achieving a gapless design that is both aesthetically pleasing and highly reliable.

[0048] In some embodiments, the orthographic projection of the first part onto a plane perpendicular to the second center line is a first arc, the center of which is located on the second center line.

[0049] By adopting the above solution, during the rotation of the rotating shaft relative to the fixed component around the second center line, the first part can always be slidably contacted with the inner wall of the mounting cavity at the first opening, thereby ensuring that the first part always covers the first opening.

[0050] In some embodiments, the shielding member has a second portion, which is disposed on both sides of the pivot shaft, and the second portion extends into the mounting cavity; the traveling unit further includes a mating member located in the mounting cavity, the mating member partially shielding the second opening, the second portion being in slidable contact with the second opening, and the second portion and the mating member always jointly shielding the second opening during the rotation of the pivot shaft relative to the fixed assembly about the second center line.

[0051] By adopting the above solution, the first part and the mating part can always cover the second opening during the rotation of the rotating shaft relative to the fixed component around the second center line, preventing foreign objects from entering the mounting cavity through the second opening. Moreover, the mating part only occupies part of the space in the mounting cavity and will not increase the manufacturing difficulty of the outer shell.

[0052] In some embodiments, the orthographic projection of the second part onto a plane perpendicular to the second center line is a second arc, the center of which is located on the second center line.

[0053] By adopting the above scheme, it is possible to ensure that the second part is always in slidable contact with the mating part during the rotation of the rotating shaft relative to the fixed component around the second center line, thereby ensuring that the second part and the mating part always jointly cover the second opening.

[0054] In some embodiments, the first outer sidewall and the second outer sidewall are connected and the connection between them is transitioned by an arc surface, which is collinear with the second center line.

[0055] By adopting the above solution, the connection between the first outer wall and the second outer wall can be made more natural, and the arc surface can be better adapted to the first opening and the second opening.

[0056] Thirdly, embodiments of this application provide a mobile robot, including the joint module as described in the first aspect, or including the chassis unit as described in the second aspect.

[0057] The mobile robot of this application embodiment has at least the following technical effects:

[0058] Because the fixed component in the joint module is used to connect to the chassis of the mobile robot, the transmission component includes a rotating shaft, the travel component is connected to the rotating shaft, the travel component includes wheels, the wheels are connected to the rotating shaft, the axis of the wheels is not collinear with the axis of the rotating shaft, and the first power component is connected to the fixed component and driven by the rotating shaft, the second power component is connected to the fixed component and driven by the rotating shaft. Therefore, not only can the rotating shaft be driven to rotate relative to the fixed component around a first center line to control the wheels to achieve the pitch function by the first power component and the second power component working together, but the rotating shaft can also be driven to rotate relative to the fixed component around a second center line perpendicular to the first center line to control the wheels to achieve the steering function by the first power component and the second power component working together. The mobile robot provided in this application embodiment, because both the pitch and steering functions of the wheels are controlled by the first and second power components working together, does not require high output torque from the first and second power components. This improves the problem in related technologies where two motors separately control the wheels to achieve steering and pitch functions, resulting in high requirements for the motor output torque. Attached Figure Description

[0059] Figure 1 is a perspective view of a chassis unit provided in one embodiment of this application;

[0060] Figure 2 is an enlarged view of point A in Figure 1;

[0061] Figure 3 is an exploded view of the chassis unit shown in Figure 1;

[0062] Figure 4 is an enlarged view of point B in Figure 3;

[0063] Figure 5 is a top view of the chassis unit shown in Figure 1;

[0064] Figure 6 is a right view of the chassis unit shown in Figure 1;

[0065] Figure 7 is a perspective view of the joint module in the chassis unit shown in Figure 1;

[0066] Figure 8 is an exploded view of the joint module shown in Figure 7;

[0067] Figure 9 is an exploded view of the joint module shown in Figure 7 from another perspective;

[0068] Figure 10 is a top view of the joint module shown in Figure 7;

[0069] Figure 11 is a cross-sectional view of the joint module shown in Figure 10 along the MM direction;

[0070] Figure 12 is an enlarged view of point C in Figure 11;

[0071] Figure 13 is a top view of the joint module shown in Figure 7 from another perspective;

[0072] Figure 14 is a cross-sectional view of the joint module shown in Figure 13 along the NN direction;

[0073] Figure 15 is an enlarged view of point D in Figure 14.

[0074] The reference numerals in the figures are as follows: 1000, chassis unit; 100, joint module; 10, fixing component; 11, fixing seat; 12, support; 121, limiting groove; 20, transmission component; 21, rotating shaft; 22, transmission bevel gear; 30, traveling component; 31, wheel; 32, connecting swing arm; 40, first power component; 41, first power component; 411, first output end; 42, first bevel gear; 43, first connecting shaft; 44, first synchronous belt; 50, second power component; 51, second power component; 511, second output end; 52, second bevel gear; 53, second connecting shaft; 54, second synchronous belt; 60, shielding component; 601, limiting part; 61, first part; 62, second part; 70, mating part; 200, chassis; 300, outer shell; 301, clearance opening; 3011, first opening; 3022, second opening; 310, first outer wall; 320, second outer wall; 330, arc surface. Detailed Implementation

[0075] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0076] In the description of this application, it should be understood that the terms "length", "width", "thickness", "top", "bottom", "inner", "outer", "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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. Therefore, they should not be construed as limitations on this application.

[0077] The terms "first," "second," "third," and "fourth," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. For example, "first pushing part" and "second pushing part" are merely used to distinguish different pushing parts and do not limit their order. The first pushing part can also be named the second pushing part, and the second pushing part can also be named the first pushing part, without departing from the scope of the various described embodiments. Furthermore, the terms "first," "second," "third," and "fourth," etc., do not imply that the indicated features must be different.

