Robot and chassis thereof

Abstract

The present disclosure provides a robot and a chassis thereof. The chassis of the robot comprises a load-bearing portion, a peripheral structure, and one or more support portions. The load-bearing portion is a topology-optimized structure. The support portion is arranged on the load-bearing portion, and the support portion is configured to support and / or connect an object to be carried. The peripheral structure is arranged on the side of the load-bearing portion and is connected to the load-bearing portion. The robot and the chassis thereof can achieve a better lightweight effect while ensuring the reliability of mechanical performance.

Description

Robot and its chassis

[0001] This application claims priority to Chinese Patent Application No. 202411859328.9, filed on December 13, 2024, and Chinese Patent Application No. 202423113777.7, filed on December 13, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of robot chassis technology, and particularly to a robot and a robot chassis. Background Technology

[0003] With the rapid development of the logistics automation industry, various types of robots used for cargo handling have been widely adopted. Furthermore, as the industry's development level continues to improve, higher load and higher efficiency requirements are being placed on robots, urgently necessitating improvements in their output energy efficiency to enhance product competitiveness. The load-to-weight ratio is one of the key indicators for measuring robot output energy efficiency. Under the same load conditions, a lighter weight not only improves the robot's dynamic performance but also, for mobile robots using batteries as their sole power source, increases endurance, resulting in greater economic benefits. The robot's chassis is a crucial component, accounting for approximately 10% to 20% of its weight, and even exceeding 30% for some heavy-duty mobile robots. Summary of the Invention

[0004] One objective of this disclosure is to provide a robot chassis that achieves better lightweighting while ensuring reliable mechanical performance.

[0005] To solve the above-mentioned technical problems, the present disclosure adopts the following technical solution:

[0006] One aspect of this disclosure provides a chassis for a robot, the chassis including a load-bearing part, a peripheral structure and one or more support parts, the load-bearing part being a topology-optimized structure, the support parts being disposed on the load-bearing part and configured to support and / or connect to the object to be carried, and the peripheral structure being disposed on the side of the load-bearing part and connected to the load-bearing part.

[0007] Another aspect of the technical solution disclosed herein provides a robot, comprising: a chassis of the robot, the chassis including a load-bearing part, a peripheral structure and one or more support parts, the load-bearing part having a topology-optimized structure, the support parts disposed on the load-bearing part and configured to support and / or connect to an object to be carried, the peripheral structure being disposed on the side of the load-bearing part and connected to the load-bearing part; one or more objects to be carried, the corresponding support parts on the chassis supporting and / or connecting the objects to be carried.

[0008] The robot chassis disclosed herein includes a load-bearing section, an outer structure, and one or more support sections. One or more support sections are provided on the load-bearing section. The load-bearing section serves as the main component of the chassis for heavy-duty operation. The support sections support and / or connect to the load-bearing object, enabling the load-bearing section to bear the load. The load-bearing section undergoes topology optimization design, making it a topology-optimized structure. Compared to a chassis with an integrated topology-optimized structure, this design achieves better lightweight optimization while ensuring mechanical performance reliability. Since the outer structure does not require heavy-duty operation, it allows for more flexible selection of structure, shape, and / or materials, making it easier to ensure the overall lightweighting of the chassis. This allows for meeting the installation requirements of the chassis's electrical components at a lower cost, while also considering dustproofing, waterproofing, and aesthetic requirements.

[0009] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0010] The above and other objects, features and advantages of this disclosure will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0011] Figure 1 is a three-dimensional structural diagram of the robot portion structure in some embodiments of this disclosure.

[0012] Figure 2 is a three-dimensional structural diagram of the robot portion structure from another perspective in some embodiments of this disclosure.

[0013] Figure 3 is a schematic diagram of the robot shown in Figure 2 after the outer structure has been removed.

[0014] Figure 4 is a three-dimensional structural diagram of the robot chassis in some embodiments of this disclosure.

[0015] Figure 5 is a three-dimensional structural diagram of the robot chassis in Figure 4 after removing the plate-like covering parts.

[0016] Figure 6 is a three-dimensional structural diagram of the load-bearing part of the robot's chassis in Figure 4.

[0017] Figure 7 is a schematic diagram of the original chassis structure in some embodiments of this disclosure.

[0018] Figure 8 is a schematic diagram of mechanical analysis based on the original chassis model shown in Figure 7 in some embodiments of this disclosure.

[0019] Figure 9 is a first chassis topology diagram in some embodiments of this disclosure when the volume fraction constraint is 70%.

[0020] Figure 10 is a first chassis topology diagram in some embodiments of this disclosure when the volume fraction constraint is 50%.

[0021] Figure 11 is a schematic diagram of the structure of the first new chassis in some embodiments of this disclosure.

[0022] Figure 12 is a schematic diagram of a three-dimensional model of the first topology-optimized chassis structure in some embodiments of this disclosure.

[0023] Figure 13 is a schematic diagram of the three-dimensional model of the first topology-optimized chassis structure and frame structure assembly.

[0024] Figure 14 is a schematic diagram of the three-dimensional model of the first topology-optimized chassis structure and plate-type covering parts assembly.

[0025] Figure 15 shows the second chassis topology when the volume fraction constraints are 80% (A), 60% (B), and 40% (C).

[0026] Figure 16 is a rear view of a three-dimensional model of the chassis of a robot according to one embodiment of the present disclosure.

[0027] Figure 17 is a schematic diagram of the rear structure of the robot chassis in one embodiment of this disclosure.

[0028] Figure 18 is a front view of a three-dimensional model of the robot chassis in one embodiment of the present disclosure.

[0029] Figure 19 is a front structural diagram of the chassis of a robot in one embodiment of the present disclosure.

[0030] Figure 20 is a flowchart of a method for lightweighting the chassis of a robot according to some embodiments of this disclosure. Detailed Implementation

[0031] Although this disclosure can be readily embodied in various forms of implementation, only some specific embodiments are shown in the accompanying drawings and will be described in detail in this specification. It is also understood that this specification should be regarded as an exemplary illustration of the principles of this disclosure and is not intended to limit this disclosure to what is described herein.

[0032] Therefore, a feature described in this specification is intended to illustrate one feature of one embodiment of this disclosure, and not to imply that every embodiment of this disclosure must have the described feature. Furthermore, it should be noted that this specification describes many features. While certain features may be combined to illustrate possible system designs, these features may also be used in other combinations not explicitly described. Therefore, unless otherwise stated, the described combinations are not intended to be limiting.

[0033] In the embodiments shown in the accompanying drawings, the directional indications (such as up and down) used to explain the structure and movement of the various elements of this disclosure are relative rather than absolute. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the positions of these elements changes, these directional indications also change accordingly.

[0034] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the description of this disclosure will be more complete and fully convey the concept of the exemplary embodiments to those skilled in the art. The drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0035] Some embodiments of this disclosure provide a robot 600. As shown in Figures 1, 2, and 3, the robot 600 may include a chassis 10 and an object 500 disposed on the chassis 10. The object 500 may include, for example, a lifting mechanism 20 disposed on the chassis 10, configured to carry a pallet or an item to be transported, and drive the pallet or the item to be transported to rise and fall; and / or, the object 500 may include, for example, a suspension mechanism, specifically, a left suspension mechanism 52, a right suspension mechanism 51, and a front suspension mechanism 53, etc. The suspension mechanism may be configured to suspend components such as casters, and may specifically employ a linkage mechanism, etc.

