CN214451313U

CN214451313U - Mobile robot chassis and mobile robot

Info

Publication number: CN214451313U
Application number: CN202022405650.8U
Authority: CN
Inventors: 王智锋; 关文江
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2020-10-26
Filing date: 2020-10-26
Publication date: 2021-10-22
Anticipated expiration: 2030-10-26

Abstract

The embodiment of the application provides a mobile robot chassis and a mobile robot; the chassis comprises a chassis frame and a rear axle assembly; the rear axle assembly comprises two rear wheels and a suspension mechanism; the suspension mechanism comprises two suspension rotating shafts, two suspension trailing arms, two rear axle half shafts, a differential and two suspension shock absorbers; the two suspension rotating shafts are hinged to two sides of the chassis frame; one end of each of the two suspension drag arms is fixed on the two suspension rotating shafts, and the other end of each of the two suspension drag arms is fixed on the chassis frame through two suspension shock absorbers; the two rear axle half shafts are connected with the two suspension drag arms, and the rear wheel driving mechanism is connected with the two front wheels through a differential and the rear axle half shafts; a hinge point of the suspension rotating shaft on the chassis frame, a hinge point of the suspension shock absorber on the suspension drag arm and a hinge point of the suspension shock absorber on the chassis frame are sequentially connected to form a suspension angle; the angle range of the suspension angle is 80 to 110 degrees. The embodiment of the application can effectively inhibit the overall jolting vibration of the chassis caused by uneven ground.

Description

Mobile robot chassis and mobile robot

Technical Field

The embodiment of the application relates to the technical field of robots, in particular to a mobile robot chassis and a mobile robot.

Background

The mobile robot is a machine device for automatically executing work, and is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like.

The mobile robot chassis is an important component of the mobile robot, and directly influences the stability, accuracy and reliability of the mobile robot in operation. The inventor finds that when the ground is uneven, the overall jolting vibration amplitude of the chassis is large, and the shock absorbing effect is poor.

SUMMERY OF THE UTILITY MODEL

In order to overcome the problems in the related art, the application provides a mobile robot chassis and a mobile robot, which can reduce the overall jolt vibration of the chassis.

According to a first aspect of embodiments of the present application, there is provided a mobile robot chassis comprising a chassis frame, a front axle assembly and a rear axle assembly; the rear axle assembly comprises a rear axle fixing structure, two rear wheels, a rear wheel driving mechanism and a suspension mechanism; the two rear wheels are fixed at two ends of the rear axle fixing structure; the rear wheel driving mechanism is connected with the two rear wheels through the suspension mechanism; the suspension mechanism comprises two suspension rotating shafts, two suspension trailing arms, two rear axle half shafts, a differential and two suspension shock absorbers; the two suspension rotating shafts are respectively hinged to two sides of the chassis frame; one end of each of the two suspension trailing arms is fixed on the two suspension rotating shafts respectively, and the other end of each of the two suspension trailing arms is fixed on the chassis frame through the two suspension shock absorbers respectively; the two rear axle half shafts are respectively connected with the two suspension drag arms in a rotating manner, the output end of the rear wheel driving mechanism is connected with the input end of the differential mechanism, the two output ends of the differential mechanism are respectively connected with the two rear axle half shafts, and the two rear wheels are respectively fixed on the two rear axle half shafts; a hinge point of the suspension rotating shaft on the chassis frame, a hinge point of the suspension shock absorber on the suspension trailing arm and a hinge point of the suspension shock absorber on the chassis frame are sequentially connected to form a suspension angle; the angle range of the suspension angle is 80 degrees to 110 degrees.

This application embodiment is through inciting somebody to action hang the pivot and be in pin joint on the chassis frame hang the shock absorber and be in pin joint on the trailing arm hang the shock absorber and be in pin joint on the chassis frame is according to the angle range design of the angle of hanging that the line formed according to the preface, and then makes the atress that two rear axle hung the shock absorber be in linear region for two hang the shock absorber can be evenly moderate effect of moving away to avoid possible earthquakes, better buffering is inhaled and is inhaled, can restrain the holistic vibration of jolting of chassis that the ground height inequality arouses effectively moreover, can effectively reduce the shock vibration that strides across the obstacle and arouse.