[0078] In this application, unless otherwise expressly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0079] In this application, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0080] It should be noted that, in this application, the words "in one embodiment," "exemplarily," and "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "in one embodiment," "exemplarily," or "for example" should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of words such as "in one embodiment," "exemplarily," and "for example" is intended to present the relevant concepts in a specific manner.

[0081] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments.

[0082] In related technologies, the chassis unit of a wheeled mobile robot generally includes a chassis and a joint module. During use, the joint module needs to control the wheels to achieve steering and pitching functions in order to meet the mobility requirements of the mobile robot.

[0083] In traditional mobile robots, the joint module typically includes two motors. One motor is used to control the wheels individually to achieve the steering function, and the other motor is used to control the wheels individually to achieve the pitch function. Since the two motors control the wheels individually to achieve the steering and pitch functions, the output torque requirements of the motors are relatively high.

[0084] In addition, the two motors are connected in series with the wheel. One motor is connected to the wheel drive and is used to control the wheel to achieve the steering function. The other motor is connected to the motor that controls the wheel to achieve the steering function. While controlling the wheel to achieve the pitch function, the motor that controls the wheel to achieve the steering function will also act as a load along with the wheel. This will also lead to a higher requirement for the output torque of the motor.

[0085] In view of this, embodiments of this application provide a joint module, a chassis unit, and a mobile robot. Since the fixed component is used to connect to the chassis of the mobile robot, the transmission component includes a rotating shaft, the driving component is connected to the rotating shaft, the driving component includes wheels, the axis of the wheels is not collinear with the axis of the rotating shaft, and the first power component is connected to the fixed component and driven by the rotating shaft, the second power component is connected to the fixed component and driven by the rotating shaft. Therefore, not only can the rotating shaft be driven to rotate relative to the fixed component around a first center line by the first power component and the second power component together to control the wheels to achieve the pitch function, but the rotating shaft can also be driven to rotate relative to the fixed component around a second center line perpendicular to the first center line by the first power component and the second power component together to control the wheels to achieve the steering function. The joint module provided in this application embodiment is driven by both the first power component and the second power component when controlling the wheels to achieve pitch and steering functions. Therefore, the output torque requirements of the first power component and the second power component are not high. This can improve the problem in related technologies where the output torque requirements of the motors are high because the two motors control the wheels to achieve steering and pitch functions separately.

[0086] Meanwhile, in the joint module provided in this application embodiment, both the first power component and the second power component are directly connected to the wheel drive through the rotating shaft. The first power component and the second power component are arranged in parallel. When the rotating shaft is driven to rotate relative to the fixed component around the first center line by the first power component and the second power component together, the first power component or the second power component will not act as a load. And when the rotating shaft is driven to rotate relative to the fixed component around the second center line by the first power component and the second power component together, the first power component or the second power component will not act as a load. Therefore, the output torque of the first power component and the output torque of the second power component are not required in this respect.

[0087] Please refer to Figures 1 to 6. Figure 1 is a perspective view of a chassis unit 1000 provided in one embodiment of this application. Figure 2 is an enlarged view of point A in Figure 1. Figure 3 is an exploded structural view of the chassis unit 1000 shown in Figure 1. Figure 4 is an enlarged view of point B in Figure 3. Figure 5 is a top view of the chassis unit 1000 shown in Figure 1. Figure 6 is a right view of the chassis unit 1000 shown in Figure 1.

[0088] In a first aspect, embodiments of this application provide a joint module 100 for a mobile robot. The mobile robot may be a wheeled mobile robot, and the wheeled mobile robot may also include a chassis 200. The joint module 100 is connected to the chassis 200, and two, three, four, or more joint modules 100 may be provided. In this embodiment, four joint modules 100 are used as an example for explanation.

[0089] The joint module 100 includes a fixing component 10, a transmission component 20, a travel component 30, a first power component 40, and a second power component 50.

[0090] The fixing component 10 is used to connect to the chassis 200 of the mobile robot.

[0091] The fixing component 10 can be connected to the chassis 200 of the mobile robot by means of bonding, welding, screw connection, riveting connection, bolt connection or snap connection.

[0092] The transmission assembly 20 includes a rotating shaft 21.

[0093] The rotating shaft 21 can be rotatably connected to the fixed component 10, such as through a bearing.

[0094] The driving component 30 includes a wheel 31 connected to a shaft 21, and the axis of the wheel 31 is not collinear with the axis of the shaft 21.

[0095] The travel assembly 30 and the pivot 21 can be connected by means of bonding, welding, screw connection, riveting connection, bolt connection or snap-fit ​​connection.

[0096] As the rotating shaft 21 rotates around its axis, it can also drive the wheel 31 to swing around the axis of the rotating shaft 21.

[0097] The first power assembly 40 is connected to the fixed assembly 10, and the first power assembly 40 is connected to the rotating shaft 21 for transmission.

[0098] The first power assembly 40 may include a motor or cylinder, etc. The first power assembly 40 and the rotating shaft 21 can be connected by transmission through gears, synchronous belts, couplings, cam-linkage mechanisms, etc.

[0099] The second power assembly 50 is connected to the fixed assembly 10, and the second power assembly 50 is connected to the rotating shaft 21 for transmission.

[0100] The second power assembly 50 may include a motor or cylinder, etc. The second power assembly 50 and the rotating shaft 21 can be connected by transmission through gears, synchronous belts, couplings, cam-linkage mechanisms, etc.

[0101] The first power assembly 40 and the second power assembly 50 are used to jointly drive the rotating shaft 21 to rotate relative to the fixed assembly 10 around the first center line. The first power assembly 40 and the second power assembly 50 are also used to jointly drive the rotating shaft 21 to rotate relative to the fixed assembly 10 around the second center line. The second center line is perpendicular to the first center line, and the axis of the rotating shaft 21 is collinear with the first center line.

