Mobile robot chassis and mobile robot

Abstract

Embodiments of the present application provide a mobile robot chassis and a mobile robot. The mobile robot chassis comprises a main frame and a subframe which are articulated with each other; the main frame comprises a first bottom plate, a pair of driving wheel sets, and articulation seats; the subframe comprises a second bottom plate, cantilevers, and articulation heads; the pair of driving wheel sets are mounted on the first bottom plate; each articulation seat is fixed on the first bottom plate, and is located on the side of the corresponding driving wheel set distant from the subframe; and each articulation head crosses the corresponding driving wheel set along with the corresponding cantilever, and is articulated with the corresponding articulation seat. The articulation seats and the driving wheel sets are all arranged on the first bottom plate of the main frame, each articulation seat is arranged on the side of the corresponding driving wheel set distant from the subframe, and the cantilevers span from the second bottom plate to the first bottom plate, so that part of the weight of a mechanism located on the subframe is also distributed on the main frame by means of the cantilevers, and the load of the driving wheel sets can be increased without providing a spring pressurizing mechanism, thereby increasing the wheel pressure of the driving wheel sets, improving the terrain negotiation capability of the mobile robot, and avoiding slipping during high-speed traveling.

Description

A mobile robot chassis and a mobile robot

[0001] This application claims priority to Chinese Patent Application No. 202422680464.3, filed on November 4, 2024, entitled "A Mobile Robot Chassis and a Mobile Robot", the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] In related technologies, mobile robots typically use a fixed chassis, which mainly includes a frame, drive wheels, and casters. The casters are directly fixed to the frame, while the drive wheels are connected to the frame via a spring-loaded mechanism. The spring force applies positive pressure to the ground, providing a fixed driving force to the drive wheels. Because the mobile robot itself is quite heavy and the driving force is fixed, the chassis load capacity is relatively small compared to the vehicle's weight, meaning the drive wheel pressure is low. This results in poor ability for the mobile robot to overcome ground undulations, making it prone to slippage at high speeds. Summary of the Invention

[0004] The purpose of this application is to provide a mobile robot chassis and a mobile robot to increase the wheel pressure of the drive wheels and improve the mobile robot's ability to overcome ground undulations. The specific technical solution is as follows:

[0005] This application provides a mobile robot chassis, including: a main frame and a sub-frame articulated together; the main frame includes: a first base plate, a pair of drive wheel sets, and an articulation seat; the sub-frame includes: a second base plate, a cantilever, and a hinge joint; the pair of drive wheel sets are mounted on a first mating end where the first base plate and the second base plate meet, and the drive wheel of each drive wheel set extends out of the first base plate, so that the drive wheel contacts the ground; the articulation seat of the main frame is fixed to the first base plate and located on the side of the drive wheel set away from the sub-frame; the starting end of the cantilever of the sub-frame is fixedly disposed at the rear end of the second base plate away from the main frame; the hinge joint is fixedly disposed on the cantilever; and the hinge joint passes over the drive wheel set with the cantilever, so that the hinge joint is hinged to the articulation seat, thereby realizing the articulation of the main frame and the sub-frame.

[0006] In some embodiments of this application, the subframe has two cantilever arms, which are arranged in parallel and spaced apart; each cantilever arm is provided with one hinge joint; the main frame has two hinge seats, which correspond to the positions of the two hinge joints respectively.

[0007] In some embodiments of this application, the hinge seat is U-shaped with an upward opening and a groove in its middle; the hinge joint is inserted into the groove and hinged to the two sidewalls of the groove via a hinge shaft; the hinge shaft is fixedly connected to the hinge seat; and the hinge joint is rotatably connected to the hinge shaft.

[0008] In some embodiments of this application, the first end of the hinge shaft is provided with a limiting portion; the limiting portion of the hinge shaft abuts against the outside of the first sidewall of the groove, and the second end of the hinge shaft extends out of the second sidewall of the groove; a shaft end retaining plate is also fixed outside the second sidewall; the second end of the hinge shaft is provided with a limiting groove, which engages with the shaft end retaining plate.

[0009] In some embodiments of this application, a limiting post is also provided on the first base plate; the limiting post is fixed to the side of the hinge seat on the first base plate away from the subframe and extends upward from the first base plate; a limiting rubber pad is fixedly provided on the top of the limiting post; the end of the cantilever and the top of the limiting rubber pad have a vertical gap to limit the relative tilt angle between the main frame and the subframe.

