CN113276080A - Chassis module and mobile robot - Google Patents
Chassis module and mobile robot Download PDFInfo
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- CN113276080A CN113276080A CN202110551800.2A CN202110551800A CN113276080A CN 113276080 A CN113276080 A CN 113276080A CN 202110551800 A CN202110551800 A CN 202110551800A CN 113276080 A CN113276080 A CN 113276080A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- Mechanical Engineering (AREA)
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- Cooling Or The Like Of Electrical Apparatus (AREA)
Abstract
The invention discloses a chassis module and a mobile robot. Based on the invention, a heat dissipation air duct passing through a target heat source can be arranged in the chassis shell of the chassis module, and the driving wheel cavity of the chassis module is used as a part of the heat dissipation air duct, and the driving wheel contained in the driving wheel cavity can be integrated with a disturbance component. The disturbance airflow generated by the disturbance assembly in response to the rotation of the driving wheel can unbalance the air pressure in the heat dissipation air channel to cause the flowing airflow which is generated in the heat dissipation air channel and exchanges heat with a target heat source, so that the airflow flowing capacity in the chassis module can be improved, the active heat dissipation mode of driving airflow flowing is realized, further, the expansion of a heat exchange component is not needed, the heat dissipation efficiency can be improved, and the miniaturization and the lightweight of the chassis module are considered at the same time.
Description
Technical Field
The present invention relates to a heat dissipation technology, and in particular, to a chassis module suitable for a mobile robot and having an active heat dissipation capability, and a mobile robot using the chassis module, such as an AGV (automatic Guided Vehicle) for transportation, a sweeping robot for smart home service, or a small manned electric locomotive.
Background
The mobile robot can move according to a specified route by depending on the rotation of the driving wheel of the chassis module so as to complete the received specified task. Because the chassis module has the design demand of "miniaturization" and "lightweight", consequently, the components and parts overall arrangement in the chassis module is compact to, in the operation of chassis module, the heat that components and parts produced is difficult to in time effluvium. If the chassis module runs at a high temperature for a long time, the components are easily damaged.
If a heat exchange member is additionally provided on the surface of the heat generating component or the volume of the heat exchange member on the surface of the heat generating component is increased to increase the heat dissipation area of the heat generating component for exchanging heat with air, the design requirements of "miniaturization" and "light weight" of the chassis module will be violated.
Therefore, how to improve the heat dissipation efficiency while simultaneously achieving both "miniaturization" and "light weight" becomes a technical problem to be solved in the prior art.
Disclosure of Invention
In an embodiment of the present invention, a chassis module and a mobile robot are provided, which contribute to improving heat dissipation efficiency while achieving both "miniaturization" and "lightweight".
In one embodiment, the chassis module may include:
the heat dissipation air channel comprises a driving wheel cavity and an air guide cavity communicated with the driving wheel cavity, the driving wheel cavity is arranged on the side edge of the chassis shell in the width direction, and the air guide cavity is arranged along a preset air flow circulation track;
a chassis wheel set including a drive wheel disposed within the drive wheel cavity and integrated with a disturbance assembly;
the disturbance assembly responds to the rotation of the driving wheel and generates disturbance airflow which penetrates through the driving wheel to flow along the axial direction, and the disturbance airflow enables the air pressure in the heat dissipation air duct to be unbalanced so as to trigger the generation of flowing airflow which is in heat exchange with the target heat source in the heat dissipation air duct.
Optionally, the target heat source comprises: a wheelset drive assembly disposed within the drive wheel cavity; and a function control assembly and/or a power supply assembly arranged in the extending path of the wind guide cavity.
Optionally, the wheel set drive assembly comprises an axle drive motor; wherein the wheel axle driving motor is in transmission connection with the driving wheel, and the disturbed airflow generated by the disturbing assembly flows axially in a range surrounding the outer periphery of the wheel axle driving motor.
Optionally, the wheel set drive assembly further comprises a motor controller; wherein the motor controller is installed at a side circumferential surface of the wheel axle driving motor to be exposed in an axial flow path of the disturbed airflow; and a heat dissipation component is integrated on the surface of the shell of the motor controller, and the arrangement direction of the heat exchange surface of the heat dissipation component is parallel to the flowing direction of the disturbed air flow.
Optionally, the hub comprises a wheel disc, a blade-like spoke arranged around the axle disc, wherein: the wheel disc is in transmission connection with the wheel axle driving motor, and the shaft disc axially shields the wheel axle driving motor; the blade-shaped spokes are radially outwardly flared relative to the axle drive motor, and the perturbation assembly comprises the blade-shaped spokes; the blade-shaped spokes are configured to cause the turbulent airflow to have an intensity sufficient to cause an air pressure imbalance when a rotational speed of the drive wheel is not below a preset rotational speed threshold.
Optionally, an actuator mounting cavity is further formed in the chassis housing; the function control assembly and/or the power supply assembly are/is arranged outside the actuating mechanism installation cavity; the air guide pipe cavity is arranged in a space outside the executing mechanism installation cavity.