[0102] Please refer to Figures 5 and 6 for details. When the first power assembly 40 and the second power assembly 50 jointly drive the rotating shaft 21 to rotate relative to the fixed assembly 10 around the first center line, the first center line is shown as the dotted line α in Figure 5. The first center line can be roughly parallel to the large surface of the chassis 200. If the first center line extends in the horizontal direction, the rotating shaft 21 drives the wheel 31 to swing in the direction indicated by arrows t and -t in Figure 6, so as to control the wheel 31 to achieve the pitch function.

[0103] For example, the initial state of wheel 31 is shown in Figure 6. After the first power component 40 and the second power component 50 jointly drive the shaft 21 to swing relative to the fixed component 10 around the first center line in the direction indicated by arrow t or arrow -t in Figure 6, the wheel 31 can be controlled to tilt down, reducing the height of the chassis 200. Then, after the first power component 40 and the second power component 50 jointly drive the shaft 21 to swing relative to the fixed component 10 around the first center line in the opposite direction, the wheel 31 can be controlled to tilt up, increasing the height of the chassis 200.

[0104] Please continue to refer to Figures 5 and 6. When the first power assembly 40 and the second power assembly 50 jointly drive the rotating shaft 21 to rotate relative to the fixed assembly 10 around the second center line, the second center line is shown as the dotted line β in Figure 6. The second center line can be approximately perpendicular to the large surface of the chassis 200. If the second center line extends in the vertical direction, the rotating shaft 21 drives the wheel 31 to swing in the direction indicated by arrows r and -r in Figure 5, so as to control the wheel 31 to achieve the steering function.

[0105] For example, the initial state of wheel 31 is shown in Figure 5. When the chassis 200 moves upward, the first power component 40 and the second power component 50 jointly drive the shaft 21 to swing relative to the fixed component 10 around the second center line in the direction indicated by arrow r in Figure 6, which can control the wheel 31 to turn left. Then, the first power component 40 and the second power component 50 jointly drive the shaft 21 to swing relative to the fixed component 10 around the second center line in the direction indicated by arrow -r in Figure 6, which can control the wheel 31 to return to center. Continuing to drive the shaft 21 to swing relative to the fixed component 10 around the second center line in the direction indicated by arrow -r in Figure 6, which can control the wheel 31 to turn right, the same principle applies to the process of the chassis 200 moving downward.

[0106] It is understood that the joint module 100 provided in this application embodiment is driven by the first power component 40 and the second power component 50 together when controlling the wheel 31 to achieve pitch and steering functions. Therefore, the output torque requirements of the first power component 40 and the second power component 50 can be reduced by about half, thereby reducing the specifications of the first power component 40 and the second power component 50.

[0107] As can be seen from the above, in the joint module 100 of this application embodiment, since the fixed component 10 is used to connect with the chassis 200 of the mobile robot, the transmission component 20 includes a rotating shaft 21, the driving component 30 is connected to the rotating shaft 21, the driving component 30 includes a wheel 31, the wheel 31 is connected to the rotating shaft 21, the axis of the wheel 31 is not collinear with the axis of the rotating shaft 21, and the first power component 40 is connected to the fixed component 10 and is driven by the rotating shaft 21, and the second power component 50 is connected to the fixed component 10 and is driven by the rotating shaft 21, so not only can the rotating shaft 21 be driven to rotate relative to the fixed component 10 around the first center line by the first power component 40 and the second power component 50 to control the wheel 31 to achieve the pitch function, but the rotating shaft 21 can also be driven to rotate relative to the fixed component 10 around the second center line that is perpendicular to the first center line by the first power component 40 and the second power component 50 to control the wheel 31 to achieve the steering function. The joint module 100 provided in this application embodiment is driven by both the first power component 40 and the second power component 50 when controlling the wheel 31 to achieve pitch and steering functions. Therefore, the output torque requirements of the first power component 40 and the second power component 50 are not high. This can improve the problem in related technologies where the output torque requirements of the motors are high because the two motors control the wheel 31 to achieve steering and pitch functions separately.

[0108] Meanwhile, in the joint module 100 provided in this application embodiment, the first power component 40 and the second power component 50 are both directly connected to the wheel 31 via the rotating shaft 21. The first power component 40 and the second power component 50 are arranged in parallel. When the rotating shaft 21 is driven to rotate relative to the fixed component 10 around the first center line by the first power component 40 and the second power component 50, the first power component 40 or the second power component 50 will not act as a load. And when the rotating shaft 21 is driven to rotate relative to the fixed component 10 around the second center line by the first power component 40 and the second power component 50, the first power component 40 or the second power component 50 will not act as a load. Therefore, the output torque of the first power component 40 and the output torque of the second power component 50 are not required in this respect.

[0109] The joint module 100 of this application embodiment can be applied to a multi-degree-of-freedom four-wheel drive mobile robot, generally including four sets of joint modules 100. The joint modules 100 are fixed on the chassis 200, and the outer shell 300 is fixedly connected to the chassis 200. Each set of joint modules 100 has two rotational degrees of freedom, which can realize pitch and turn, and can realize active control of the attitude of the chassis 200, improve the forward power of the chassis 200 and the stability of the movement process. When facing obstacles such as water thresholds, scattered objects on the ground, and wires in the home environment, the obstacle crossing performance or stability during obstacle crossing is better.

[0110] Please refer to Figures 7 to 9. Figure 7 is a perspective view of the joint module 100 in the chassis unit 1000 shown in Figure 1. Figure 8 is an exploded view of the joint module 100 shown in Figure 7. Figure 9 is an exploded view of the joint module 100 shown in Figure 7 from another perspective.

[0111] In this embodiment, the transmission assembly 20 includes a transmission bevel gear 22 that is coaxially arranged and fixedly connected to the rotating shaft 21; the first power assembly 40 includes a first power member 41 and a first bevel gear 42, the axis of the first bevel gear 42 is collinear with the second center line, the first bevel gear 42 is connected to the transmission bevel gear 22 in a transmission connection, and the output end of the first power member 41 is connected to the first bevel gear 42 in a transmission connection, so as to realize the transmission connection between the first power assembly 40 and the rotating shaft 21.