[0036] For Robot 600, lightweight design has received increasing attention due to factors such as load-to-weight ratio and endurance. The chassis 10 of Robot 600, which typically accounts for a large proportion of the robot's weight, is one of the primary targets for lightweight design. As one of the main heavy-duty components of Robot 600, the chassis 10 is characterized by its large size and complex stress distribution, which places higher demands on its lightweight design.

[0037] As can be understood from Figures 4, 5 and 6, the chassis 10 of the robot 600 in some embodiments of this disclosure includes a load-bearing part 100, an outer structure 200 (see the first outer part 210 and the second outer part 220 for details) and one or more support parts 300. The load-bearing part 100 is a topology-optimized structure. The support parts 300 are disposed on the load-bearing part 100 and are configured to support and / or connect the object to be carried 500. The outer structure 200 is disposed on the side of the load-bearing part 100 and connected to the load-bearing part 100.

[0038] The chassis 10 of the robot 600 in some embodiments of this disclosure is differentiated based on heavy-load conditions, such that the chassis 10 generally comprises two main parts: an outer structure 200 and a load-bearing part 100 with one or more support parts 300. In some embodiments, the load-bearing part 100 is used as the main component of the chassis 10 to achieve heavy loads. The load-bearing part 100, which mainly achieves heavy loads, is topology optimized, making it a topology-optimized structure. Compared with the traditional integrated topology-optimized structure of the chassis 10, the topology optimization design of the load-bearing part 100 is not affected by the outer structure 200, and it is easier to achieve a refined topology optimization design for the load-bearing part 100. In this way, while ensuring the reliability of the mechanical performance of the chassis 10, a smaller volume and lighter weight of the load-bearing part 100 can be achieved, thereby achieving a better lightweight optimization effect of the chassis 10. Since the outer structure 200 does not need to be heavily loaded, more flexible choices of structure, shape and / or material can be made, making it easier to ensure the overall lightweight of the chassis 10. This allows the installation requirements of the electrical components of the chassis 10 to be met at a lower cost, while also taking into account dustproof, waterproof and appearance requirements.

[0039] Referring to Figures 16 and 17, in some embodiments, the load-bearing portion 100 includes a base 110 and reinforcing ribs 120. In some embodiments, the reinforcing ribs 120 are distributed on one side of the base 110, and one or more support portions 300 are distributed on the side of the base 110 opposite to the reinforcing ribs 120. In some embodiments, the peripheral structure 200 is disposed on the side of the base 110 and connected to the base 110. In some embodiments, the reinforcing ribs 120 may be structures formed by topology optimization design of the base 110 of the load-bearing portion 100, thereby improving the strength of the base 110 of the load-bearing portion 100 while also meeting the lightweight design requirements of the base 110 of the load-bearing portion 100.

[0040] In some embodiments, as shown in FIGS. 16 and 17, the reinforcing rib 120 can be in the shape of "*" and / or "yao" and / or "cross". In some embodiments, due to the matrix 110 of the load-bearing part 100 after progressive topology optimization being thinner than the original chassis 10, using the reinforcing rib 120 in the shape of "*" and / or "yao" and / or "cross" for reinforcement can have better bending ability.

[0041] In some embodiments, as shown in FIG. 6, the matrix 110 includes a first main body 111, a second main body 112, and a connecting body 113. The connecting body 113 is located between the first main body 111 and the second main body 112 and is connected to the first main body 111 and the second main body 112. In some embodiments, the first main body 111, the second main body 112, and the connecting body 113 enclose two grooves 130, and the two grooves 130 are distributed on opposite sides of the connecting body 113. In some embodiments, the first main body 111 and the second main body 112 can be set to a structure similar to a rectangle as shown in FIG. 6, and the connecting body 113 is also set to a structure similar to a rectangle as shown in FIG. 6. The width of the connecting body 113 is narrower than the widths of the first main body 111 and the second main body 112. Therefore, the parts of the first main body 111 wider than the connecting body 113, the parts of the second main body 112 wider than the connecting body 113, and the connecting body 113 together enclose the groove 130. Correspondingly, by connecting the connecting body 113 to the middle positions of the first main body 111 and the second main body 112, grooves 130 are formed on both sides of the connecting body 113. Combining with FIG. 3, it can be understood that in some embodiments, the groove 130 can be configured to accommodate the driving wheel 30 of the robot 600. Combining the shape of the matrix 110 and the position of the driving wheel 30 defined by the groove 130 can make the movement of the chassis 10 more stable.

[0042] Of course, it can be understood that in some embodiments, the shapes of the first main body 111, the second main body 112, and the connecting body 113 are not limited to the rectangle shown in FIG. 6. In some other embodiments, the shapes of the first main body 111, the second main body 112, and the connecting body 113 can be changed accordingly according to requirements. For example, they can be designed into trapezoids, wedges, semi-circles, etc., and will not be enumerated here.

[0043] As shown in FIG. 6, in some embodiments, a protrusion 114 is provided on the side of the second main body 112 facing away from the first main body 111. Reinforcing ribs 120 are distributed on one side of the first main body 111, the second main body 112, the connecting body 113, and the protrusion 114 to achieve overall strengthening of the matrix 110 and further optimize the weight and volume of the matrix 110. In some embodiments, a support portion 300 is provided on at least one of the first main body 111, the second main body 112, and the protrusion 114 to correspondingly meet the load-bearing requirements of different positions of the load-bearing part 100.

[0044] In some embodiments, as shown in FIG6, a support portion 300 is provided on the first body 111. The support portion 300 on the first body 111 includes a first support portion 310 configured to support and / or connect to the left suspension mechanism 52, a second support portion 320 configured to support and / or connect to the right suspension mechanism 51, a third support portion 330 configured to support and / or connect to the left rear portion of the lifting mechanism 20, and a fourth support portion 340 configured to support and / or connect to the right rear portion of the lifting mechanism 20.

[0045] In some embodiments, the second body 112 is provided with a support portion 300, which includes a fifth support portion 350 configured to support and / or connect to the left guide seat of the lifting mechanism 20, a sixth support portion 360 configured to support and / or connect to the right guide seat of the lifting mechanism 20, a seventh support portion 370 configured to support and / or connect to the left front portion of the lifting mechanism 20, and an eighth support portion 380 configured to support and / or connect to the right front portion of the lifting mechanism 20. In some embodiments, the third support portion 330 and the seventh support portion 370 are disposed opposite to each other and spaced apart by a groove 130, the fourth support portion 340 and the eighth support portion 380 are disposed opposite to each other and spaced apart by a groove 130, and the fifth support portion 350 and the sixth support portion 360 are located between the seventh support portion 370 and the eighth support portion 380.

[0046] In some embodiments, the protrusion 114 is provided with a support portion 300, the support portion 300 on the protrusion 114 including a ninth support portion 390 configured to support and / or connect the front suspension mechanism 53.