Optionally, the drive wheel cavity comprises a first drive wheel cavity on a first side in a width direction of the chassis housing, and a second drive wheel cavity on a second side opposite to the first side; the air guide pipe cavity continuously and hermetically extends between the first driving wheel cavity and the second driving wheel cavity; the disturbance assembly comprises a first disturbance assembly integrated with a first drive wheel within the first drive wheel cavity and a second disturbance assembly integrated with a second drive wheel within the second drive wheel cavity; wherein, the first disturbance air current that first disturbance subassembly produced runs through along the axial direction in first drive wheel chamber first drive wheel flows, and forms follow heat dissipation wind channel suction air's negative pressure, and, the second disturbance air current that the second disturbance subassembly produced runs through along the axial direction in second drive wheel chamber the second drive wheel flows, and forms to the positive pressure that heat dissipation wind channel bulldozes the air current.
Optionally, the drive wheel cavity comprises a first drive wheel cavity on a first side in a width direction of the chassis housing, and a second drive wheel cavity on a second side opposite to the first side; a drainage port is formed in the front head-on face of the chassis shell in the length direction, and the air guide pipe cavity continuously and hermetically penetrates to the first driving wheel cavity and the second driving wheel cavity from the drainage port; the disturbance assembly comprises a first disturbance assembly integrated with a first drive wheel within the first drive wheel cavity and a second disturbance assembly integrated with a second drive wheel within the second drive wheel cavity; the first disturbed airflow generated by the first disturbed assembly penetrates through the first driving wheel along the axial direction of the first driving wheel cavity and forms negative pressure for sucking airflow from the heat dissipation air duct, and the second disturbed airflow generated by the second disturbed assembly penetrates through the second driving wheel along the axial direction of the second driving wheel cavity and forms negative pressure for sucking airflow from the heat dissipation air duct.
Optionally, the drive wheel cavity comprises a first drive wheel cavity on a first side in a width direction of the chassis housing, and a second drive wheel cavity on a second side opposite to the first side; the rear end face of the chassis shell in the length direction is provided with a drainage port, and the air guide pipe cavity is continuously communicated to the drainage port from the first driving wheel cavity and the second driving wheel cavity in a closed manner; the disturbance assembly comprises a first disturbance assembly integrated with a first drive wheel within the first drive wheel cavity and a second disturbance assembly integrated with a second drive wheel within the second drive wheel cavity; wherein, first disturbance air current that first disturbance subassembly produced is followed the axial direction in first driving wheel chamber runs through first drive wheel flows and forms to the positive pressure that the air current was bulldozed in the heat dissipation wind channel, and, the second disturbance air current that the second disturbance subassembly produced is followed the axial direction in second driving wheel chamber runs through the second drive wheel flows and forms to the positive pressure that the air current was bulldozed in the heat dissipation wind channel.
In another embodiment, the mobile robot may comprise the chassis module of the previous embodiment.
Based on the above embodiment, a heat dissipation air duct passing through the target heat source can be disposed in the chassis housing of the chassis module, and the driving wheel cavity of the chassis module is used as a part of the heat dissipation air duct, and the driving wheel contained in the driving wheel cavity can be integrated with the disturbance component. The disturbance airflow generated by the disturbance assembly in response to the rotation of the driving wheel can unbalance the air pressure in the heat dissipation air channel to cause the flowing airflow which is generated in the heat dissipation air channel and exchanges heat with a target heat source, so that the airflow flowing capacity in the chassis module can be improved, the active heat dissipation mode of driving airflow flowing is realized, further, the expansion of a heat exchange component is not needed, the heat dissipation efficiency can be improved, and the miniaturization and the lightweight of the chassis module are considered at the same time.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention:
FIG. 1 is a schematic diagram of an exemplary configuration of a chassis module in one embodiment;
FIG. 2 is a schematic diagram of an example integrated deployment of a spoiler assembly according to the embodiment shown in FIG. 1;
FIG. 3 is a schematic view of an example of deployment within a drive wheel cavity of a chassis module according to the embodiment shown in FIG. 1;
FIG. 4 is an exploded view of the wheel set drive assembly shown in FIG. 2 deployed within the drive wheel cavity;
fig. 5 is a schematic view of a first deployment example of the air guide cavity of the chassis module in the embodiment shown in fig. 1;
FIG. 6 is a schematic diagram of an instantiation of the first deployment instance shown in FIG. 5;
fig. 7 is a schematic view of a second deployment example of the air guide cavity of the chassis module in the embodiment shown in fig. 1;
fig. 8 is a schematic view of a third deployment example of the air guide cavity of the chassis module in the embodiment shown in fig. 1;
fig. 9 is a schematic view of a fourth example of the deployment of the air guide duct cavity of the chassis module in the embodiment shown in fig. 1.
FIGS. 10a to 10h are front, rear, left, right, top, bottom, perspective and reference views of an embodiment to which the present invention is applied;
FIGS. 11a to 11f are front, rear, left, top, bottom and perspective views of an embodiment to which the present invention is applied;
FIGS. 12 a-12 f are views, rear, left, top, bottom and perspective views of an embodiment of the present invention in use;
FIGS. 13a to 13f are front, rear, left, top, bottom and perspective views of an embodiment to which the present invention is applied;
FIGS. 14a to 14f are front, rear, left, top, bottom and perspective views of an embodiment to which the present invention is applied;
FIGS. 15a to 15f are views, rear, left, top, bottom and perspective views of an embodiment to which the present invention is applied;
FIGS. 16a to 16g are front, rear, left, right, top, bottom and perspective views of an embodiment to which the present invention is applied;
FIGS. 17a to 17f are views, rear view, left view, top view, bottom view and perspective view of one embodiment to which the present invention is applied;
FIGS. 18a to 18h are front, rear, left, right, top, bottom and perspective views of an embodiment to which the present invention is applied;
fig. 19a to 19f are views, rear views, left views, top views, bottom views and perspective views of one embodiment to which the present invention is applied.