[0010] In some embodiments of this application, the top of the cantilever is used to install a scissor lift mechanism. Each cantilever has a fixed groove at one end and a sliding groove at the other end, which are used to connect with the fixed end and the sliding end of the scissor lift mechanism, respectively.

[0011] In some embodiments of this application, the fixing groove of each cantilever is disposed at the top of the starting end of the cantilever of the subframe; the sliding groove of each cantilever is disposed at the top of the end of the cantilever extending to the front end of the first base plate.

[0012] In some embodiments of this application, a connecting frame is fixedly provided between the two cantilever arms. A first main control component mounting hole is provided in the middle of the connecting frame for installing additional components. The top sides of the connecting frame cover the portion of the drive wheel assembly located on the first base plate. A second main control component mounting hole is provided at the joint between the first base plate and the second base plate, so that the barcode reader camera built into the main control component can scan the ground.

[0013] In some embodiments of this application, each drive wheel is driven to rotate by a drive motor; the first base plate is provided with two drive motor mounting positions located on the first docking end; each drive motor is fixedly mounted on one of the drive motor mounting positions.

[0014] In some embodiments of this application, the front end of the first base plate of the main frame and the rear end of the second base plate of the subframe are respectively provided with caster mounting positions; there is an accommodating space between the caster mounting positions and the ground; casters are symmetrically arranged on the left and right sides in the accommodating space, and the casters extend out of the first base plate or the second base plate and contact the ground.

[0015] In some embodiments of this application, the receiving space is further provided with a caster bridge and a swivel; the casters are respectively fixed to both ends of the caster bridge; two connecting blocks are provided in the middle of the receiving space along the front-back direction; the caster bridge is disposed between the two connecting blocks, and the swivel passes through the middle of the caster bridge, with both ends fixedly connected to the connecting blocks, so that the caster bridge can drive the casters to rotate around the swivel.

[0016] This application also provides a mobile robot, including: a mobile robot chassis and a scissor lift mechanism as described in any of the above embodiments; the scissor lift mechanism is installed on the top of the cantilever and is used to move under the drive of the mobile robot chassis and to lift goods.

[0017] The mobile robot chassis provided in this application embodiment has its articulated joint and drive wheel assembly both mounted on the first base plate of the main frame. The articulated joint is located on the side of the drive wheel assembly away from the subframe. The articulated joint extends from the second base plate of the subframe to the first base plate of the main frame via the cantilever, ensuring that the articulation position of the articulated joint and articulated joint is always located on the main frame. Furthermore, a portion of the weight of the mechanism located on the subframe can be distributed to the main frame via the cantilever. Compared to existing technologies, this application employs an articulated main frame and subframe, with the articulation position always on the main frame. Therefore, it eliminates the need for a spring-pressurization mechanism to increase the load on the drive wheel assembly located on the first base plate of the main frame, thereby increasing the wheel pressure and improving the mobile robot's ability to overcome ground undulations, preventing slippage during high-speed travel.

[0018] Furthermore, based on the aforementioned positions of the hinge base and cantilever, even if the weight of the mechanism arranged above the chassis deviates (i.e., off-center loading), the weight can be transferred to the hinge base via the cantilever. This allows for a wider range of installation points for the upper mechanism, facilitating the expansion of the mounting configuration of the upper mechanism and enabling the chassis to withstand larger off-center loads.

[0019] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0020] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0021] Figure 1 is a three-dimensional structural view of the mobile robot chassis from a first angle according to an embodiment of this application;

[0022] Figure 2 is a two-dimensional structural view of the mobile robot chassis according to an embodiment of this application from a second angle;

[0023] Figure 3 is an exploded view of the mobile robot chassis shown in Figure 1;

[0024] Figure 4 is a three-dimensional structural diagram of the scissor lift mechanism of the mobile robot according to an embodiment of this application;

[0025] Figure 5 is a top view of the mobile robot chassis shown in Figure 1;

[0026] Figure 6 is a first sectional view of the mobile robot chassis shown in Figure 5;

[0027] Figure 7 is a second sectional view of the mobile robot chassis shown in Figure 5.