[0047] In some embodiments, as can be understood in conjunction with Figures 1 and 6, the left suspension mechanism 52 and the right suspension mechanism 51 can be disposed on the first body 111, which facilitates the relative fixation and symmetrical arrangement of the left suspension mechanism 52 and the right suspension mechanism 51, thereby facilitating the stability of the chassis 10. In some embodiments, the right rear part and the left rear part of the lifting mechanism 20 can be supported on the first body 111, and the right front part and the left front part of the lifting mechanism 20 can be supported on the second body 112. In some embodiments, the front right portion and the rear right portion of the lifting mechanism 20 face each other across the groove 130, and the front left portion and the rear left portion of the lifting mechanism 20 face each other across the groove 130. For the lightweight load-bearing part 100, by making the lifting mechanism 20 span across the first body 111, the second body 112, and the connecting body 113, and covering the load-bearing part 100 as much as possible, it is beneficial to distribute the weight of the lifting mechanism 20 and the object it lifts more evenly on the chassis 10. In this way, the lifting mechanism 20 is more stable when lifting goods, and the chassis 10 is less likely to tip over. In some embodiments, the left and right guide seats of the lifting mechanism 20 are located on the second body 112, which facilitates the relative fixation and symmetrical layout of the left and right guide seats of the lifting mechanism 20, thereby facilitating the stability of the lifting mechanism 20. In some embodiments, a front suspension mechanism 53 may be provided on the protrusion 114, thereby achieving a compact layout of each suspension mechanism on the load-bearing part 100, while also meeting the lightweight design requirements of the load-bearing part 100.

[0048] In some embodiments, each support 300 may be configured as a hinged fulcrum or as a slot, thereby facilitating the rapid assembly of each load-bearing object 500 onto the load-bearing part 100.

[0049] As can be understood from Figures 1, 2, 3 and 4, in some embodiments, the second body 112 is provided with a mounting surface 1141 at one end near the protrusion 114. The mounting surface 1141 is located on the side of the second body 112 opposite to the reinforcing rib 120. The lifting mechanism 20 has a motor 60, and the motor 60 of the lifting mechanism 20 is disposed on the mounting surface 1141.

[0050] As shown in FIG4, in some embodiments, the peripheral structure 200 includes a first peripheral portion 210 connected to the first body 111 and a second peripheral portion 220 connected to the second body 112. A gap 230 is formed between the first peripheral portion 210 and the second peripheral portion 220, and the gap 230 between the first peripheral portion 210 and the second peripheral portion 220 corresponds to the groove 130. In some embodiments, the gap 230 between the first peripheral portion 210 and the second peripheral portion 220 and the groove 130 can communicate to jointly serve as a space for accommodating the drive wheel 30, thereby making the chassis 10 more compact overall.

[0051] As shown in Figure 4, in some embodiments, the chassis 10 of the robot 600 further includes a cover 400. One end of the cover 400 is connected to the first peripheral portion 210, and the other end is connected to the second peripheral portion 220. The cover 400 has an opening at one end, corresponding to the interval 230 between the first peripheral portion 210 and the second peripheral portion 220. The cover 400 can protect the drive wheel 30 from foreign objects getting stuck and also acts as a mudguard. In addition, in some embodiments, the cover 400 connects the first peripheral portion 210 and the second peripheral portion 220, making the overall peripheral structure 200 more reliable and enabling the cover 400 to serve multiple purposes without the need for additional parts specifically configured to connect the first peripheral portion 210 and the second peripheral portion 220, which is beneficial to the overall lightweighting of the chassis 10.

[0052] In some embodiments, the peripheral structure 200 includes at least one of a frame structure 201 and a plate-like cover 202. This allows the frame structure 201 and the plate-like cover 202 to meet the installation requirements of the original chassis 10's electrical components with lower quality and cost, while also addressing requirements for dustproofing, waterproofing, and aesthetics.

[0053] Referring to Figures 13, 14, and 16, in some embodiments, both the first peripheral portion 210 and the second peripheral portion 220 may include a frame structure 201 and a plate-like cover 202. In some embodiments, the frame structure 201 of the first peripheral portion 210 is connected to the rear end of the first main body 111, and the plate-like cover 202 of the first peripheral portion 210 covers the frame structure 201 of the first peripheral portion 210. In some embodiments, the frame structure 201 of the second peripheral portion 220 is connected to the left and right sides of the second main body 112 and the protrusion 114, and the plate-like cover 202 of the second peripheral portion 220 covers the frame structures 201 on both sides of the second main body 112 and the protrusion 114, respectively.

[0054] In some embodiments, the frame structure 201 may use standard aluminum alloys and steel pipes (such as 20×20 European standard aluminum profiles). In some embodiments, the frame structure 201 and the load-bearing part 100 may be integrally cast to achieve a one-piece connection, or, if the frame structure 201 and the load-bearing part 100 are separate components, the frame structure 201 and the load-bearing part 100 may be connected and fixed by means of welding, screw connection, riveting or snap-fitting.

[0055] In some embodiments, the plate-like cover 202 can be obtained by laser cutting and welding or bending of a thin metal sheet (such as Q235 or stainless steel). The plate-like cover 202 and the load-bearing part 100 can be integrally cast to achieve a one-piece connection, or, if the plate-like cover 202 and the load-bearing part 100 are separate components, the plate-like cover 202 and the load-bearing part 100 can be connected and fixed by welding, screw connection, riveting or snap-fitting.

[0056] In some embodiments, the load-bearing part 100 is a topology-optimized structure obtained by performing topology optimization processes two or more times. In some embodiments, by performing progressive topology optimization on the load-bearing part 100 two or more times, the mechanical properties of the load-bearing part 100 can be improved to ensure that the load-bearing part 100 meets the load-bearing requirements, while also significantly reducing the weight of the load-bearing part 100.

[0057] For example, performing more than two topology optimization processes includes the following steps:

[0058] S1: Perform mechanical analysis on the original chassis 1a, and define loads based on the mechanical analysis results of the original chassis 1a;

[0059] S2: Perform topology optimization on the original chassis 1a to obtain the first topology-optimized chassis structure 3a;

[0060] S3: Perform mechanical analysis on the first topology-optimized chassis structure 3a, and define loads based on the mechanical analysis results of the first topology-optimized chassis structure 3a;

[0061] S4; Perform topology optimization on the first topology-optimized chassis structure 3a to obtain the second topology-optimized chassis structure, wherein the load-bearing part 100 is obtained based on the second topology-optimized chassis structure.

[0062] It should be noted that, for the sake of easy distinction in describing the chassis, the chassis before the topology optimization process described above is referred to as the original chassis 1a, and the chassis 10 obtained after the topology optimization process described above is referred to as the chassis 10 of the robot 600.

[0063] Based on the above method steps, the load-bearing part 100 undergoes at least two progressive topology optimization processes. Compared with the traditional chassis that is directly applied after backfilling following a single topology optimization (i.e., a chassis optimized as a whole), it has a more significant lightweight effect and more reliable chassis mechanical performance.

[0064] In some embodiments, a mechanical analysis is performed on the original chassis 1a based on step S1, and loads are defined based on the mechanical analysis results of the original chassis 1a. In step S2, a first topology optimization is performed on the original chassis 1a. This first topology optimization result may have macroscopic characteristics, which can greatly improve the mechanical performance of the first topology-optimized chassis structure 3a, ensuring that the load-bearing capacity of the first topology-optimized chassis structure 3a meets the requirements of actual working conditions. Simultaneously, it achieves a certain degree of weight reduction for the first topology-optimized chassis structure 3a compared to the original chassis 1a.