Description of the reference numerals
10 chassis outer casing
11 front head-on
12 rear end face
13 side wall surface
14 Top cover
15 bottom plate
16 actuator mounting cavity
20 radiating air duct
21 drive wheel cavity
22 air guide pipe cavity
23 additional lumen
24 drainage port
25 discharge port
30 driving wheel
31 wheel hub
310 blade-shaped spokes (perturbing member)
311 wheel
312 rim
32 tyre
50 wheel set driving assembly
51 wheel shaft driving motor
511 Motor body
512 power output disc
52 motor controller
61 front end plate group
62 rear end plate group
63 Master control module
64 actuating mechanism driving motor
70 power supply assembly
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
In the following embodiments, it is not intended to seek available space for adding or expanding heat exchange members in a limited layout space of a chassis module (without increasing the volume of the chassis module), nor to seek an equivalent weight reduction measure (without increasing the weight of the chassis module) of other structures for adding or expanding heat exchange members, because the heat dissipation effect of the heat exchange members depends on the airflow flow capacity in the chassis module, and simply adding or expanding heat exchange members only belongs to a passive improvement measure depending on the airflow flow capacity, and actually, the airflow flow capacity in the chassis module is weak due to the compact layout of components, and the improvement degree of the heat dissipation efficiency is extremely limited without improving the airflow flow capacity even if the heat exchange members are added or expanded.
For the above reasons, the following embodiments are directed to improving airflow flow capacity in a lifting chassis module to improve a passive standby heat exchange manner into an active heat dissipation manner for driving airflow flow.
Fig. 1 is an exemplary structural schematic diagram of a chassis module in one embodiment. Referring to fig. 1, in this embodiment, the chassis module may include a chassis housing 10 and a chassis wheel set including at least two driving wheels 30.
The chassis housing 10 may be flat, the chassis housing 10 may have a front facing surface 11 and a rear end surface 12 which are arranged at a distance from each other in the longitudinal direction and extend in the width direction, and the chassis housing 10 may further have a pair of side wall surfaces 13 which are arranged at a distance from each other in the width direction and connected between the front facing surface 11 and the rear end surface 12 in the longitudinal direction, so that the front facing surface 11, the rear end surface 12, and the side wall surfaces 13 form an annular peripheral surface of the chassis housing 10, and the contour shape of the annular peripheral surface may be rectangular (the embodiment exemplifies rectangular with rounded corners), circular, or elliptical. Wherein the side wall surface 13 has a drive wheel cavity 21 for accommodating a drive wheel 30 so that a chassis wheel set including the drive wheel can be arranged at a side edge in the width direction of the chassis housing 10.
Further, the chassis housing 10 may have a top cover 14 covering above the annular peripheral surface and a bottom plate 15 installed below the annular peripheral surface, so that the chassis housing 10 may have a flat-shaped housing cavity. The housing cavity can be used for disposing the aforementioned components, the components are compactly disposed in the flat housing cavity, and some of the components are components which generate heat during operation. The term "heat generation" as used herein means that heat generated by the components during operation is dissipated to a degree required.
In this embodiment, the components that generate heat during operation are mainly focused, for convenience of description, the components that are focused are selected as target heat sources, and the remaining components may be regarded as non-target devices that do not generate heat or generate little heat.
That is, components selected as a target heat source are disposed inside the chassis housing 10. Moreover, a heat dissipation air duct 20 passing through a target heat source is disposed inside the chassis housing 10, wherein the heat dissipation air duct 20 includes a driving wheel cavity 21 and an air guide tube cavity 22 communicated with the driving wheel cavity 21, as described above, the driving wheel cavity 21 is disposed on a side of the chassis housing 10 in the width direction, and the air guide tube cavity 22 is disposed along a preset air flow path, for example, air guide partition plates are disposed along the preset air flow path, so as to form the air guide tube cavity 22 by means of a gap between the air guide partition plates and/or a gap between the air guide partition plates and an annular shape of the chassis housing 10.
It should be understood that non-target devices may also be disposed inside the chassis housing 10, and that these non-target devices are also allowed to be disposed in the heat dissipation duct 20, but do not block the heat dissipation duct 20.
The chassis wheel set comprises a drive wheel 30 arranged in the drive wheel cavity 21, i.e. at least a part of the drive wheel 30 of the chassis wheel set is arranged in the drive wheel cavity 21, and it is also allowed that the chassis wheel set comprises additional drive wheels not arranged in the drive wheel cavity 21.
The driving wheel 30 disposed in the driving wheel cavity 21 may be integrated with a disturbing assembly 310, the disturbing assembly 310 may generate a disturbing airflow 90 that axially flows through the driving wheel 30 in response to rotation of the driving wheel 30, and the disturbing airflow 90 may unbalance an air pressure in the heat dissipation air duct 20 to generate a flowing airflow in the heat dissipation air duct 20 that exchanges heat with a target heat source.