[0112] By adopting the above scheme, not only can the structure of both the transmission component 20 and the first power component 40 be made simpler, making it easier to realize the transmission connection between the first power component 40 and the rotating shaft 21, but the relative position between the output end of the first power component 41 and the rotating shaft 21 can also be changed by the first bevel gear 42 cooperating with the transmission bevel gear 22, thereby making it easier to arrange the transmission component 20 and the first power component 40.

[0113] It should be noted that the rotating shaft 21 and the transmission bevel gear 22 can be separate components, such as by bonding, welding, screw connection, riveting connection, bolt connection, or snap-fit ​​connection. Alternatively, the rotating shaft 21 and the transmission bevel gear 22 can be integrally formed, such as by injection molding or machining.

[0114] The first power component 41 may include a motor or a cylinder. The first power component 41 and the first bevel gear 42 can be connected by a transmission mechanism such as a gear, a timing belt, a coupling, or a cam-linkage mechanism.

[0115] Please refer to Figures 10 to 12. Figure 10 is a top view of the joint module 100 shown in Figure 7, Figure 11 is a cross-sectional view of the joint module 100 shown in Figure 10 along the MM direction, and Figure 12 is an enlarged view of point C in Figure 11.

[0116] As one possible implementation, the first power assembly 40 also includes a first connecting shaft 43 rotatably connected to the fixed assembly 10, a first bevel gear 42 coaxially disposed and fixedly connected to the first connecting shaft 43, and the output end of the first power member 41 being drively connected to the first connecting shaft 43.

[0117] This configuration facilitates defining the position of the first bevel gear 42 via the first connecting shaft 43.

[0118] It should be noted that the first connecting shaft 43 can be rotatably connected to the fixed assembly 10 via bearings or the like. The output end of the first power component 41 and the first connecting shaft 43 can be connected via gears, synchronous belts, couplings, cam-linkage mechanisms, or the like for transmission.

[0119] The first bevel gear 42 and the first connecting shaft 43 can be separately installed, and connected by means such as bonding, welding, screw connection, riveting connection, bolt connection or snap-fit ​​connection. The first bevel gear 42 and the first connecting shaft 43 can also be integrally installed, such as integral injection molding or integral machining.

[0120] For example, the first power component 41 includes a first motor, the main shaft of the first motor being connected to the first connecting shaft 43 via a synchronous belt drive.

[0121] By adopting the above scheme, the motion of the main shaft of the first motor can be transmitted to the first connecting shaft 43 more smoothly, with less loss in the whole process, and the torque requirement of the first motor can be greatly reduced, thereby reducing the specifications of the first motor.

[0122] For example, the main shaft of the first motor is connected to the first connecting shaft 43 via a first synchronous belt 44.

[0123] It is understandable that the output end of the first power component 41 is the first output end 411, the main shaft of the first motor is the first output end 411, and when the main shaft of the first motor and the first connecting shaft 43 are connected by a synchronous belt drive, a synchronous pulley can be set to cooperate with the synchronous belt.

[0124] Please refer to Figures 13 to 15. Figure 13 is a top view of the joint module 100 shown in Figure 7 from another perspective. Figure 14 is a cross-sectional view of the joint module 100 shown in Figure 13 along the NN direction. Figure 15 is an enlarged view of point D in Figure 14.

[0125] In this embodiment, the second power assembly 50 includes a second power element 51 and a second bevel gear 52. The axis of the second bevel gear 52 is collinear with the second center line. The second bevel gear 52 and the first bevel gear 42 are respectively located on both sides of the rotating shaft 21. The second bevel gear 52 is connected to the transmission bevel gear 22, and the output end of the second power element 51 is connected to the second bevel gear 52, so as to realize the transmission connection between the second power assembly 50 and the rotating shaft 21.

[0126] By adopting the above scheme, not only can the structure of the first power component 40, the second power component 50 and the rotating shaft 21 be made more compact and occupy less space, but the relative position of the output end of the second power component 51 and the rotating shaft 21 can also be changed by the second bevel gear 52 cooperating with the transmission bevel gear 22, thereby making it easier to arrange the transmission component 20, the first power component 40 and the second power component 50.

[0127] In order to make the force exerted by the second bevel gear 52 on the transmission bevel gear 22 and the force exerted by the first bevel gear 42 on the transmission bevel gear 22 more balanced, the second bevel gear 52 and the first bevel gear 42 are respectively located on opposite sides of the rotating shaft 21. The first bevel gear 42 and the second bevel gear 52 rotate at the same speed and in opposite directions, so that the transmission bevel gear 22 can rotate around the first center line relative to the fixed component 10. The first bevel gear 42 and the second bevel gear 52 rotate at the same speed and in the same direction, so that the transmission bevel gear 22 can rotate around the second center line relative to the fixed component 10.

[0128] This configuration allows the transmission bevel gear 22 to experience more balanced forces, preventing significant wobbling.

[0129] For example, since the second bevel gear 52 and the first bevel gear 42 are respectively located on opposite sides of the rotating shaft 21, and the second bevel gear 52 and the first bevel gear 42 form a differential speed relationship with the transmission bevel gear 22, when the force applied by the second bevel gear 52 to the transmission bevel gear 22 and the force applied by the first bevel gear 42 to the transmission bevel gear 22 are in the same direction (the second bevel gear 52 and the first bevel gear 42 rotate at the same speed and in opposite directions), the transmission bevel gear 22 can rotate around the axis of the transmission bevel gear 22 (i.e., the first center line), thereby driving the rotating shaft 21 to rotate around the first center line. The rotating shaft 21 drives the wheel 31 to swing in the direction indicated by arrows t and -t in Figure 6, so as to control the wheel 31 to achieve the pitch function.