[0065] In some embodiments, a mechanical analysis is performed on the first topology-optimized chassis structure 3a based on step S3. Loads are defined based on the mechanical analysis results of the first topology-optimized chassis structure 3a, and a second topology optimization is performed on the first topology-optimized chassis structure 3a in step S4. In some embodiments, the second topology optimization result may have microscopic characteristics compared to the first topology optimization result. While ensuring the mechanical performance of the second topology-optimized chassis structure to further guarantee that the load-bearing capacity of the second topology-optimized chassis structure meets the actual working conditions, it can more significantly achieve the lightweighting of the second topology-optimized chassis structure, that is, to a greater extent, achieve a weight reduction of the second topology-optimized chassis structure compared to the original chassis 1a. In some embodiments, the load-bearing part 100 is obtained based on the second topology-optimized chassis structure. For example, the second topology-optimized chassis structure can be used as the load-bearing part 100, or the load-bearing part 100 can be obtained by fine-tuning the second topology-optimized chassis structure as a model, or the load-bearing part 100 can be obtained by further topology optimization based on the second topology-optimized chassis structure, etc. Correspondingly, the topology optimization of the load-bearing part 100 was refined, and the weight reduction of the load-bearing part 100 was more significantly achieved, which means that the load-bearing part 100 can be significantly reduced in weight compared to the original chassis 1a.

[0066] Based on the above method steps, the chassis 10 of the robot 600 undergoes more than two progressive topology optimizations (such as the first topology optimization of the original chassis 1a and the second topology optimization of the first topology-optimized structure). Compared with the traditional chassis 10 that is directly applied after backfilling following a single topology optimization, the micro-topological characteristics based on the two-stage progressive topology optimization allow for the removal of more chassis material while ensuring the mechanical performance of the chassis, and greatly reduce the material backfill requirements. This results in a lighter and more applicable chassis 10 structure, thus achieving a more significant weight reduction effect.

[0067] For a further detailed example, please refer to Figure 20, which shows a flowchart of a lightweighting method for the chassis 10 of a robot 600 according to a specific embodiment of this disclosure. This flowchart details the steps of the above method. Based on this flowchart, it can be understood that this lightweighting method is applicable to the chassis 10 of the robot 600, mainly achieving the acquisition of the chassis 10 of the robot 600 through a secondary progressive topology optimization based on the original chassis 1a.

[0068] In some embodiments, robot 600 is exemplified by a logistics automation robot, which may specifically be a stealthy mobile robot. The following sections will provide detailed examples of the application of lightweighting methods on the chassis 10 of a stealthy mobile robot. It is understood that the application scenarios of the lightweighting methods disclosed herein are not limited to the chassis 10 of the stealthy mobile robot listed, or even to the chassis 10 of the logistics automation robot.

[0069] It is understandable that, in some embodiments, stealth mobile robots, due to their flat, small size and high load capacity, are widely used for flexible transport of typical loads such as industrial shelves and pallets. Furthermore, stealth mobile robots have strict requirements on size; within the limited space of the chassis 10, a reasonable layout of the lifting mechanism 20, drive wheels 30, casters, and various electronic control components (such as batteries, controllers, and LiDAR) is required. The chassis 10 must also be as lightweight as possible to improve battery utilization efficiency, thereby enhancing the robot 600's endurance.

[0070] As can be understood from Figure 1, Figure 1 shows part of the structure of robot 600.

[0071] In some embodiments, the robot 600 may include a chassis 10 and a lifting mechanism 20 connected to the chassis 10, drive wheels 30 disposed on the left and right sides of the chassis 10, casters disposed on the left and right front sides of the chassis 10 via a front suspension mechanism 53, casters disposed on the left rear side of the chassis 10 via a left suspension mechanism 52, casters disposed on the right rear side of the chassis 10 via a right suspension mechanism 51, and a load tray, etc. The load tray may be disposed above the lifting mechanism 20, and the load tray can move up and down under the drive of the lifting mechanism 20.

[0072] In some embodiments, the lifting mechanism 20 may specifically adopt a series four-bar linkage configuration, with up to seven connection points between the lifting mechanism 20 and the chassis, resulting in a highly complex stress distribution on the chassis. In some embodiments, the robot 600 operates under various working conditions, correspondingly causing significant variations in the stress on the chassis under different conditions. Furthermore, the chassis design needs to consider issues such as sealing, heat dissipation, and support for various electronic control components, ensuring overall integrity. Therefore, it is common practice in the field to treat the chassis as a single casting, for example, by integrally molding the chassis using sand casting or die casting processes. Please refer to Figure 7, which shows the structure of the original chassis 1a in one embodiment of this disclosure. In some embodiments, the original chassis 1a may be a single casting. Due to the aforementioned factors, the second topology optimization of this lightweighting method is particularly important. In some embodiments, for an integral casting, the effect of the first topology optimization process on improving the mechanical properties of the first topology-optimized chassis structure 3a is significantly greater than the weight reduction effect of the first topology-optimized chassis structure 3a. The second topology optimization process can make the weight reduction effect of the second topology-optimized chassis structure more obvious while ensuring the mechanical properties and reliability of the second topology-optimized chassis structure.

[0073] In some embodiments, given the numerous working conditions of the stealth mobile robot and the highly complex stress on its chassis, in step S1, a mechanical analysis is performed on the original chassis 1a, and loads are defined based on the results of this analysis. Specifically, this may include:

[0074] Step S11: Extract the forces or moments of the original chassis 1a under multiple typical working conditions, weight the forces or moments of the original chassis 1a under multiple typical working conditions, and define loads for the original chassis 1a based on the weighted forces or moments.

[0075] In some embodiments, the forces or moments of the original chassis 1a under multiple typical working conditions are extracted, and loads are defined for the original chassis 1a based on weighted forces or moments. Thus, when improving the mechanical performance of the first topology-optimized chassis structure 3a based on topology optimization, the load-bearing requirements of the original chassis 1a under different typical working conditions can be taken into account. This results in a better improvement in the mechanical performance of the first topology-optimized chassis structure 3a, better ensuring that the load-bearing capacity of the first topology-optimized chassis structure 3a obtained from the topology optimization of the original chassis 1a meets the actual working condition requirements, and also making the first topology optimization iteration highly efficient.

[0076] In some embodiments, the typical working conditions can be selected from among the various working conditions of the robot 600 that have a significant impact on the impact resistance and fatigue life characteristics of the original chassis 1a. In some embodiments, the typical working conditions may include: robot 600 fully loaded lifting and robot 600 fully loaded obstacle crossing (crossing ditches and ridges), etc. The following will illustrate the fully loaded lifting condition as an example:

[0077] In some embodiments, the lifting mechanism 20 has approximately seven connection points with the original chassis 1a. When the lifting mechanism 20 is lifted to 60mm, the stress situation at the connection points (seven in total) between the lifting mechanism 20 and the original chassis 1a is analyzed.

[0078] Please refer to Figure 8, which shows a schematic diagram of the mechanical analysis based on the original chassis 1a shown in Figure 7.

[0079] In some embodiments, when the lifting mechanism 20 is lifted to 60mm, based on the force analysis at the connection between the lifting mechanism 20 and the original chassis 1a, the position and direction of the force shown in Figure 8 can be roughly referred to, and the force / torque at each hinge point of the original chassis 1a under full load when lifted to 60mm is obtained as shown in the following table:

[0080] Summary table of forces (F) and torques (M) at each of the 10 hinge points of the chassis when lifted 60mm under full load

[0081] Unit: N / Nm

[0082] Similar to the multibody dynamics analysis of the typical working conditions at the above stress points, three typical positions during the lifting process can be further selected and added to the typical working conditions, for example: 1. Lifting to position 20mm (corresponding to the position where the load is just contacted); 2. Lifting to position 40mm (corresponding to the middle position between the position where the load is just contacted and the top position); 3. Lifting to position 60mm (corresponding to the top position); and / or selecting four typical positions during the obstacle crossing process as typical working conditions; or, in other embodiments, other working conditions besides those listed above can also be included based on commonly used working scenarios, which will not be listed exhaustively here.