For example, the disturbed airflow 90 may cause the flowing airflow in the heat dissipation air duct 20 to generate heat exchange with the target heat source by changing the air pressure direction (air pressure direction change in the inlet direction or the outlet direction) in the driving wheel cavity 21 of the heat dissipation air duct 20 to form an air pressure difference in the heat dissipation air duct 20, which causes the air pressure in the heat dissipation air duct 20 to be unbalanced.
Based on the above structure, the heat dissipation air duct 20 passing through the target heat source may be disposed in the chassis housing 10 of the chassis module, and the driving wheel cavity 21 of the chassis module serves as a part of the heat dissipation air duct 20, and the driving wheel 30 accommodated therein may integrate the disturbance assembly 310. The disturbance airflow 90 generated by the disturbance component 310 in response to the rotation of the driving wheel 30 can unbalance the air pressure in the heat dissipation air duct 20 to cause the flowing airflow generated in the heat dissipation air duct 20 to exchange heat with a target heat source, so that the airflow flowing capacity in the chassis module can be improved, an active heat dissipation mode for driving the airflow to flow is realized, further, the expansion of a heat exchange component is not needed, the heat dissipation efficiency can be improved, and the miniaturization and the lightweight of the chassis module are considered at the same time.
Fig. 2 is a schematic view of an example of an integrated deployment of the spoiler assembly according to the embodiment shown in fig. 1. Referring to fig. 2, in order to achieve integration of the perturbing member 310 in the driving wheel 30 in a more compact manner, in this embodiment, the perturbing member 310 can be integrated as a part of the hub 31 of the driving wheel 30. That is, the hub 31 of the driving wheel 30 may include a disc 311, and a blade-shaped spoke (perturbing member 310) arranged around the disc 311.
Wherein the blade-shaped spokes (the disturbing component 310) are configured to make the disturbed airflow 90 have an intensity sufficient to cause an air pressure imbalance when the rotation speed of the driving wheel 30 is not lower than a preset rotation speed threshold value (e.g. a lower limit value of a rated driving speed interval of the chassis module). In other words, the blade-shaped spokes (the disturbance assembly 310) may be configured to cause the disturbed airflow 90 to have a strength sufficient to change the air pressure direction (air pressure direction change in the inlet direction or the outlet direction) within the driving wheel cavity 21 of the heat dissipation duct 20. The shape and distribution interval of the blade-like spokes (the perturbing member 310) may be arbitrarily set as long as the above-described configuration requirements are satisfied.
Still referring to FIG. 2, the hub 31 may also include a rim 312 surrounding the blade-like spokes (perturbing member 310) for mounting the tire 32. In order to maximize the intensity of the turbulent air flow 90, the gap between the circumferential surface of the tire 32 and the wall of the driving wheel cavity 21 can be as small as possible, i.e., a friction-free (contact-free) close fit can be adopted between the circumferential surface of the tire 32 and the wall of the driving wheel cavity 21, so that the air entering and exiting the driving wheel cavity 21 is gathered in the area where the blade-shaped spokes (the turbulent component 310) are located.
Fig. 3 is a schematic view of an example of deployment in a driving wheel cavity of a chassis module in the embodiment shown in fig. 1. Fig. 4 is an exploded view of the wheel set drive assembly deployed within the drive wheel cavity as shown in fig. 2. Referring to fig. 4 in conjunction with fig. 3, in this embodiment, the target heat source may include a wheel set driving assembly 50 disposed in the driving wheel cavity 21, and the wheel set driving assembly 50 may include an axle driving motor 51, and the axle driving motor 51 is in transmission connection with the driving wheel 30 (the shaft disc 311 of the wheel hub 31). For example, the axle driving motor 51 may have a motor body 511, and a power take-off disk 512 outside the motor body 511, and the power take-off disk 512 may be drivingly connected to the driving wheel 30 (the axle disk 311 of the wheel hub 31).
The hub 311 of the hub 31 of the driving wheel 30 can form an axial shield for the axle driving motor 51, and the blade-shaped spokes (the disturbance assemblies 310) are radially expanded outward relative to the axle driving motor 51 (the motor main body 511), so that the disturbed airflow 90 generated by the blade-shaped spokes (the disturbance assemblies 310) can axially flow in a range surrounding the outer periphery of the axle driving motor 51 (the motor main body 511), thereby preventing the disturbed airflow 90 from being blocked by the axle driving motor 51 (the motor main body 511), and simultaneously realizing active heat dissipation of the axle driving motor 51 based on surface heat exchange.
In fig. 3, the wheel set drive assembly 50 may further include a motor controller 52, wherein the motor controller 52 may be installed at one side circumferential surface of the axle drive motor 51 (motor main body 511) to be exposed to the axial flow path of the disturbed airflow 90. In this case, in order to avoid the motor controller 52 from blocking the axial flow of the disturbance air flow 90, the housing surface of the motor controller 52 may be integrated with a heat dissipation member (e.g., heat dissipation fins), and the deployment direction of the heat exchange surface of the heat dissipation member (e.g., heat dissipation fins) integrated with the housing surface of the motor controller 52 may be parallel to the flow direction of the disturbance air flow 90.