[0028] Reference numerals: Main frame 100; First base plate 110; First docking end 111; Drive motor mounting position 112; Drive wheel set 120; Drive wheel 121; Drive motor 122; Hinge seat 130; Groove 131; First side wall 1311; Second side wall 1312; First hinge hole 132; Limiting post 140; Limiting pad 141; Hinge shaft 150; Limiting part 151; Limiting groove 152; Axle end clamping plate 160; Subframe 200; Second base plate 210; Second docking end 211; Cantilever 220; Fixing groove 221; Sliding groove 222; Connecting frame 223; First main control component mounting hole 2231; Support column 224; Hinge joint 230; Second hinge hole 231; Bushing 232; Caster mounting position 300; accommodating space 310; connecting block 311; caster 320; caster bridge 330; pivot 340; second main control component mounting hole 400; scissor lift mechanism 500; upper platform 501; scissor assembly 502; first fork arm 5021; second fork arm 5022; fixed end 510; sliding end 520. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0030] As mentioned in the background section, in related technologies, the chassis of mobile robots typically employs a fixed chassis, which mainly includes a frame, drive wheels, and casters. The casters are directly fixed to the frame, while the drive wheels are connected to the frame via a spring-loaded mechanism. The spring force applies positive pressure to the ground, thus providing the drive wheels with a fixed driving force. Because the mobile robot itself is quite heavy and the driving force is fixed, the chassis load capacity is relatively small compared to the vehicle's weight, meaning the drive wheel pressure is low. This results in the mobile robot having poor ability to overcome ground undulations and is prone to slippage at high speeds.

[0031] To improve the wheel pressure of the drive wheels and the ability of the mobile robot to overcome ground undulations, this application provides a mobile robot chassis and a mobile robot. First, the mobile robot chassis provided in this application will be described in detail.

[0032] Referring to Figures 1 to 3, Figure 1 is a three-dimensional structural view of the mobile robot chassis from a first angle according to an embodiment of this application; Figure 2 is a three-dimensional structural view of the mobile robot chassis from a second angle according to an embodiment of this application; and Figure 3 is an exploded view of the mobile robot chassis shown in Figure 1.

[0033] As shown in Figures 1 to 3, the mobile robot chassis includes a main frame 100 and a sub-frame 200 that are hinged together.

[0034] The main frame 100 includes: a first base plate 110, a pair of drive wheel sets 120 and an articulation seat 130; the subframe 200 includes: a second base plate 210, a cantilever 220 and an articulation joint 230.

[0035] A pair of drive wheel sets 120 are mounted on the first mating end 111 where the first base plate 110 and the second base plate 210 meet, and the drive wheel 121 of each drive wheel set 120 extends out of the first base plate 110, so that the drive wheel 121 contacts the ground.

[0036] The articulated seat 130 of the main frame 100 is fixed on the first base plate 110 and is located on the side of the drive wheel assembly 120 away from the subframe 200.

[0037] The starting end of the cantilever 220 of the subframe 200 is fixedly set at the rear end of the second base plate 210 away from the main frame 100; the hinge joint 230 is fixedly set on the cantilever 220; and the hinge joint 230 passes over the drive wheel set 120 with the cantilever 220, so that the hinge joint 230 is hinged to the hinge seat 130, so as to realize the mutual hinge of the main frame 100 and the subframe 200.

[0038] Specifically, a pair of drive wheel sets 120 and a hinge seat 130 are provided on the first base plate 110, and a cantilever 220 is provided on the second base plate 210. This makes the mobile robot chassis have fewer parts, a simpler structure, and lower manufacturing difficulty, thereby reducing the size of the mobile robot chassis and improving its assemblability and maintainability.

[0039] The main frame 100 and the subframe 200 are hinged, so that the change rate of the wheel pressure ratio of the drive wheel 121 does not exceed 3% whether the mobile robot chassis is unloaded or loaded. This gives the mobile robot chassis good grip and stability, ensuring that the mobile robot does not slip when driving at high speed under load conditions.

[0040] Figure 2 shows the mobile robot chassis from a low angle. The main frame 100 and the sub-frame 200 are arranged sequentially along the first direction x, which is the length direction of the mobile robot chassis. For ease of explanation later, the relative position of the main frame 100 is designated as "front" and the relative position of the sub-frame 200 as "rear".

[0041] In this embodiment, the first docking end 111 on the first base plate 110 docks with the second docking end 211 on the second base plate 210. The docking line is offset from the centerline of the long side of the mobile robot chassis and is located in the rear half of the mobile robot chassis. A pair of drive wheel sets 120 are installed on the first docking end 111, located in the middle of the long side of the mobile robot chassis, enabling the drive wheel sets 120 to better support the entire mobile robot chassis and improve the stability of the mobile robot chassis during movement.