[0083] In some embodiments, the drive wheel 30 and the support portion 300 of the omnidirectional wheel are used as reference displacement constraints. After dynamic analysis of each typical working condition based on d'Alembert's principle, the results are transformed into static analysis boundary conditions of the original chassis 1a. The force and torque values ​​under each typical working condition are obtained. The obtained force and torque values ​​under the typical working conditions are weighted and processed to form the comprehensive working condition for the first topology optimization. This comprehensive working condition is used as the external input for the first topology optimization and is configured as the load defined by the original chassis 1a.

[0084] In some embodiments, the forces or moments of the original chassis 1a under multiple typical working conditions are weighted. In some embodiments, the weighting coefficients corresponding to each typical working condition may be determined according to the degree of influence of the corresponding typical working condition on the impact resistance and fatigue life characteristics of the original chassis 1a, and are not specifically limited here.

[0085] In some embodiments, step S2 specifically includes:

[0086] Step S21: With minimum compliance as the objective and volume fraction as the constraint, perform topology optimization on the original chassis 1a based on the variable density method to obtain the first chassis topology map;

[0087] Step S22: Based on the first chassis topology diagram, refine the design to obtain the first topology optimized chassis structure 3a.

[0088] In some embodiments, based on the variable density method, with minimum compliance as the objective and volume fraction as the constraint, topology optimization of the original chassis 1a can be performed to obtain the optimal material layout under given load and boundary conditions. The optimization iteration is more efficient and accurate, and the optimal layout is based on the first chassis topology map as the optimization result. Based on the first chassis topology map, the first topology-optimized chassis structure 3a can be obtained by refining the design through stiffening or hole drilling, thereby obtaining a first topology-optimized chassis structure 3a that meets mechanical performance requirements and has a lightweight effect.

[0089] In some embodiments, when performing topology optimization on the original chassis 1a based on the variable density method, the mathematical model for topology optimization can be selected as the topology optimization model of the variable density method. Specifically, the mathematical model for topology optimization can be as follows: x = (x1, x1, x1, ..., x n ) T ∈R; 0 <x min ≤x i ≤x max ≤1, i=1,2,...,n;

[0090] Where C is the structural flexibility; F is the load vector; U is the displacement vector; K is the structural stiffness matrix; u i k is the element displacement vector; i The interpolated element stiffness is p; the penalty factor is k. o v represents the initial element stiffness. i V is the unit volume; f is the optimized volume; v0 is the retained volume fraction; x is the initial volume. min The lower limit of the design variable's value; x max is the upper limit of the design variable's value; n is the number of units within the subdomain.

[0091] In some embodiments, based on this mathematical model, by inputting minimum compliance target constraints and volume fraction constraints, the optimal layout of the material under given load and boundary conditions can be obtained, thereby achieving the goal of weight reduction of the optimization result while ensuring the mechanical properties of the optimization result, and having the advantage of iterative efficiency.

[0092] In some embodiments, after step S2, the lightweighting method further includes: performing stress verification on the first topology-optimized chassis structure 3a, and determining whether to adjust the volume fraction constraint when optimizing the original chassis 1a based on the stress verification result.

[0093] In some embodiments, if the volume fraction constraint is set too small, the amount of material removed in the first topology optimization result may be relatively large, potentially leading to a failed stress verification. In this case, based on the conclusion that the stress verification result failed, the volume fraction constraint can be appropriately increased to redo the first topology optimization. Conversely, if the volume fraction constraint is set too large, the amount of material removed in the first topology optimization result may be relatively small, potentially leading to a large load-bearing margin in the stress verification result. In this case, based on the conclusion that the stress verification result has a large load-bearing margin, the volume fraction constraint can be appropriately decreased to redo the first topology optimization. This process explores and obtains the optimal volume fraction constraint that conforms to the stress verification result, thereby achieving a better weight reduction effect.

[0094] In some embodiments, based on different volume fraction constraints, a first topology-optimized chassis structure 3a with different volume fractions can be obtained through topology optimization iterations. In some embodiments, examples are given with volume fraction constraints of 70% and 50%.

[0095] Please refer to Figure 9, which shows the first chassis topology obtained by topology optimization based on the original chassis 1a when the volume fraction constraint is 70%.

[0096] Please refer to Figure 10, which shows the first chassis topology obtained by topology optimization based on the original chassis 1a when the volume fraction constraint is 50%.

[0097] Comparing Figures 9 and 10, it can be seen that in some embodiments, the case with a volume fraction constraint of 50% removes more material compared to the case with a volume fraction constraint of 70%, resulting in a smaller volume displayed in the first chassis topology diagram and a better weight reduction effect. In this case, detailed design can be performed on the first chassis topology diagrams obtained with a volume fraction constraint of 50% and those obtained with a volume fraction constraint of 70% to obtain their respective corresponding first topology-optimized chassis structures 3a. Stress verification is then performed on each of these first topology-optimized chassis structures 3a. For example, the forces or moments of the first topology-optimized chassis structure 3a under multiple typical working conditions are extracted, and these forces or moments under multiple typical working conditions are weighted. Based on the weighted forces or moments, a load is defined for the first topology-optimized chassis structure 3a. It is then determined whether the load on the first topology-optimized chassis structure 3a is within its yield limit or stiffness limit. If so, the stress verification result of the first topology-optimized chassis structure 3a is considered to be passed. Thus, if the stress verification results for both the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 70% and the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 50% pass, then for the purpose of lightweighting, a volume fraction constraint of 50% can be selected as a better volume fraction constraint than 70%. If the stress verification result for the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 70% passes, while the stress verification result for the first topology-optimized chassis structure 3a corresponding to a volume fraction constraint of 50% fails, then it is considered that the volume fraction constraint of 50% is slightly too small. The optimal volume fraction constraint that meets the stress verification results can be re-explored between 50% and 70%, or a volume fraction constraint of 70% can be selected as a better volume fraction constraint than 50%.

[0098] Of course, it is understood that in some embodiments, the volume fraction constraint selected for topology optimization based on the original chassis 1a can also be reasonably selected within the range of 100% based on the material and working conditions of the original chassis 1a, rather than being limited to the 50% or 70% mentioned in the examples.

[0099] In some embodiments, with a volume fraction constraint of 50%, the first chassis topology diagram shown in Figure 10 can be directly used for the integrated lightweight design of chassis 10. However, considering that the manufacturing process of the chassis 10 of robot 600 is mostly casting, and that the chassis 10 of robot 600 needs to meet the installation requirements of electrical components (such as batteries, controllers, radar, switches, and displays), and in some embodiments, dustproof, waterproof, and aesthetic requirements also need to be considered, the final chassis that can be used for production often requires a large amount of structural backfilling. For example, Figure 11 shows an integrated lightweight and practical first new chassis 2a formed by structural backfilling based on the structure of the first chassis topology diagram.