It is to be understood that the blade-shaped spokes (the disturbance assemblies 310) shown in fig. 1 to 4 are mainly used for expressing the integration positions and the integration manners of the blade-shaped spokes (the disturbance assemblies 310) on the driving wheel 30, and are not intended to limit that the blade-shaped spokes (the disturbance assemblies 310) integrated on each driving wheel 30 necessarily have the shapes or the airflow guide directions as shown in the figures.
That is, the blade-like spokes (perturbing member 310) integrated by each driving wheel 30 may be configured to: in response to the rotation of the driving wheel 30 when the chassis module is running in the forward direction, a disturbance airflow is generated that flows through the driving wheel 30 and forms a negative pressure p-that draws an airflow from the heat dissipation duct 20, or a disturbance airflow is generated that flows through the driving wheel 30 and forms a positive pressure p + that pushes an airflow toward the heat dissipation duct 20. Thus, an air pressure imbalance within the cooling air duct 20 for driving the flow of the cooling air stream may be induced by a corresponding selected configuration of the blade-shaped spokes (perturbing members 310) of the different drive wheels 30.
Fig. 5 is a schematic view of a first deployment example of the air guide cavity of the chassis module in the embodiment shown in fig. 1. FIG. 6 is a schematic diagram of an instantiation structure of the first deployment instance shown in FIG. 5. Fig. 7 is a schematic view of a second deployment example of the air guide cavity of the chassis module in the embodiment shown in fig. 1. Fig. 8 is a schematic view of a third deployment example of the air guide cavity of the chassis module in the embodiment shown in fig. 1. Fig. 9 is a schematic view of a fourth example of the deployment of the air guide duct cavity of the chassis module in the embodiment shown in fig. 1. In each of the deployment examples shown in fig. 5-9, the target heat source may further include a functional control component and/or a power supply component 70 disposed in the extended path of the wind guide lumen 20.
The functional drive and control assembly may include components for performing tasks using the mobile robot of the chassis module. For example, the function control assembly may include a front end plate group 61 arranged on the front head side 11 of the chassis housing 10, and/or a rear end plate group arranged on the rear end side 12 of the chassis housing 10.
The front-end plate group 61 can be used for detecting the chassis module in the forward process, such as a path or obstacle avoidance detection based on machine vision or laser induction. For example, the front-end plate group 61 may include at least one or any combination of a camera, a laser, a visible light lamp group, an infrared light lamp group, and a light sensor.
Similarly, the rear end panel group 62 may be used for detecting the chassis module during the backward movement, for example, the rear end panel group 62 may also include at least one or any combination of a camera, a laser, a visible light lamp group, an infrared light lamp group, and a light sensor.
Also, the function drive assembly may further include a master module 63, and the master module 63 may be disposed at a specified position within the annular peripheral surface of the chassis housing 10 formed by the front and rear end faces 11 and 12 and the side wall face 13.
In each of the deployment examples shown in fig. 5 to 9, the central region of the chassis housing 10 may be arranged with an actuator mounting cavity 16, the actuator mounting cavity 16 being used for mounting actuators, such as an elevator platform, for the mobile robot to perform tasks. Accordingly, the function control assembly may include an actuator driving motor 64, the actuator driving motor 64 may be disposed outside the actuator mounting cavity 16, and the front-end plate group 61, the rear-end plate group 62, and the function control assemblies such as the main control module 63 and the actuator driving motor 64 are disposed outside the actuator mounting cavity 16, so that the air guide pipe cavity 22 is disposed in a space outside the actuator mounting cavity 16.
Please particularly pay attention to fig. 5, and with reference to fig. 6, in a first deployment example, a transverse deployment manner is adopted in which the heat dissipation air duct 20 takes driving wheel cavities where a pair of driving wheels are respectively located as an air inlet and an air outlet, that is:
the driving wheel chamber may include a first driving wheel chamber 21a on a first side in a width direction of the chassis housing 10, and a second driving wheel chamber 21b on a second side opposite to the first side, wherein a first wheel set driving and controlling member 50a in driving connection with the first driving wheel 30a is disposed in the first driving wheel chamber 21a, and a second wheel set driving and controlling member 50b in driving connection with the second driving wheel 30b is disposed in the second driving wheel chamber 21 b;
the air guide pipe cavity 22 extends continuously and hermetically between the first drive wheel cavity 21a and the second drive wheel cavity 21b, and is routed to the main control module 63, the actuator drive motor 64, and the front end plate group 61 disposed in the front cavity of the chassis housing 10 (the cavity space located at the front side of the first drive wheel cavity 21a and the second drive wheel cavity 21b in the longitudinal direction);
the perturbing member may comprise a first perturbing member 310a integrated with the first drive wheel 30a in the first drive wheel chamber 21a and a second perturbing member 310b integrated with the second drive wheel 30b in the second drive wheel chamber 21 b;
when the chassis module is running in the forward direction, the first disturbed airflow 90a generated by the first disturbed assembly 310a in response to the forward rotation of the first driving wheel 30a flows through the first driving wheel 30a along the axial direction of the first driving wheel cavity 21a and forms a negative pressure p-for sucking airflow from the heat dissipation air duct 20;
also, the second disturbed airflow 90b generated by the second disturbed assembly 310b in response to the forward rotation of the second driving wheel 30b flows through the second driving wheel 30b in the axial direction of the second driving wheel cavity 21b and forms a positive pressure p + that pushes the airflow toward the heat dissipation duct 20.