[0042] The mobile robot chassis provided in this application embodiment has an articulation seat 130 and a drive wheel assembly 120 both mounted on the first base plate 110 of the main frame 100. The articulation seat 130 is located on the side of the drive wheel assembly 120 away from the sub-frame 200. The articulation joint 230, along with the cantilever 220, spans from the second base plate 210 of the sub-frame 200 to the first base plate 110 of the main frame 100, ensuring that the articulation position of the articulation joint 230 and the articulation seat 130 is always located on the main frame 100. Furthermore, a portion of the weight of the mechanism located on the sub-frame 200 can also be transferred to the main frame 100. The overhang 220 is distributed on the main frame 100. Compared with the prior art, this application adopts the method of hinged connection between the main frame 100 and the sub-frame 200, and the hinge position is always located on the main frame 100. Therefore, there is no need to set up a spring pressure boosting mechanism to increase the load of the drive wheel set 120 located on the first base plate 110 of the main frame 100, thereby increasing the wheel pressure of the drive wheel set 120, improving the ability of the mobile robot to overcome ground undulations, avoiding slippage when driving at high speed, adapting to complex road conditions, and being able to travel at high speed on the ground.

[0043] Furthermore, the mobile robot chassis supports multiple internal mechanisms of the mobile robot, such as a cargo-carrying mechanism, a controller that controls the operation of the cargo-carrying mechanism and drive wheel assembly, and batteries. In related technologies, these multiple mechanisms are distributed and installed on a fixed chassis of the mobile robot. Due to the different weights of each mechanism, the load on the fixed chassis may be uneven.

[0044] Compared to a fixed chassis, the mobile robot chassis provided in this application embodiment, based on the aforementioned positions of the hinge seat 130 and cantilever 220, can transfer the weight of the mechanism arranged above the chassis to the hinge seat 130 even if there is a weight deviation. This allows for a larger span of the distribution and installation points of the upper mechanism, facilitating the expansion of the mounting form of the upper mechanism, and enabling the chassis to withstand larger load-bearing off-center loads.

[0045] In some embodiments of this application, as shown in Figures 2 and 3, each drive wheel 121 is driven to rotate by a drive motor 122.

[0046] The first base plate 110 is provided with two drive motor mounting positions 112, located on the first docking end 111; each drive motor 122 is fixedly mounted on one drive motor mounting position 112.

[0047] According to the embodiments of this application, the drive wheel 121 can drive the first base plate 110 and the second base plate to move under the drive of the drive motor 122.

[0048] Specifically, the articulation seat 130 is positioned close to the drive motor 122. Since the cantilever 220 adds the weight of the upper mechanism it carries to the articulation seat 130, the wheel pressure of the drive wheel 121 close to the articulation seat 130 can be further increased, thereby improving the mobile robot's ability to overcome ground undulations.

[0049] In some embodiments of this application, as shown in Figures 1 and 3, the subframe 200 has two cantilever arms 220, which are arranged in parallel and spaced apart; each cantilever arm 220 is provided with a hinge joint 230; the main frame 100 has two hinge seats 130, which correspond to the positions of the two hinge joints 230 respectively.

[0050] Specifically, two cantilever arms 220 are parallel to the first direction x and are positioned opposite each other on the left and right sides of the subframe 200. The starting end of each cantilever arm 220 is fixedly supported by two vertically arranged support columns 224 to raise the cantilever arm 220 so that it can cross the drive wheel assembly 120. This application does not limit the number and form of the fixed support structure at the starting end of the cantilever arm 220. In addition to the two support columns 224 shown in Figures 1 and 3, it can also be one or more support blocks of other shapes.

[0051] By applying the embodiments of this application, the cantilever 220 is used to mount the picking mechanism of the mobile robot. It is provided with two parallel and spaced cantilever 220s and two hinge seats 130, which can improve the stability of the mobile robot chassis load and the stability of the relative rotation between the main frame 100 and the sub-frame 200 when encountering ground undulations.

[0052] When the mobile robot chassis encounters undulations while traveling on the ground, the main frame 100 and the subframe 200 rotate relative to each other based on the hinge seat 130. Taking the subframe 200 rotating counterclockwise upward relative to the main frame 100 as an example, the cantilever 220 will rotate along with the second base plate 210 of the subframe 200, and its end on the main frame 100 will move clockwise downward.

[0053] In some embodiments of this application, as shown in Figures 1 and 3, the hinge seat 130 is U-shaped with an upward opening, and has a groove 131 in its middle.

[0054] The hinge joint 230 is inserted into the groove 131 and is hinged to the two side walls of the groove 131 via the hinge shaft 150.