[0100] As can be seen from Figure 11, the first new chassis 2a can only apply a small portion of the topology optimization results. In some embodiments, the first new chassis 2a has a mass reduction of about 10% and a strength increase of about 30% under full load compared to the original chassis 1a. Although the first new chassis 2a achieves a certain degree of weight reduction compared to the original chassis 1a, the weight reduction effect is not very significant.

[0101] Based on this, this specific embodiment proposes the idea of ​​a two-stage progressive topology, which will be described below.

[0102] Based on this specific embodiment, after obtaining the first chassis topology diagram in step S21 of this specific embodiment, structural backfilling is not performed. Instead, step S22 is executed to refine the design based on the first chassis topology diagram. This refinement design can be based on the actual assembly relationship on the original chassis 1a and the first chassis topology diagram to obtain the first topology-optimized chassis structure 3a (the first topology-optimized chassis structure 3a can be shown in Figure 12).

[0103] In some embodiments, the first chassis topology diagram based on step S22 may be the topology optimization result of minimizing the volume fraction constraint in the first topology optimization while meeting the mechanical performance requirements.

[0104] In some embodiments, using steps S1 and S2, the main force transmission parts and / or areas with high mechanical performance requirements in the original chassis 1a are re-integrated through topology optimization to obtain a first chassis topology map. Based on the structure of the first chassis topology map, a detailed design is performed to obtain a first topology-optimized chassis structure 3a, which facilitates subsequent execution of steps S3 to S4 based on the first topology-optimized chassis structure 3a to carry out a secondary progressive topology.

[0105] In some embodiments, before steps S3 to S4, the method for lightweighting the chassis 10 of the robot 600 may further include:

[0106] S2.5 Reconstruct the area in the original chassis 1a that is located outside the first topology-optimized chassis structure 3a to obtain the outer structure 200;

[0107] In some embodiments, after step S4, step S5 is also included: combining the load-bearing part 100 with the peripheral structure 200 to form the chassis 10 of the robot 600.

[0108] Please refer to Figures 7 and 12. By comparing the first topology-optimized chassis structure 3a shown in Figure 12 with the original chassis 1a shown in Figure 7, it can be understood that the area in the original chassis 1a located outside the first topology-optimized chassis structure 3a is the non-load-bearing area of ​​the chassis 10. In step S5, by directly using the outer structure 200 reconstructed based on the first topology-optimized chassis structure 3a and combining it with the load-bearing part 100, the mechanical performance of the chassis 10 of the robot 600 is satisfied, saving the secondary reconstruction process of the outer structure 200. The lightweighting method is simpler and more efficient, and the weight reduction effect is better than direct backfilling.

[0109] In some embodiments, reconstructing the area in the original chassis 1a that corresponds to the area outside the first topology-optimized chassis structure 3a to obtain the peripheral structure 200 includes: reconstructing the area in the original chassis 1a that corresponds to the area outside the first topology-optimized chassis structure 3a using a plate-like cover 202 and / or a frame structure 201 to obtain the peripheral structure 200.

[0110] In some embodiments, the peripheral structure 200 may include at least one of a plate-like cover 202 and a frame structure 201.

[0111] Please refer to Figure 12, which shows a three-dimensional model of the first topology-optimized chassis structure 3a.

[0112] Please refer to Figure 13, which shows a schematic diagram of a three-dimensional model of the first topology-optimized chassis structure 3a assembled with the frame structure 201.

[0113] Please refer to Figure 14, which shows a three-dimensional model of the first topology-optimized chassis structure 3a assembled with the plate-type cover 202.

[0114] In Figures 13 and 14, in some embodiments, the area where the frame structure 201 or plate-like cover 202 is set is the area in the original chassis 1a that corresponds to the area outside the first topology-optimized chassis structure 3a. In some embodiments, the peripheral structure 200 formed by the frame structure 201 and / or plate-like cover 202 can be configured to meet the installation requirements of electrical components on the chassis 10, while also taking into account the waterproof, dustproof, and aesthetic requirements of the chassis 10, so that a practical second new chassis can be formed by combining the peripheral structure 200 with the first topology-optimized chassis structure 3a.

[0115] In some embodiments, based on step S2, a secondary topology optimization can be performed on the first topology-optimized chassis structure 3a based on steps S3 to S4, which are the same as or similar to steps S1 to S2. Specifically:

[0116] Step S3 may specifically include:

[0117] Extract the forces or moments of the first topology-optimized chassis structure 3a under multiple typical working conditions, weight the forces or moments of the first topology-optimized chassis structure 3a under multiple typical working conditions, and define loads for the first topology-optimized chassis structure 3a based on the weighted forces or moments.

[0118] In some embodiments, by extracting the forces or moments of the first topology-optimized chassis structure 3a under multiple typical working conditions, and defining loads for the first topology-optimized chassis structure 3a based on weighted forces or moments, it is possible to better ensure that the load-bearing capacity of the second topology-optimized chassis structure under different working conditions meets the actual working condition requirements, and also to make the iteration of the second topology optimization highly efficient.

[0119] In some embodiments, the typical working conditions faced by the original chassis 1a, the first topology-optimized chassis structure 3a, or the chassis 10 of the robot 600 are roughly the same. Therefore, it can be considered that the typical working conditions extracted during the multi-working-condition mechanical analysis in steps S1 and S3 are roughly the same, the difference being that the model for the multi-working-condition mechanical analysis is different. That is, the model for the multi-working-condition mechanical analysis in step S1 is the original chassis 1a, while the model for the multi-working-condition mechanical analysis in step S3 is the first topology-optimized chassis structure 3a. For a detailed example of step S3, the specific example of step S1 can be referred to in a non-conflicting manner, and will not be repeated here.

[0120] Of course, this disclosure is not limited to this. That is, the mechanical analysis of the first topology-optimized chassis structure 3a is not limited to the example of extracting multiple typical working conditions for mechanical analysis and weighting the mechanical analysis results of multiple typical working conditions. In some other embodiments, the mechanical analysis of the first topology-optimized chassis structure 3a may also adopt the method of extracting extreme working conditions for mechanical analysis; or, for one of the original chassis 1a and the first topology-optimized chassis structure 3a, the method of extracting multiple typical working conditions for mechanical analysis and weighting the mechanical analysis results of multiple typical working conditions may be adopted, while for the other of the original chassis 1a and the first topology-optimized chassis structure 3a, the method of extracting extreme working conditions for mechanical analysis may be adopted, etc.

[0121] Step S4 may specifically include:

[0122] Step S41: With minimum compliance as the objective and volume fraction as the constraint, perform topology optimization on the first topology-optimized chassis structure 3a based on the variable density method to obtain the second chassis topology map.

[0123] In some embodiments, when performing topology optimization on the first topology-optimized chassis structure 3a based on the variable density method, the mathematical model for topology optimization can be selected as the topology optimization model of the variable density method. Specifically, the mathematical model for topology optimization can be as follows: x = (x1, x1, x1, ..., x n ) T ∈R; 0 <x min ≤x i ≤x max ≤1, i=1,2,...,n;

[0124] In some embodiments, C represents the structural flexibility; F represents the load vector; U represents the displacement vector; K represents the structural stiffness matrix; u i k is the element displacement vector; i v is the interpolated element stiffness; p is the penalty factor; k0 is the initial element stiffness; v i V is the unit volume; f is the optimized volume; v0 is the retained volume fraction; x is the initial volume. min The lower limit of the design variable's value; x max is the upper limit of the design variable's value; n is the number of units within the subdomain.