Therefore, the heat dissipation airflow can flow into the second driving wheel cavity 21b of the heat dissipation air duct 20 through the second driving wheel 30b, and sequentially exchanges heat with the second wheel set driving and controlling assembly 50b in transmission connection with the second driving wheel 30b, the main control module 63, the actuator driving motor 64, the front end plate set 61, and the first wheel set driving and controlling assembly 50a in transmission connection with the first driving wheel 30a, and then flows through the first driving wheel 30a to be discharged from the first driving wheel cavity 21a of the heat dissipation air duct 20, so that heat dissipation of the chassis module is realized.
When the chassis module runs in reverse, the first driving wheel 30a and the second driving wheel 30b rotate in opposite directions, at this time, the disturbed airflow generated by the first disturbing component 310a and the second disturbing component 310b is reversed, and the heat dissipation airflow can flow into the first driving wheel cavity 21a of the heat dissipation air duct 20 through the first driving wheel 30a, and sequentially exchanges heat with the first wheel set driving and controlling component 50a, the front end plate group 61, the actuator driving motor 64, the main control module 63, and the second wheel set driving and controlling component 50b in transmission connection with the first driving wheel 30a, and then is discharged from the second driving wheel cavity 21b of the heat dissipation air duct 20 through the second driving wheel 30b, thereby achieving heat dissipation of the chassis module.
That is, the first deployment instance may be able to support active heat dissipation that continues during travel, both in forward and reverse travel conditions.
Directing attention particularly to fig. 7, in contrast to the first deployment example shown in fig. 5 and 6, in the example shown in fig. 7, the function control assembly further includes a rear end plate group 62 and a power supply assembly 70 (e.g., a rechargeable battery), the rear end plate group 62 and the power supply assembly 70 are deployed in the rear cavity of the chassis housing 10 (an inner cavity space located at the rear side of the first drive wheel cavity 21a and the second drive wheel cavity 21b in the length direction), so that the heat dissipation duct 20 may further have an additional lumen 23 branched in parallel with the air guide lumen 22, the additional lumen 23 continuously and hermetically extending between the first drive wheel cavity 21a and the second drive wheel cavity 21b to route the rear end plate group 62 and the power supply assembly 70 (e.g., a rechargeable battery) deployed in the rear cavity of the chassis housing 10.
Similarly to the first deployment example, the second deployment example can also support active heat dissipation in a traversing manner that is continuous during the driving period under the working conditions of forward driving and backward driving.
Please particularly pay attention to fig. 8, in the third deployment example, a longitudinal-row deployment manner is adopted in which the heat dissipation air duct 20 takes the drainage port 24 opened on the front head-on surface 11 as an air inlet and takes the driving wheel cavity where the driving wheel is located as an air outlet, that is:
the driving wheel chamber may include a first driving wheel chamber 21a on a first side in a width direction of the chassis housing 10, and a second driving wheel chamber 21b on a second side opposite to the first side, wherein a first wheel set driving and controlling member 50a in driving connection with the first driving wheel 30a is disposed in the first driving wheel chamber 21a, and a second wheel set driving and controlling member 50b in driving connection with the second driving wheel 30b is disposed in the second driving wheel chamber 21 b;
the front facing surface 11 of the chassis shell 10 in the length direction is provided with a drainage port 24, and the air guide tube cavity 22 'penetrates through the first driving wheel cavity 21a and the second driving wheel cavity 21b from the drainage port 24 continuously and hermetically, that is, the air guide tube cavity 22' branches from the drainage port 24 in two branches respectively, wherein one branch is branched to the front end plate group 61, and the other branch is branched to the main control module 63 and the execution mechanism driving motor 64 in the front cavity of the chassis shell 10.
The perturbing member may comprise a first perturbing member 310a integrated with the first drive wheel 30a in the first drive wheel chamber 21a and a second perturbing member 310b integrated with the second drive wheel 30b in the second drive wheel chamber 21 b;
when the chassis module is running in the forward direction, the first disturbed airflow 90a generated by the first disturbed assembly 310a in response to the forward rotation of the first driving wheel 30a flows through the first driving wheel 30a along the axial direction of the first driving wheel cavity 21a and forms a negative pressure p-for sucking airflow from the heat dissipation air duct 20;
also, the second disturbed airflow 90b generated by the second disturbed assembly 310b in response to the forward rotation of the second driving wheel 30b flows through the second driving wheel 30b in the axial direction of the second driving wheel cavity 21b and also forms a negative pressure p-that draws airflow from the heat dissipation air duct 20.
Thus, the heat dissipation air flow can flow into the air guide tube cavity 22' of the heat dissipation air duct 20 from the drainage port 24, and:
the heat dissipation airflow can sequentially exchange heat with the front end plate set 61 and the first wheel set driving and controlling assembly 50a in transmission connection with the first driving wheel 30a from one branch of the air guide cavity 22' of the heat dissipation air duct 20, and then penetrate through the first driving wheel 30a to be discharged from the first driving wheel cavity 21a of the heat dissipation air duct 20;
meanwhile, the heat dissipation air flow is further branched from the other path of the air guiding cavity 22' of the heat dissipation air duct 20 to sequentially exchange heat with the actuator driving motor 64, the main control module 63, and the second wheel set driving and controlling assembly 50b in transmission connection with the second driving wheel 30b, and then pass through the second driving wheel 30b to be discharged from the second driving wheel cavity 21b of the heat dissipation air duct 20.