[0130] When the force applied by the second bevel gear 52 to the transmission bevel gear 22 is opposite in direction to the force applied by the first bevel gear 42 to the transmission bevel gear 22 (the second bevel gear 52 and the first bevel gear 42 rotate at the same speed and in the same direction), the transmission bevel gear 22 cannot rotate around the axis of the transmission bevel gear 22 (i.e., the first center line). The transmission bevel gear 22 can only rotate around the second center line, thereby driving the rotating shaft 21 to rotate around the second center line. The rotating shaft 21 drives the wheel 31 to swing in the direction indicated by arrows r and -r in Figure 13, so as to control the wheel 31 to achieve the steering function.

[0131] The second power component 51 may include a motor or cylinder. The second power component 51 and the second bevel gear 52 can be connected by a transmission mechanism such as a gear, a timing belt, a coupling, or a cam-linkage mechanism.

[0132] In one possible implementation, the second power assembly 50 also includes a second connecting shaft 53 rotatably connected to the fixed assembly 10, a second bevel gear 52 coaxially disposed and fixedly connected to the second connecting shaft 53, and the output end of the second power member 51 being drively connected to the second connecting shaft 53.

[0133] This configuration facilitates defining the position of the second bevel gear 52 via the second connecting shaft 53.

[0134] It should be noted that the second connecting shaft 53 can be rotatably connected to the fixed assembly 10 via bearings or the like. The output end of the second power component 51 and the second connecting shaft 53 can be connected via gears, synchronous belts, couplings, cam-linkage mechanisms, or the like for transmission.

[0135] It should be noted that the second bevel gear 52 and the second connecting shaft 53 can be separate components, such as by bonding, welding, screw connection, riveting connection, bolt connection, or snap-fit ​​connection. Alternatively, the second bevel gear 52 and the second connecting shaft 53 can be integrally formed, such as by injection molding or machining.

[0136] For example, the second power component 51 includes a second motor, the main shaft of which is connected to the second connecting shaft 53 via a synchronous belt drive.

[0137] By adopting the above solution, the motion of the main shaft of the second motor can be transmitted to the second connecting shaft 53 more smoothly, with less loss in the whole process, and the torque requirement of the second motor can be greatly reduced, thereby reducing the specifications of the second motor.

[0138] For example, the main shaft of the second motor is connected to the second connecting shaft 53 via the second synchronous belt 54.

[0139] It is understandable that the output end of the second power component 51 is the second output end 511, the main shaft of the second motor is the second output end 511, and when the main shaft of the second motor and the second connecting shaft 53 are connected by a synchronous belt drive, a synchronous pulley can be set to cooperate with the synchronous belt.

[0140] Optionally, the orientation of the output end of the second power member 51 is opposite to the orientation of the output end of the first power member 41.

[0141] This arrangement ensures that the components that drive the output end of the second power component 51 to the second connecting shaft 53 do not affect or interfere with the components that drive the output end of the first power component 41 to the first connecting shaft 43, thus facilitating the arrangement of the first power component 41 and the second power component 51.

[0142] Optionally, the driving component 30 also includes a connected drive member (not shown) and a connecting swing arm 32, the connecting swing arm 32 being connected to the rotating shaft 21, and the drive member being driven to drive the wheel 31 to rotate around the axis of the wheel 31.

[0143] By adopting the above scheme, the drive unit can be used to drive the wheel 31 to rotate around the axis of the wheel 31, so that the joint module 100 can realize the forward and backward movement functions.

[0144] Optionally, the two ends of the connecting arm 32 are connected to the rotating shaft 21 and the wheel 31, respectively.

[0145] This configuration facilitates the connection between the shaft 21 and the wheel 31, and ensures that the axis of the wheel 31 is not collinear with the axis of the shaft 21.

[0146] It should be noted that the driving component may include a motor or cylinder. The driving component and the rotating shaft 21 can be connected by means of bonding, welding, screw connection, riveting connection, bolt connection or snap-fit ​​connection. The driving component and the wheel 31 can be connected by means of gears, timing belts, couplings, cam linkage mechanisms or the like.

[0147] Please refer to Figures 8 and 9. In this embodiment, the fixing component 10 includes a fixing seat 11 and a support 12. The rotating shaft 21 is connected to the support 12 and can rotate relative to the support 12 around a first center line. The support 12 is connected to the fixing seat 11 and can rotate together with the rotating shaft 21 relative to the fixing seat 11 around a second center line.

[0148] By adopting the above scheme, the position of the rotating shaft 21 can be limited by the support 12, so that the rotating shaft 21 is more stable when rotating around the first center line and around the second center line.

[0149] It should be noted that the support 12 and the fixed seat 11 can be rotatably connected by bearings or the like.

[0150] Optionally, the support 12 is rotatably connected to the fixed seat 11. One fixed seat 11 can be provided on each of the opposite sides of the support 12. One fixed seat 11 is connected to the first power component 40, and the other fixed seat 11 is connected to the second power component 50.

[0151] This configuration allows the joint module 100 to have a more compact structure and makes the support 12 more stable as it rotates with the shaft 21 relative to the fixed seat 11 around the second center line, thus making the rotation of the shaft 21 more stable.

[0152] Please refer to Figures 1 to 9. In a second aspect, embodiments of this application provide a chassis unit 1000, including a chassis 200 and a joint module 100 as described in the first aspect, wherein the joint module 100 is connected to the chassis 200.