[0055] The hinge shaft 150 is fixedly connected to the hinge seat 130; the hinge joint 230 is rotatably connected to the hinge shaft 150.

[0056] Specifically, the opening direction of the groove 131 of the hinge seat 130 is parallel to the first direction x. The hinge joint 230 on the cantilever 220 extends downward and inserts into the groove 131. Both the hinge seat 130 and the hinge joint 230 have hinge holes at the same height. The hinge hole 132 on the hinge seat 130 is the first hinge hole, and the hinge hole 231 on the hinge joint 230 is the second hinge hole. The hinge shaft 150 is inserted into the first hinge hole 132 and the second hinge hole 231 along the second direction y, thereby achieving the hinge connection between the main frame 100 and the subframe 200. Here, the second direction y is the width direction of the mobile robot chassis.

[0057] A bushing 232 is provided in the second hinge hole 231 of the hinge joint 230 to reduce the friction between the hinge shaft 150 and the hinge joint 230. This application does not limit the number of bushings.

[0058] In the embodiments of this application, the hinge shaft 150 is fixedly connected to the hinge seat 130, and the hinge joint 230 is rotatably connected to the hinge shaft 150, so that the main frame 100 and the sub-frame 200 can rotate relative to each other.

[0059] In some embodiments of this application, as shown in Figures 1 and 3, a limiting portion 151 is provided at the first end of the hinge shaft 150.

[0060] The limiting part 151 of the hinge shaft 150 abuts against the outside of the first side wall 1311 of the groove 131, and the other end of the hinge shaft 150 extends out of the second side wall 1312 of the groove 131.

[0061] A shaft end clamping plate 160 is also fixed to the outside of the second side wall 1312; the second end of the hinge shaft 150 is provided with a limit groove 152, which is engaged with the shaft end clamping plate 160.

[0062] Specifically, as shown in Figure 3, in this embodiment, the diameter of the limiting part 151 at the first end of the hinge shaft 150 is larger than that of the first hinge hole 132, so as to achieve one-end limiting at the first side wall 1311; the limiting groove 152 at the second end of the hinge shaft 150 is opened on the circumferential side, the shaft end plate 160 is inserted into the limiting groove 152 and fixedly connected to the second side wall 1312 by screws, so as to achieve one-end limiting at the second side wall 1312.

[0063] By applying the embodiments of this application, the displacement of the hinge shaft 150 along the second direction y is limited by the two ends of the limiting part 151 and the limiting groove 152, so that the hinge shaft 150 is fixed to the hinge seat 130.

[0064] In some embodiments of this application, as shown in Figures 1 and 3, a limit post 140 is also provided on the first base plate 110.

[0065] The limiting post 140 is fixed to the side of the hinge seat 130 on the first base plate 110 away from the subframe 200, and extends upward from the first base plate 110.

[0066] A limiting rubber pad 141 is fixedly installed on the top of the limiting post 140; the end of the cantilever 220 has a vertical gap with the top of the limiting rubber pad 141 to limit the relative tilt angle between the main frame 100 and the subframe 200.

[0067] Specifically, the first base plate 110, the hinge seat 130, and the limiting post 140 of the main frame 100 can be integrated by welding or mold casting, and the three are absolutely fixed to each other without relative displacement.

[0068] The end of the cantilever 220 has a vertical gap with the top of the limiting rubber pad 141, allowing the end of the cantilever 220 to only move vertically within this gap. When the subframe 200 rotates counterclockwise relative to the main frame 100 (i.e., when the cantilever 220 rotates clockwise), the descent height of the end of the cantilever 220 is limited, thus limiting the rotation angle of the subframe 200. When the main frame 100 rotates clockwise relative to the subframe 200 (i.e., when the limiting post 140 rotates clockwise), the upward movement height of the limiting post 140 is limited, thus limiting the rotation angle of the main frame 100.

[0069] When the main frame 100 and the sub-frame 200 rotate relative to each other on undulating ground, the relative rotation angle of the main frame 100 and the sub-frame 200 can be limited by the limiting rubber pad 141 and the limiting block at the end of the cantilever 220, preventing the main frame 100 and the sub-frame 200 from overturning and causing large floating of the mobile robot chassis, thus making the robot move more smoothly.

[0070] In some embodiments of this application, refer to Figures 1, 3, and 4, where Figure 4 is a perspective structural diagram of the scissor lift mechanism of the mobile robot according to an embodiment of this application. As shown in Figures 1, 3, and 4, the top of the cantilever 220 is used to mount the scissor lift mechanism 500. Each cantilever 220 has a fixed groove 221 at one end of its top and a sliding groove 222 at the other end, which are used to connect with the fixed end 510 and the sliding end 520 of the scissor lift mechanism 500, respectively.