Thus, the third deployment instance can realize the heat dissipation of the chassis module under the forward driving working condition of the chassis module. And, the third deployment example is preferably applied to the case that the reverse driving of the chassis module lasts for a short time, that is, the duration of the reverse driving is short enough to tolerate the heat dissipation stop in a short time.
With particular attention to fig. 9, in the fourth deployment example, a longitudinal arrangement type deployment manner is adopted in which the heat dissipation air duct 20 takes the driving wheel cavity where the driving wheel is located as an air inlet and takes the drain 24 opened on the rear end surface 12 as an air outlet, that is:
the driving wheel chamber may include a first driving wheel chamber 21a on a first side in a width direction of the chassis housing 10, and a second driving wheel chamber 21b on a second side opposite to the first side, wherein a first wheel set driving and controlling member 50a in driving connection with the first driving wheel 30a is disposed in the first driving wheel chamber 21a, and a second wheel set driving and controlling member 50b in driving connection with the second driving wheel 30b is disposed in the second driving wheel chamber 21 b;
the rear end face 12 of the chassis housing 10 in the length direction is provided with a drain port 25, the air guide tube cavity 22 ″ continuously and hermetically penetrates to the drain port 25 from the first driving wheel cavity 21a and the second driving wheel cavity 21b, that is, two paths of the first driving wheel cavity 21a and the second driving wheel cavity 21b from which the air guide tube cavity 22 ″ respectively starts converge to the drain port 25, one path of the path is a rear end plate group 62 in the rear cavity of the chassis housing 10, and the other path of the path is a main control module 63 and an execution mechanism driving motor 64 in the rear cavity of the chassis housing 10.
The perturbing member may comprise a first perturbing member 310a integrated with the first drive wheel 30a in the first drive wheel chamber 21a and a second perturbing member 310b integrated with the second drive wheel 30b in the second drive wheel chamber 21 b;
when the chassis module is running in the forward direction, the first disturbance airflow 90a generated by the first disturbance component 310a in response to the forward rotation of the first driving wheel 30a flows through the first driving wheel 30a along the axial direction of the first driving wheel cavity 21a and forms a positive pressure p + pushing airflow to the heat dissipation air duct 20;
also, the second disturbed airflow 90b generated by the second disturbed assembly 310b in response to the forward rotation of the second driving wheel 30b flows through the second driving wheel 30b in the axial direction of the second driving wheel cavity 21b and also forms a positive pressure p + that pushes the airflow toward the heat dissipation duct 20.
Thus, the heat radiation air flow can flow into the two branches of the air guide tube cavity 22 ″ of the heat radiation air duct 20 from the first driving wheel cavity 21a and the second driving wheel cavity 21b, respectively, and:
a first wheel set driving and controlling component 50a and a rear end plate set 62, wherein one path of the radiating airflow is branched and sequentially connected with the first driving wheel 30a in a transmission way
Meanwhile, the heat dissipation air flow is subjected to heat exchange with the second wheel set driving and controlling assembly 50b, the main control module 63 and the actuator driving motor 64 which are in transmission connection with the second driving wheel 30b in the other branch, and then the heat dissipation air flows subjected to heat exchange in the two branches are subjected to confluence discharge from the discharge port 25.
Therefore, the fourth deployment example can realize the heat dissipation of the chassis module under the working condition that the chassis module runs in the forward direction. Also, similar to the third deployment example, the fourth deployment example is preferably applied to a case where the reverse travel of the chassis module lasts for a short time, that is, the duration of the reverse travel is short enough to tolerate the heat dissipation stop in a short time.
Based on the above-mentioned deployment examples, it can be understood that the deployment manner of the cooling air duct 20 can be arbitrarily set according to the position of the target heat source and the cooling requirement. Or, the deployment mode of the heat dissipation duct 20 may also know the deployment position of the target heat source, so that the layout of the components in the chassis module is more regular.
In another embodiment, a mobile robot is provided, which includes the chassis module in the foregoing embodiments, and the mobile robot may further include an actuator carried on the chassis module.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A chassis module, comprising:
the heat dissipation air channel comprises a driving wheel cavity and an air guide cavity communicated with the driving wheel cavity, the driving wheel cavity is arranged on the side edge of the chassis shell in the width direction, and the air guide cavity is arranged along a preset air flow circulation track;
a chassis wheel set including a drive wheel disposed within the drive wheel cavity and integrated with a disturbance assembly;
the disturbance assembly responds to the rotation of the driving wheel and generates disturbance airflow which penetrates through the driving wheel to flow along the axial direction, and the disturbance airflow enables the air pressure in the heat dissipation air duct to be unbalanced so as to trigger the generation of flowing airflow which is in heat exchange with the target heat source in the heat dissipation air duct.
2. The chassis module of claim 1, wherein the target heat source comprises:
a wheelset drive assembly disposed within the drive wheel cavity; and
a function control component and/or a power supply component arranged in the extending path of the wind guide cavity.