[0153] In this embodiment of the chassis unit 1000, since the fixed component 10 in the joint module 100 is used to connect with the chassis 200 of the mobile robot, the transmission component 20 includes a rotating shaft 21, the driving component 30 is connected to the rotating shaft 21, the driving component 30 includes a wheel 31, the wheel 31 is connected to the rotating shaft 21, the axis of the wheel 31 is not collinear with the axis of the rotating shaft 21, and the first power component 40 is connected to the fixed component 10 and is drively connected to the rotating shaft 21, and the second power component 50 is connected to the fixed component 10 and is drively connected to the rotating shaft 21, the rotating shaft 21 can be driven to rotate relative to the fixed component 10 around a first center line by the first power component 40 and the second power component 50 to control the wheel 31 to achieve the pitch function, and the rotating shaft 21 can also be driven to rotate relative to the fixed component 10 around a second center line that is perpendicular to the first center line by the first power component 40 and the second power component 50 to control the wheel 31 to achieve the steering function. The chassis unit 1000 provided in this application embodiment is driven by both the first power component 40 and the second power component 50 when controlling the wheel 31 to achieve pitch and steering functions. Therefore, the output torque requirements of the first power component 40 and the second power component 50 are not high. This can improve the problem in related technologies where the output torque requirements of the motors are high because the two motors control the wheel 31 to achieve steering and pitch functions separately.

[0154] Please refer to Figures 1 to 4. In this embodiment, the chassis unit 1000 also includes an outer shell 300 connected to the chassis 200. The outer shell 300 and the chassis 200 enclose an installation cavity. The outer shell 300 is provided with a clearance opening 301. The driving component 30 is located in the outer space of the installation cavity. The rotating shaft 21 extends from the installation cavity through the clearance opening 301 to the outer space of the installation cavity and is connected to the driving component 30.

[0155] By adopting the above solution, the chassis 200 and the outer shell 300 can protect the joint modules 100 (such as the first power assembly 40 and the second power assembly 50) located in the mounting cavity. Furthermore, by setting the clearance opening 301, interference between the rotating shaft 21 and the outer shell 300 can be avoided during the rotation of the rotating shaft 21 relative to the fixed assembly 10 around the first center line driven by the first power assembly 40 and the second power assembly 50, as well as during the rotation of the rotating shaft 21 relative to the fixed assembly 10 around the second center line perpendicular to the first center line. This eliminates the need to move the entire joint module 100 outside the outer shell 300, and avoids increasing the width of the chassis unit 1000, which would reduce the passageability of the chassis unit 1000 in narrow spaces.

[0156] It should be noted that the outer shell 300 can be roughly set as a cylinder, sphere, cuboid or cube, etc. The outer shell 300 and the chassis 200 can be connected by means of bonding, welding, screw connection, riveting connection, bolt connection or snap connection.

[0157] For example, the outer casing 300 has a first outer side wall 310 and a second outer side wall 320 arranged at an angle, and the clearance opening 301 includes a first opening 3011 formed in the first outer side wall 310 and a second opening 3022 formed in the second outer side wall 320. The rotating shaft 21 rotates about a second center line relative to the fixing assembly 10, so that the rotating shaft 21 can move from the first opening 3011 to the second opening 3022.

[0158] This configuration avoids interference between the rotating shaft 21 and the first outer wall 310 and the second outer wall 320 during the process when the first power assembly 40 and the second power assembly 50 jointly drive the rotating shaft 21 to rotate relative to the fixed assembly 10 around the first center line, and during the process when the first power assembly 40 and the second power assembly 50 jointly drive the rotating shaft 21 to rotate relative to the fixed assembly 10 around the second center line perpendicular to the first center line.

[0159] The first outer side wall 310 and the second outer side wall 320 can be set at approximately a 90-degree angle. When the outer shell 300 is approximately set as a cuboid, the first outer side wall 310 and the second outer side wall 320 can be two adjacent side walls of the outer shell 300.

[0160] It is understandable that the rotating shaft 21 can rotate about the second center line relative to the fixed component 10, and can also move from the second opening 3022 to the first opening 3011. When the rotating shaft 21 passes through the first opening 3011 and the second opening 3022, the rotating shaft 21 can rotate about the first center line relative to the fixed component 10.

[0161] Since the clearance opening 301 includes a first opening 3011 formed on the first outer side wall 310, foreign objects from the outside may enter the mounting cavity through the first opening 3011, causing damage to some joint modules 100 (such as the first power assembly 40 and the second power assembly 50) in the mounting cavity, and reducing the reliability of the chassis unit 1000.

[0162] To solve the above problems, please refer to Figures 1 to 9. In this embodiment, the joint module 100 also includes a shielding member 60 connected to the rotating shaft 21. The shielding member 60 has a first part 61, which extends into the mounting cavity and slidably contacts the inner wall of the mounting cavity at the first opening 3011. During the rotation of the rotating shaft 21 relative to the fixing assembly 10 around the second center line, the first part 61 always shields the first opening 3011.

[0163] By adopting the above solution, during the rotation of the rotating shaft 21 relative to the fixed component 10 around the second center line, the first part 61 can always cover the first opening 3011, preventing foreign objects from entering the mounting cavity through the first opening 3011, and without increasing the width of the chassis unit 1000, achieving a design without gaps in appearance, which is aesthetically pleasing and highly reliable.

[0164] Understandably, the inner wall of the mounting cavity at the first opening 3011 can extend in a direction parallel to the first centerline, and the first part 61 extends into the mounting cavity and slidably makes linear contact with the inner wall of the mounting cavity at the first opening 3011. The blocking member 60 forms a pull-out effect with the housing 300. During the rotation of the rotating shaft 21 relative to the fixing assembly 10 around the second centerline, part of the blocking member 60 will rotate with the rotating shaft 21 to the outside of the housing 300 or to the mounting cavity.

[0165] This configuration ensures that the first part 61 always blocks the first opening 3011 as the rotating shaft 21 rotates relative to the fixed component 10 around the second center line.

[0166] Optionally, the orthographic projection of the first part 61 onto a plane perpendicular to the second center line is a first circular arc, the center of which is located on the second center line.