[0071] Specifically, as shown in Figures 1 and 3, in this embodiment, the fixing groove 221 of each cantilever 220 is provided at the top of the starting end of the cantilever 220 of the subframe 200; the sliding groove 222 of each cantilever 220 is provided at the top of the end of the cantilever 220 extending to the front end of the first base plate 110.

[0072] In this embodiment, as shown in Figure 4, the scissor lift mechanism 500 is a picking mechanism, including a loading platform 501 and a scissor assembly 502 arranged sequentially from top to bottom. The scissor assembly 502 includes two sets of first fork arms 5021 and second fork arms 5022. Each set of first fork arms 5021 and second fork arms 5022 is hinged. The bottom end of the first fork arm 5021 is the fixed end 510 of the scissor lift mechanism 500, which is rotatably connected to the fixed groove 221 of the cantilever. The bottom end of the second fork arm 5022 is the sliding end 520 of the scissor lift mechanism 500, which is slidably connected to the sliding groove 222 of the cantilever in the horizontal direction.

[0073] The first fork arm 5021 and the second fork arm 5022 rotate relative to each other based on their hinge points, allowing the sliding end 520 of the second fork arm 5022 to slide horizontally within the sliding groove 222 of the cantilever. When the sliding end 520 is located at the end of the sliding groove 222 closest to the fixed groove 221, the scissor lift assembly 502 is in a raised state; when it is located at the end of the sliding groove 222 furthest from the fixed groove 221, the scissor lift assembly 502 is in a lowered state.

[0074] In the embodiments of this application, the sliding end 520 of the scissor lift mechanism 500 slides within the sliding groove 222 of the cantilever 220, causing the center of gravity of the scissor lift mechanism 500 to move back and forth along the first direction x, which also causes the mobile robot chassis to bear an off-center load. However, the articulated seat 130 of this application is located on the first base plate 110 away from the subframe 200, and the cantilever 220 extends from the second base plate 210 to the first base plate 110. Even if the center of gravity of the scissor lift mechanism 500 moves back and forth along the first direction x, causing an off-center load, the weight of the scissor lift mechanism 500 can be supported by the cantilever 220 and then transferred to the main frame 100, thereby enabling the mobile robot chassis to resist a large off-center load.

[0075] In some embodiments of this application, as shown in Figures 1 and 3, a connecting frame 223 is fixedly provided between the two cantilever 220s. The connecting frame 223 has a first main control component mounting hole 2231 in the middle for mounting additional components.

[0076] The top two sides of the connecting frame 223 cover the portion of the drive wheel assembly 120 located on the first base plate 110.

[0077] A second main control component mounting hole 400 is provided at the joint between the first base plate 110 and the second base plate 210, so that the code reading camera built into the main control component can scan the ground.

[0078] Specifically, the connecting frame 223 is used to install the main control component, which has a built-in barcode reader camera. The barcode reader camera can scan the QR code on the ground through the second main control component mounting hole 400 and feed the QR code information back to the mobile robot's controller. The controller controls the movement of the mobile robot chassis and the scissor lift mechanism 500 based on the QR code information. Applying this embodiment, the connecting frame 223 is set between the two cantilever 220s, which allows for the installation of additional components and also protects the drive motor 122. The second main control component mounting hole 400 is directly opened at the joint between the first base plate 110 and the second base plate 210, resulting in a simple mobile robot chassis structure.

[0079] In some embodiments of this application, as shown in Figures 1 to 3, the front end of the first base plate 110 of the main frame 100 and the rear end of the second base plate 210 of the subframe 200 each have a caster mounting position 300; the caster mounting position 300 has a receiving space 310 between it and the ground.

[0080] In the accommodating space 310, casters 320 are symmetrically arranged on the left and right sides. The casters 320 extend out of the first base plate 110 or the second base plate 210 and contact the ground.

[0081] Specifically, the accommodating space 310 is formed by the upward protrusion of the first base plate 110 and the second base plate 210 at the caster mounting position 300. The casters 320 are arranged along the second direction y and are located at the left and right ends of the accommodating space 310.