3. Chassis module according to claim 2,
the wheel set driving assembly comprises a wheel axle driving motor;
wherein the wheel axle driving motor is in transmission connection with the driving wheel, and the disturbed airflow generated by the disturbing assembly flows axially in a range surrounding the outer periphery of the wheel axle driving motor.
4. Chassis module according to claim 3,
the wheelset drive assembly further comprises a motor controller;
wherein the motor controller is installed at a side circumferential surface of the wheel axle driving motor to be exposed in an axial flow path of the disturbed airflow;
and a heat dissipation component is integrated on the surface of the shell of the motor controller, and the arrangement direction of the heat exchange surface of the heat dissipation component is parallel to the flowing direction of the disturbed air flow.
5. Chassis module according to claim 3,
the hub comprises a wheel disc, blade-shaped spokes arranged around the axle disc, wherein:
the wheel disc is in transmission connection with the wheel axle driving motor, and the shaft disc axially shields the wheel axle driving motor;
the blade-shaped spokes are radially outwardly flared relative to the axle drive motor, and the perturbation assembly comprises the blade-shaped spokes;
the blade-shaped spokes are configured to cause the turbulent airflow to have an intensity sufficient to cause an air pressure imbalance when a rotational speed of the drive wheel is not below a preset rotational speed threshold.
6. Chassis module according to claim 3,
an actuating mechanism mounting cavity is further formed in the chassis shell;
the function control assembly and/or the power supply assembly are/is arranged outside the actuating mechanism installation cavity;
the air guide pipe cavity is arranged in a space outside the executing mechanism installation cavity.
7. Chassis module according to claim 1,
the drive wheel chamber includes a first drive wheel chamber on a first side in a width direction of the chassis housing, and a second drive wheel chamber on a second side opposite to the first side;
the air guide pipe cavity continuously and hermetically extends between the first driving wheel cavity and the second driving wheel cavity;
the disturbance assembly comprises a first disturbance assembly integrated with a first drive wheel within the first drive wheel cavity and a second disturbance assembly integrated with a second drive wheel within the second drive wheel cavity;
wherein, the first disturbance air current that first disturbance subassembly produced runs through along the axial direction in first drive wheel chamber first drive wheel flows, and forms follow heat dissipation wind channel suction air's negative pressure, and, the second disturbance air current that the second disturbance subassembly produced runs through along the axial direction in second drive wheel chamber the second drive wheel flows, and forms to the positive pressure that heat dissipation wind channel bulldozes the air current.
8. Chassis module according to claim 1,
the drive wheel chamber includes a first drive wheel chamber on a first side in a width direction of the chassis housing, and a second drive wheel chamber on a second side opposite to the first side;
a drainage port is formed in the front head-on face of the chassis shell in the length direction, and the air guide pipe cavity continuously and hermetically penetrates to the first driving wheel cavity and the second driving wheel cavity from the drainage port;
the disturbance assembly comprises a first disturbance assembly integrated with a first drive wheel within the first drive wheel cavity and a second disturbance assembly integrated with a second drive wheel within the second drive wheel cavity;
the first disturbed airflow generated by the first disturbed assembly penetrates through the first driving wheel along the axial direction of the first driving wheel cavity and forms negative pressure for sucking airflow from the heat dissipation air duct, and the second disturbed airflow generated by the second disturbed assembly penetrates through the second driving wheel along the axial direction of the second driving wheel cavity and forms negative pressure for sucking airflow from the heat dissipation air duct.
9. Chassis module according to claim 1,
the drive wheel chamber includes a first drive wheel chamber on a first side in a width direction of the chassis housing, and a second drive wheel chamber on a second side opposite to the first side;
the rear end face of the chassis shell in the length direction is provided with a drainage port, and the air guide pipe cavity is continuously communicated to the drainage port from the first driving wheel cavity and the second driving wheel cavity in a closed manner;
the disturbance assembly comprises a first disturbance assembly integrated with a first drive wheel within the first drive wheel cavity and a second disturbance assembly integrated with a second drive wheel within the second drive wheel cavity;
wherein, first disturbance air current that first disturbance subassembly produced is followed the axial direction in first driving wheel chamber runs through first drive wheel flows and forms to the positive pressure that the air current was bulldozed in the heat dissipation wind channel, and, the second disturbance air current that the second disturbance subassembly produced is followed the axial direction in second driving wheel chamber runs through the second drive wheel flows and forms to the positive pressure that the air current was bulldozed in the heat dissipation wind channel.
10. A mobile robot comprising a chassis module according to any of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110551800.2A CN113276080B (en) | 2021-05-20 | 2021-05-20 | Chassis module and mobile robot |
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| CN202110551800.2A CN113276080B (en) | 2021-05-20 | 2021-05-20 | Chassis module and mobile robot |
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| CN113276080B CN113276080B (en) | 2022-11-11 |
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| CN203126365U (en) * | 2012-12-25 | 2013-08-14 | 长安大学 | Wheel capable of inducing air for dissipating heat |
| CN103253076A (en) * | 2013-05-30 | 2013-08-21 | 开平市中铝实业有限公司 | Lightweight cooling wheel hub of automobile |
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| CN113276080B (en) | 2022-11-11 |
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