[0167] This configuration ensures that, during the rotation of the rotating shaft 21 relative to the fixed component 10 around the second center line, the first part 61 is always in slidable contact with the inner wall of the mounting cavity at the first opening 3011, thereby ensuring that the first part 61 always covers the first opening 3011.

[0168] The shielding component 60 can be set as a semi-circular ring, and the shielding component 60 and the rotating shaft 21 can be connected by means of bonding, welding, screw connection, riveting connection, bolt connection or snap connection.

[0169] For example, the rotating shaft 21 is rotatably connected to the support 12. The support 12 is provided with a limiting groove 121, and the blocking member 60 is provided with a limiting part 601. The limiting part 601 is inserted into the limiting groove 121 to realize the connection between the blocking member 60 and the support 12, thereby realizing the connection between the blocking member 60 and the rotating shaft 21.

[0170] This configuration allows for a relatively convenient connection between the shielding component 60 and the rotating shaft 21.

[0171] Optionally, two limiting grooves 121 are provided, and the two limiting grooves 121 are respectively provided on opposite sides of the support 12. Two limiting parts 601 are provided, and the limiting parts 601 are provided in a one-to-one correspondence with the limiting grooves 121.

[0172] This configuration improves the connection stability between the shield 60 and the support 12, thereby improving the connection stability between the shield 60 and the rotating shaft 21.

[0173] Since the clearance opening 301 includes a second opening 3022 formed on the second outer side wall 320, foreign objects from the outside may enter the mounting cavity through the second opening 3022, causing damage to some joint modules 100 (such as the first power assembly 40 and the second power assembly 50) in the mounting cavity. At this time, a shielding structure similar to that at the first opening 3011 can be set at the second opening 3022, such that the shielding member 60 is always slidably in contact with the inner wall of the mounting cavity at the second opening 3022. However, it may be necessary to recess the second outer side wall 320 into the mounting cavity, which not only increases the manufacturing difficulty of the outer shell 300, but also reduces the effective space of the mounting cavity, making it inconvenient to install other components.

[0174] To solve the above problems, please refer to Figures 1 to 9. In this embodiment, the shielding member 60 has a second part 62, which is disposed on both sides of the rotating shaft 21, and the second part 62 extends into the mounting cavity. The driving unit also includes a mating member 70 located in the mounting cavity. The mating member 70 shields part of the second opening 3022. The second part 62 is in slidable contact with the second opening 3022. During the rotation of the rotating shaft 21 relative to the fixed assembly 10 around the second center line, the second part 62 and the mating member 70 always jointly shield the second opening 3022.

[0175] By adopting the above solution, during the rotation of the rotating shaft 21 relative to the fixed component 10 around the second center line, the first part 61 and the mating part 70 can always cover the second opening 3022, preventing foreign objects from entering the mounting cavity through the second opening 3022. Moreover, the mating part 70 only occupies part of the space of the mounting cavity and will not increase the manufacturing difficulty of the outer shell 300.

[0176] The mating part 70 is connected to the inner wall of the mounting cavity at the second opening 3022, such as by bonding, welding, screw connection, riveting connection, bolt connection or snap-fit ​​connection. Alternatively, the mating part 70 is connected to the chassis 200, such as by bonding, welding, screw connection, riveting connection, bolt connection or snap-fit ​​connection.

[0177] It is understood that the mating part 70 can extend in a direction parallel to the first center line, and the second part 62 can slide linearly contact the mating part 70.

[0178] This configuration ensures that as the rotating shaft 21 rotates relative to the fixed assembly 10 around the second centerline, the second part 62 and the mating part 70 always jointly cover the second opening 3022.

[0179] Optionally, the orthographic projection of the second part 62 onto a plane perpendicular to the second center line is a second circular arc, the center of which is located on the second center line.

[0180] This configuration ensures that the second part 62 remains in slidable contact with the mating part 70 as the rotating shaft 21 rotates relative to the fixed component 10 around the second center line, thereby ensuring that the second part 62 and the mating part 70 always jointly cover the second opening 3022.

[0181] Optionally, the first outer wall 310 and the second outer wall 320 are connected and the connection between them is transitioned by an arc surface 330, and the arc surface 330 is collinear with the second center line.

[0182] This design allows for a more natural connection between the first outer wall 310 and the second outer wall 320, and the arc surface 330 can better fit the first opening 3011 and the second opening 3022.

[0183] Thirdly, embodiments of this application provide a mobile robot, including the joint module 100 of the first aspect, or including the chassis unit 1000 as in the second aspect.

[0184] In this embodiment of the mobile robot, the fixed component 10 in the joint module 100 is used to connect with the chassis 200 of the mobile robot. The transmission component 20 includes a rotating shaft 21, and the driving component 30 includes a wheel 31. The wheel 31 is connected to the rotating shaft 21, and the axis of the wheel 31 is not collinear with the axis of the rotating shaft 21. The first power component 40 is connected to the fixed component 10 and is driven by the rotating shaft 21. The second power component 50 is connected to the fixed component 10 and is driven by the rotating shaft 21. Therefore, not only can the rotating shaft 21 be driven to rotate relative to the fixed component 10 around a first center line by the first power component 40 and the second power component 50 to control the wheel 31 to achieve the pitch function, but the rotating shaft 21 can also be driven to rotate relative to the fixed component 10 around a second center line that is perpendicular to the first center line by the first power component 40 and the second power component 50 to control the wheel 31 to achieve the steering function. The mobile robot provided in this application embodiment is driven by both the first power component 40 and the second power component 50 when controlling the wheel 31 to achieve pitch and steering functions. Therefore, the output torque requirements of the first power component 40 and the second power component 50 are not high. This can improve the problem in related technologies where the output torque requirements of the motors are high because the two motors control the wheel 31 to achieve steering and pitch functions separately.

[0185] It should be noted that the mobile robot in this application embodiment may also include an energy storage unit, a control unit or an operation unit connected to the chassis unit 1000. The energy storage unit may be a battery, the control unit may be a CPU (Central Processing Unit), and the operation unit may be a robotic arm.