[0082] In the embodiments of this application, the casters 320 are disposed in the receiving space 310 between the caster mounting position 300 and the ground, partially extending out of the chassis, which can reduce the volume of the mobile robot chassis and improve the utilization rate of the internal space of the mobile robot chassis. When the weight distribution of the mechanism arranged on the chassis is uneven, the casters 320 are symmetrically arranged in the receiving space 310, which can improve the ability of the mobile robot chassis to resist load imbalance.

[0083] In some embodiments of this application, referring to Figures 5 to 7, Figure 5 is a top view of the mobile robot chassis shown in Figure 1; Figure 6 is a first sectional view of the mobile robot chassis shown in Figure 5; and Figure 7 is a second sectional view of the mobile robot chassis shown in Figure 5. As shown in Figures 5 to 7, a caster bridge 330 and a pivot 340 are also provided in the accommodating space 310; casters 320 are respectively fixed to both ends of the caster bridge 330.

[0084] Two connecting blocks 311 are provided in the middle of the accommodating space 310 along the front-to-back direction.

[0085] The caster bridge 330 is positioned between two connecting blocks 311. The pivot 340 passes through the middle of the caster bridge 330 and is fixedly connected to the connecting blocks 311 at both ends, so that the caster bridge 330 can drive the caster 320 to rotate around the pivot 340.

[0086] Specifically, as shown in Figures 5 and 6, the two ends of the rotating shaft 340 extending from the caster bridge 330 are fixed to the two connecting blocks 311 by screws. As shown in Figure 7, the top of the caster bridge 330 is a certain distance from the top of the receiving space 310, so that the caster bridge 330 can drive the caster 320 to rotate.

[0087] In the embodiments of this application, when encountering undulations during travel, the mobile robot chassis can drive the casters 320 to rotate around the pivot 340 via the caster axle 330, thereby improving travel stability. When the weight distribution of the mechanisms arranged on the chassis is uneven, the caster axle 330 can drive the casters 320 to rotate around the pivot 340, thereby further improving the mobile robot chassis's ability to resist load imbalance.

[0088] Finally, the mobile robot provided in the embodiments of this application will be described in detail.

[0089] As shown in Figures 1 and 4, the mobile robot includes the mobile robot chassis and scissor lift mechanism 500 as described in any of the above embodiments; the scissor lift mechanism 500 is mounted on the top of the cantilever 220 and is used to move under the drive of the mobile robot chassis and to lift goods.

[0090] The mobile robot provided in this embodiment has a hinge seat 130 and a drive wheel set 120 on its chassis, both of which are mounted on the first base plate 110 of the main frame 100. The hinge seat 130 is located on the side of the drive wheel set 120 away from the sub-frame 200. The hinge joint 230 is mounted with the cantilever 220 from the second base plate 210 of the sub-frame 200 to the first base plate 110 of the main frame 100. Even if the sliding end 520 of the scissor lift mechanism 500 slides in the sliding groove 222 of the cantilever 220, causing the center of gravity of the scissor lift mechanism 500 to move back and forth along the first direction x, causing the mobile robot chassis to bear an off-center load, this embodiment can also distribute the weight of the scissor lift mechanism 500 on the main frame 100 through the cantilever 220 based on the above-mentioned mounting positions of the hinge seat 130 and the cantilever 220, so that the mobile robot chassis can resist a large off-center load.

[0091] The mobile robot provided in this application includes the mobile robot chassis described in any of the above embodiments, filling the gap in the field of robot technology for mobile robots that are suitable for low load capacity, have high and stable drive wheel pressure, can adapt to complex road conditions, and have high driving speed.

[0092] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A mobile robot chassis, characterized in that, include: The main frame (100) and subframe (200) are articulated together; The main frame (100) includes: a first base plate (110), a pair of drive wheel sets (120) and an articulation seat (130); the subframe (200) includes: a second base plate (210), a cantilever (220) and an articulation joint (230); The pair of drive wheel sets (120) are installed on the first docking end (111) where the first base plate (110) and the second base plate (210) meet, and the drive wheel (121) of each drive wheel set (120) extends out of the first base plate (110) so that the drive wheel (121) contacts the ground; The articulated seat (130) of the main frame (100) is fixed on the first base plate (110) and located on the side of the drive wheel assembly (120) away from the subframe (200); The starting end of the cantilever (220) of the subframe (200) is fixedly set at the rear end of the second base plate (210) away from the main frame (100); the hinge joint (230) is fixedly set on the cantilever (220); and the hinge joint (230) passes over the drive wheel assembly (120) along with the cantilever (220), so that the hinge joint (230) is hinged to the hinge seat (130), so as to realize the mutual hinge of the main frame (100) and the subframe (200).