[0125] In some embodiments, based on this mathematical model, by inputting minimum compliance target constraints and volume fraction constraints, the optimal layout of the material under given load and boundary conditions can be obtained, thereby ensuring the mechanical properties of the optimization results while further achieving the goal of weight reduction of the optimization results, and having the advantage of iterative efficiency.

[0126] In this embodiment, both the original chassis 1a and the first topology-optimized chassis structure 3a are topology optimized using the variable density method. That is, the mathematical models for the two optimizations are roughly the same. In this way, the connection from macroscopic topology to microscopic topology is better, which can better ensure the mechanical performance of the chassis 10 of the formed robot 600. At the same time, the two-stage progressive topology iteration results in a better weight reduction effect in the microscopic topology results.

[0127] Step S42: Refine the design based on the second chassis topology diagram to obtain the second topology optimized chassis structure.

[0128] In step S41, based on the variable density method, with minimum compliance as the objective and volume fraction as the constraint, topology optimization is performed on the first topology-optimized chassis structure 3a. This can obtain the optimal material layout under given load and boundary conditions. The optimization iteration is more efficient and accurate, and the optimal layout is based on the second chassis topology map as the optimization result.

[0129] In some embodiments, based on different volume fraction constraints, a second topology-optimized chassis structure with different volume fractions can be obtained through topology optimization iterations. For example, examples are given with volume fraction constraints of 80%, 60%, and 40%.

[0130] Please refer to Figure 15, which shows the second chassis topology obtained by topology optimization based on the first topology-optimized chassis structure 3a when the volume fraction constraints are 80% (A), 60% (B), and 40% (C).

[0131] Compared to Figures 9 and 10, the second chassis topology diagram shown in Figure 15 presents a more microscopic chassis topology. Furthermore, comparing A, B, and C, based on different volume fraction constraints, different degrees of material removal from components are achieved. While meeting the chassis's mechanical performance requirements (or stress verification standards), the volume fraction constraint can be selectively chosen to be smaller.

[0132] Of course, it is understandable that the volume fraction constraint selected for topology optimization based on the first topology optimization chassis structure 3a can also be reasonably selected within the range of 100% based on the materials and working conditions of the first topology optimization chassis structure 3a, rather than being limited to the 80%, 60% or 40% mentioned above.

[0133] In some embodiments, after step S4, the lightweighting method may further include: performing stress verification on the second topology-optimized chassis structure, and determining whether to adjust the volume fraction constraint of the topology-optimized load-bearing part 100 based on the stress verification result. This aims to explore and obtain the optimal volume fraction constraint that conforms to the stress verification result, thereby achieving a better weight reduction effect.

[0134] In step S42, the chassis 10 structure based on the topology diagram of the load-bearing part 100 is further refined to obtain a second topology-optimized chassis structure. In some embodiments, the second topology-optimized chassis structure can be designed for lightweighting by extensively using stiffening, based on the characteristics of the casting process and the topology diagram of the load-bearing part 100. Since the second topology-optimized chassis structure is a thin-walled part, a "Y"-shaped rib layout with good bending ability can be further preferred to better ensure the mechanical performance of the second topology-optimized chassis structure while achieving the goal of lightweighting.

[0135] Please refer to FIG. 16, which shows a rear view schematic diagram of a three-dimensional model of the chassis 10 of the robot 600 (including the second topologically optimized chassis structure, the frame structure 201, and the plate-like covering member 202).

[0136] Please refer to FIG. 17, which shows a rear view structure schematic diagram of the chassis 10 of the robot 600 (including the second topologically optimized chassis structure, the frame structure 201, and the plate-like covering member 202).

[0137] As can be seen from FIGS. 17 and 18, a large number of "yao" - shaped ribs are formed on the rear surface of the second topologically optimized chassis structure. The frame structure 201 is arranged on the periphery of the second topologically optimized chassis structure, and the plate-like covering member 202 is arranged on the periphery of the second topologically optimized chassis structure and is located on the side of the frame structure 201 closer to the front.

[0138] Please refer to FIG. 19, which shows a front view schematic diagram of a three-dimensional model of the chassis 10 of the robot 600 (including the second topologically optimized chassis structure, the frame structure 201, and the plate-like covering member 202).

[0139] Please refer to FIG. 20, which shows a front view structure schematic diagram of the chassis 10 of the robot 600 (including the second topologically optimized chassis structure, the frame structure 201, and the plate-like covering member 202).

[0140] In FIGS. 19 and 20, the plate-like covering member 202 is shown in a semi-transparent form. Through perspective, the frame structure 201 located on the back of the plate-like covering member 202 can be seen at the covered area of the plate-like covering member 202. Of course, in other embodiments, the plate-like covering member 202 can adopt an opaque structure.

[0141] After the second topologically optimized chassis structure is refined through step S4, a better lightweight effect is obtained. The chassis 10 of the robot 600 obtained based on step S5, which includes the second topologically optimized chassis structure and the peripheral structure 200, has the advantages of being practical and lighter in weight.

[0142] The lightweighting method of some embodiments of this disclosure employs two progressive topology optimizations. The first topology optimization obtains the minimum topology chassis 10 structure (i.e., the first topology optimized chassis structure 3a), and replaces the part of the original chassis 1a that is located outside the first topology optimized chassis structure 3a with the reconstructed peripheral structure 200 (such as the frame structure 201 and / or the plate-like covering 202). The second topology optimization only performs topology optimization on the first topology optimized chassis structure 3a. The obtained minimum topology chassis 10 with micro-topology results (i.e., the second topology optimized chassis structure) and the aforementioned non-load-bearing peripheral structure 200 are combined to form the final chassis 10 of the robot 600. A comparison of the original chassis 1a, the first new chassis 2a, and the chassis 10 of robot 600 in terms of mass, strength, and price shows that the first new chassis 2a reduces mass by about 10%, increases strength by about 30%, and reduces price by about 8% compared to the original chassis 1a. The chassis 10 of robot 600 reduces mass by more than 30% compared to the original chassis 1a, achieving a weight reduction of about 35%, increasing strength by about 30%, and reducing price by about 33%. Therefore, the chassis 10 of robot 600 obtained using this lightweighting method has a more significant lightweighting effect compared to the first new chassis 2a obtained through a single topology.

[0143] This disclosure provides a chassis for a robot 600, wherein the chassis of the robot 600 is determined based on the lightweighting method of the chassis of the robot 600 in any of the above embodiments.

[0144] It is understood that, in some embodiments, the chassis of robot 600 includes a peripheral structure and a second topology-optimized chassis structure. The peripheral structure may include a frame structure and / or plate-like coverings. The peripheral structure is disposed around the second topology-optimized chassis structure, which is obtained by the original chassis through two topology optimizations.

[0145] Although this disclosure has been described with reference to several typical embodiments, it should be understood that the terminology used is illustrative and exemplary, and not restrictive. Because this disclosure can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A chassis for a robot, wherein, The chassis includes a load-bearing part, an outer structure, and one or more support parts. The load-bearing part is a topology-optimized structure. The support parts are disposed on the load-bearing part and configured to support and / or connect to the load to be carried. The outer structure is disposed on the side of the load-bearing part and connected to the load-bearing part.