[0186] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A joint module, characterized in that, The joint module includes: Fixed components for connection to the chassis of the mobile robot; Transmission components, including a rotating shaft; A driving component includes a wheel connected to the axle, wherein the axis of the wheel is not collinear with the axis of the axle; A first power component is connected to the fixed component, and the first power component is connected to the rotating shaft transmission. The second power component is connected to the fixed component, and the second power component is connected to the rotating shaft transmission. The first power component and the second power component are used to jointly drive the rotating shaft to rotate about a first center line relative to the fixed component. The first power component and the second power component are also used to jointly drive the rotating shaft to rotate about a second center line relative to the fixed component. The second center line is perpendicular to the first center line, and the axis of the rotating shaft is collinear with the first center line.

2. The joint module according to claim 1, characterized in that, The transmission assembly includes a transmission bevel gear coaxially and fixedly connected to the rotating shaft; the first power assembly includes a first power component and a first bevel gear, the axis of the first bevel gear is collinear with the second center line, the first bevel gear is connected to the transmission bevel gear in a transmission connection, and the output end of the first power component is connected to the first bevel gear in a transmission connection, so as to realize the transmission connection between the first power assembly and the rotating shaft.

3. The joint module according to claim 2, characterized in that, The first power component further includes a first connecting shaft rotatably connected to the fixed component, the first bevel gear is coaxially arranged and fixedly connected to the first connecting shaft, and the output end of the first power component is drively connected to the first connecting shaft.

4. The joint module according to claim 3, characterized in that, The first power component includes a first motor, and the main shaft of the first motor is connected to the first connecting shaft via a synchronous belt drive.

5. The joint module according to claim 2, characterized in that, The second power assembly includes a second power component and a second bevel gear. The axis of the second bevel gear is collinear with the second center line. The second bevel gear and the first bevel gear are respectively located on both sides of the rotating shaft. The second bevel gear is connected to the transmission bevel gear, and the output end of the second power component is connected to the second bevel gear, so as to realize the transmission connection between the second power assembly and the rotating shaft.

6. The joint module according to claim 5, characterized in that, The second bevel gear and the first bevel gear are respectively disposed on opposite sides of the rotating shaft. The first bevel gear and the second bevel gear rotate at the same speed and in opposite directions, which can cause the transmission bevel gear to rotate about the first center line relative to the fixed component. The first bevel gear and the second bevel gear rotate at the same speed and in the same direction, which can cause the transmission bevel gear to rotate about the second center line relative to the fixed component.

7. The joint module according to claim 5, characterized in that, The second power component also includes a second connecting shaft rotatably connected to the fixed component, the second bevel gear being coaxially arranged and fixedly connected to the second connecting shaft, and the output end of the second power component being drively connected to the second connecting shaft.

8. The joint module according to claim 7, characterized in that, The second power component includes a second motor, and the main shaft of the second motor is connected to the second connecting shaft via a synchronous belt drive.

9. The joint module according to claim 8, characterized in that, The orientation of the output end of the second power component is opposite to that of the output end of the first power component.

10. The joint module according to any one of claims 1 to 9, characterized in that, The driving component also includes a connected drive member and a connecting swing arm, the connecting swing arm being connected to the rotating shaft, and the drive member being driven to drive the wheel to rotate around the wheel's axis.

11. The joint module according to any one of claims 1 to 9, characterized in that, The fixing component includes a fixing base and a support. The rotating shaft is connected to the support and can rotate relative to the support around the first center line. The support is connected to the fixing base and can rotate together with the rotating shaft relative to the fixing base around the second center line.

12. A chassis unit, characterized in that, include: Chassis; The joint module as described in any one of claims 1 to 11 is connected to the chassis.

13. The chassis unit according to claim 12, characterized in that, The chassis unit also includes an outer shell connected to the chassis. The outer shell and the chassis enclose a mounting cavity. The outer shell is provided with a clearance opening. The driving component is located in the outer space of the mounting cavity. The rotating shaft extends from the mounting cavity through the clearance opening to the outer space of the mounting cavity and is connected to the driving component.

14. The chassis unit according to claim 13, characterized in that, The outer casing has a first outer side wall and a second outer side wall arranged at an angle. The clearance includes a first opening formed on the first outer side wall and a second opening formed on the second outer side wall. The rotating shaft rotates relative to the fixing assembly about the second center line, so that the rotating shaft can move from the first opening to the second opening.

15. The chassis unit according to claim 14, characterized in that, The joint module also includes a shield connected to the rotating shaft. The shield has a first part that extends into the mounting cavity and slidably contacts the inner wall of the mounting cavity at the first opening. During the rotation of the rotating shaft relative to the fixing assembly about the second center line, the first part always shields the first opening.

16. The chassis unit according to claim 15, characterized in that, The orthographic projection of the first part onto a plane perpendicular to the second center line is a first circular arc, the center of which is located on the second center line.

17. The chassis unit according to claim 15, characterized in that, The shielding member has a second part, which is disposed on both sides of the rotating shaft, and the second part extends into the mounting cavity; the traveling unit also includes a mating member located in the mounting cavity, which partially shields the second opening, and the second part is in slidable contact with it. During the rotation of the rotating shaft relative to the fixed assembly around the second center line, the second part and the mating member always jointly shield the second opening.

18. The chassis unit according to claim 17, characterized in that, The orthographic projection of the second part onto a plane perpendicular to the second center line is a second circular arc, the center of which is located on the second center line.

19. The chassis unit according to any one of claims 14 to 18, characterized in that, The first outer side wall and the second outer side wall are connected, and the connection between them is transitioned by an arc surface, which is collinear with the second center line.

20. A mobile robot, characterized in that, It includes the joint module as described in any one of claims 1 to 11, or the chassis unit as described in any one of claims 12 to 19.

Images