2. The mobile robot chassis according to claim 1, characterized in that, The subframe (200) has two cantilever arms (220), which are arranged in parallel and spaced apart. Each cantilever arm (220) is provided with a hinge joint (230). The main frame (100) has two hinge seats (130), which correspond to the positions of the two hinge joints (230).

3. The mobile robot chassis according to claim 1 or 2, characterized in that, The hinge seat (130) is U-shaped with the opening facing upward, and has a groove (131) in the middle; The hinge joint (230) is inserted into the groove (131) and is hinged to the two side walls of the groove (131) via the hinge shaft (150); The hinge shaft (150) is fixedly connected to the hinge seat (130); the hinge joint (230) is rotatably connected to the hinge shaft (150).

4. The mobile robot chassis according to claim 3, characterized in that, The first end of the hinge shaft (150) is provided with a limiting part (151); The limiting part (151) of the hinge shaft (150) abuts against the outside of the first sidewall (1311) of the groove (131), and the second end of the hinge shaft (150) extends out of the second sidewall (1312) of the groove (131). A shaft end clamping plate (160) is also fixed to the outside of the second sidewall (1312); The second end of the hinge shaft (150) is provided with a limiting groove (152) and is engaged with the shaft end plate (160).

5. The mobile robot chassis according to claim 1 or 2, characterized in that, The first base plate (110) is also provided with limit posts (140); The limiting post (140) is fixed on the side of the hinge seat (130) away from the subframe (200) on the first base plate (110) and extends upward from the first base plate (110); A limiting rubber pad (141) is fixedly provided on the top of the limiting post (140); The end of the cantilever (220) has a vertical gap with the top of the limiting pad (141) to limit the relative tilt angle between the main frame (100) and the subframe (200).

6. The mobile robot chassis according to claim 2, characterized in that, The top of the cantilever (220) is used to install the scissor lift mechanism (500). Each cantilever (220) has a fixed groove (221) at one end and a sliding groove (222) at the other end, which are used to connect with the fixed end (510) and the sliding end (520) of the scissor lift mechanism (500) respectively.

7. The mobile robot chassis according to claim 6, characterized in that, The fixing groove (221) of each cantilever (220) is provided at the top of the starting end of the cantilever (220) of the subframe (200); the sliding groove (222) of each cantilever (220) is provided at the top of the end of the cantilever (220) extending to the front end of the first base plate (110).

8. The mobile robot chassis according to claim 2, characterized in that, A connecting frame (223) is fixedly provided between the two cantilever arms (220), and a first main control component mounting hole (2231) is provided in the middle of the connecting frame (223) for installing additional components; The top sides of the connecting frame (223) cover the portion of the drive wheel assembly (120) located on the first base plate (110); A second main control component mounting hole (400) is provided at the joint between the first base plate (110) and the second base plate (210), so that the code reading camera built into the main control component can scan the ground.

9. The mobile robot chassis according to claim 1, characterized in that, Each of the drive wheels (121) is driven to rotate by a drive motor (122); The first base plate (110) is provided with two drive motor mounting positions (112) located on the first docking end (111); each drive motor (122) is fixedly mounted on one of the drive motor mounting positions (112).

10. The mobile robot chassis according to claim 1, characterized in that, The front end of the first base plate (110) of the main frame (100) and the rear end of the second base plate (210) of the subframe (200) are respectively provided with caster mounting positions (300); the caster mounting positions (300) have a receiving space (310) between them and the ground; In the accommodating space (310), casters (320) are symmetrically arranged on the left and right sides. The casters (320) extend out of the first base plate (110) or the second base plate (210) and contact the ground.

11. The mobile robot chassis according to claim 10, characterized in that, The accommodating space (310) is also provided with a caster bridge (330) and a pivot (340); the casters (320) are respectively fixed to both ends of the caster bridge (330); Two connecting blocks (311) are provided in the middle of the accommodating space (310) along the front-back direction; The caster bridge (330) is positioned between two connecting blocks (311), and the pivot (340) passes through the middle of the caster bridge (330), with both ends fixedly connected to the connecting blocks (311), so that the caster bridge (330) can drive the caster (320) to rotate around the pivot (340).

12. A mobile robot, characterized in that, include: The mobile robot chassis and scissor lift mechanism (500) according to any one of claims 1 to 11; the scissor lift mechanism (500) is mounted on the top of the cantilever (220) for moving under the drive of the mobile robot chassis and for lifting goods.

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