2. The chassis of the robot according to claim 1, wherein, The load-bearing part includes a base and reinforcing ribs. The reinforcing ribs are distributed on one side of the base, and one or more of the supporting parts are distributed on the side of the base opposite to the reinforcing ribs. The peripheral structure is located on the side of the substrate and is connected to the substrate.

3. The chassis of the robot according to claim 1 or 2, wherein, The base includes a first main body, a second main body, and a connecting body. The connecting body is located between the first main body and the second main body and is connected to both the first main body and the second main body. The first main body, the second main body, and the connecting body form two grooves, which are distributed on opposite sides of the connecting body. A protrusion is provided on the side of the second main body facing away from the first main body. The reinforcing ribs are distributed on one side of the first main body, the second main body, the connecting body, and the protrusion. At least one of the first main body, the second main body, and the protrusion is provided with a support portion.

4. The chassis of the robot according to claim 3, wherein, The first main body is provided with the support portion, which includes a first support portion configured to support and / or connect to the left suspension mechanism, a second support portion configured to support and / or connect to the right suspension mechanism, a third support portion configured to support and / or connect to the left rear portion of the lifting mechanism, and a fourth support portion configured to support and / or connect to the right rear portion of the lifting mechanism.

5. The chassis of the robot according to claim 3, wherein, The second main body is provided with the support portion, which includes a fifth support portion configured to support and / or connect to the left guide seat of the lifting mechanism, a sixth support portion configured to support and / or connect to the right guide seat of the lifting mechanism, a seventh support portion configured to support and / or connect to the left front portion of the lifting mechanism, and an eighth support portion configured to support and / or connect to the right front portion of the lifting mechanism. The third support portion and the seventh support portion are disposed opposite to each other and spaced apart by the groove, the fourth support portion and the eighth support portion are disposed opposite to each other and spaced apart by the groove, and the fifth support portion and the sixth support portion are located between the seventh support portion and the eighth support portion.

6. The chassis of the robot according to claim 3, wherein, The protrusion is provided with the support portion, and the support portion on the protrusion includes a ninth support portion configured to support and / or connect to the front suspension mechanism.

7. The chassis of the robot according to claim 3, wherein, The peripheral structure includes a first peripheral portion connected to the first body and a second peripheral portion connected to the second body, with a gap between the first peripheral portion and the second peripheral portion, and the gap between the first peripheral portion and the second peripheral portion corresponds to the groove.

8. The chassis of the robot according to claim 1 or 2, wherein, The peripheral structure includes at least one of a frame structure and a plate-like covering.

9. The chassis of the robot according to claim 1 or 2, wherein, The peripheral structure and the load-bearing part are integrally formed and connected, or welded, riveted, screwed, or snapped together.

10. The chassis of the robot according to claim 1 or 2, wherein, The load-bearing part is a topology-optimized structure obtained through two or more topology optimization processes, wherein the two or more topology optimization processes include the following steps: A mechanical analysis is performed on the original chassis, and loads are defined based on the results of the mechanical analysis of the original chassis; The original chassis is topologically optimized to obtain a first topology-optimized chassis structure; A mechanical analysis is performed on the first topology-optimized chassis structure, and loads are defined based on the mechanical analysis results of the first topology-optimized chassis structure; The first topology-optimized chassis structure is subjected to topology optimization to obtain a second topology-optimized chassis structure, wherein the load-bearing part is obtained based on the second topology-optimized chassis structure.

11. The chassis of the robot according to claim 8, wherein, The area in the original chassis that is located outside the first topology-optimized chassis structure is reconstructed to obtain the peripheral structure.

12. A robot, wherein, include: The chassis of the robot includes a load-bearing part, an outer structure and one or more support parts. The load-bearing part is a topology-optimized structure. The support parts are disposed on the load-bearing part and configured to support and / or connect to the load-bearing object. The outer structure is disposed on the side of the load-bearing part and connected to the load-bearing part. One or more objects to be carried, with corresponding supports on the chassis supporting and / or connecting the objects to be carried.

13. The robot according to claim 12, wherein, The load-bearing part includes a base and reinforcing ribs. The reinforcing ribs are distributed on one side of the base, and one or more of the supporting parts are distributed on the side of the base opposite to the reinforcing ribs. The peripheral structure is located on the side of the substrate and is connected to the substrate.

14. The robot according to claim 12 or 13, wherein, The base includes a first main body, a second main body, and a connecting body. The connecting body is located between the first main body and the second main body and is connected to both the first main body and the second main body. The first main body, the second main body, and the connecting body form two grooves, which are distributed on opposite sides of the connecting body. A protrusion is provided on the side of the second main body facing away from the first main body. The reinforcing ribs are distributed on one side of the first main body, the second main body, the connecting body, and the protrusion. At least one of the first main body, the second main body, and the protrusion is provided with a support portion.

15. The robot according to claim 14, wherein, The first main body is provided with the support portion, which includes a first support portion configured to support and / or connect to the left suspension mechanism, a second support portion configured to support and / or connect to the right suspension mechanism, a third support portion configured to support and / or connect to the left rear portion of the lifting mechanism, and a fourth support portion configured to support and / or connect to the right rear portion of the lifting mechanism.

16. The robot according to claim 14, wherein, The second main body is provided with the support portion, which includes a fifth support portion configured to support and / or connect to the left guide seat of the lifting mechanism, a sixth support portion configured to support and / or connect to the right guide seat of the lifting mechanism, a seventh support portion configured to support and / or connect to the left front portion of the lifting mechanism, and an eighth support portion configured to support and / or connect to the right front portion of the lifting mechanism. The third support portion and the seventh support portion are disposed opposite to each other and spaced apart by the groove, the fourth support portion and the eighth support portion are disposed opposite to each other and spaced apart by the groove, and the fifth support portion and the sixth support portion are located between the seventh support portion and the eighth support portion.

17. The robot according to claim 14, wherein, The protrusion is provided with the support portion, and the support portion on the protrusion includes a ninth support portion configured to support and / or connect to the front suspension mechanism.

18. The robot according to claim 14, wherein, The peripheral structure includes a first peripheral portion connected to the first body and a second peripheral portion connected to the second body, with a gap between the first peripheral portion and the second peripheral portion, and the gap between the first peripheral portion and the second peripheral portion corresponds to the groove.

19. The robot according to claim 12 or 13, wherein, The peripheral structure includes at least one of a frame structure and a plate-like covering.

20. The robot according to claim 12 or 13, wherein, The peripheral structure and the load-bearing part are integrally formed and connected, or welded, riveted, screwed, or snapped together.

21. The robot according to claim 12 or 13, wherein, The load-bearing part is a topology-optimized structure obtained through two or more topology optimization processes, wherein the two or more topology optimization processes include the following steps: A mechanical analysis is performed on the original chassis, and loads are defined based on the results of the mechanical analysis of the original chassis; The original chassis is topologically optimized to obtain a first topology-optimized chassis structure; A mechanical analysis is performed on the first topology-optimized chassis structure, and loads are defined based on the mechanical analysis results of the first topology-optimized chassis structure; The first topology-optimized chassis structure is subjected to topology optimization to obtain a second topology-optimized chassis structure, wherein the load-bearing part is obtained based on the second topology-optimized chassis structure.

22. The robot according to claim 19, wherein, The area in the original chassis that is located outside the first topology-optimized chassis structure is reconstructed to obtain the peripheral structure.

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