Further, when the mobile robot chassis is not loaded with a load, the angle range of the suspension angle is 80 degrees to 85 degrees; when the mobile robot chassis is loaded with a load, the angle range of the suspension angle is 85 degrees to 95 degrees, so that the suspension angle S of the chassis is basically kept to be close to a 90-degree right angle in actual operation, the stress of the two suspension shock absorbers is further ensured to be in a linear area, the two suspension shock absorbers can achieve uniform and moderate shock absorption effects, and the integral bumping vibration of the chassis is reduced.

Furthermore, the front axle assembly comprises a front axle fixing structure, two front wheels, a front wheel steering driving mechanism, a steering linkage mechanism and a front wheel dynamic adjusting mechanism; the front axle fixing structure comprises a front axle frame, a front axle main beam and a front axle main beam rotating seat; the front axle main beam is fixed on the front axle frame through the front axle main beam rotating seat; the two front wheels are fixed at two ends of the front axle main beam; the front wheel steering driving mechanism is connected with the two front wheels through the steering linkage mechanism; the mobile robot chassis further comprises a front wheel dynamic adjusting mechanism; the front wheel dynamic adjusting mechanism comprises a first rotating shaft, a second rotating shaft, a first bearing seat, a second bearing seat and a third bearing seat; the first bearing seat, the second bearing seat and the third bearing seat are sequentially fixed on the front axle frame along the direction vertical to the front axle main beam; two ends of the first self-transmission shaft are fixed through the first bearing seat and the second bearing seat respectively, and the second self-transmission shaft is fixed through the third bearing seat; the exposed part of the first self-transmission shaft, which is positioned between the first bearing seat and the second bearing seat, is sleeved with the front axle main beam rotating seat; the second self-transmission shaft is exposed out of the part of the third bearing seat and is sleeved with the front wheel steering driving mechanism, so that two front wheels which are passively adaptive to the ground are prevented from shaking and vibrating too much when the ground is uneven, and the second self-transmission shaft is matched with two rear wheels which are always pressed on the ground due to self weight, so that four wheels of the chassis can be kept in a state of landing simultaneously as much as possible, the chassis of the mobile robot can move stably, unstable states of shaking, swinging, vibrating and the like of the chassis of the robot caused by uneven ground are reduced, and the stability of the chassis of the mobile robot is further improved.

According to a second aspect of the embodiments of the present application, there is provided a mobile robot, including a body and any one of the mobile robot chassis described above; the machine body is fixed on the mobile robot chassis.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic top view of a mobile robot chassis according to an embodiment of the present disclosure;

FIG. 2 is a side view of a suspension structure according to an embodiment of the present disclosure;

FIG. 3 is a schematic top view of a steering linkage according to an embodiment of the present application;

FIG. 4 is a schematic partial cross-sectional structural view of a mobile robot chassis according to an embodiment of the present application;

FIG. 5 is a schematic partial perspective view of a front axle assembly according to an exemplary embodiment of the present disclosure;

fig. 6 is a schematic side view of a mobile robot chassis according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.

In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The word "if/if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination". Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

A mobile robot chassis provided in an embodiment of the present application will be described in detail below with reference to fig. 1 to 6.

Referring to fig. 1, a mobile robot chassis 1000 according to an embodiment of the present disclosure includes a chassis frame 1100, a front axle assembly 1200, a rear axle assembly 1300, and a control mechanism 1400. The front axle assembly 1200 is installed at the front of the chassis frame 1100, and the rear axle assembly 1300 is installed at the rear of the chassis frame 1100. The chassis frame 1100 is a main structure of the entire chassis, and is a mounting base for other components. The front axle assembly 1200 is responsible for controlling the steering of the chassis. The rear axle assembly 1300 is responsible for powering the chassis. The control mechanism 1400 may include one or more processing cores that may be used to control steering of the front axle assembly 1200 and drive power of the rear axle assembly 1300. In an exemplary embodiment of the present application, the control mechanism 1400 is a controller.

The rear axle assembly 1300 includes a rear axle securing structure 1310, a rear wheel drive mechanism 1320, a suspension mechanism 1330 and two rear wheels 1340; the rear axle fixing structure 1310 is fixed on the lower side of the chassis frame 1100 and is located at the rear of the chassis frame 1100; the two rear wheels 1340 are fixed at both ends of the rear axle fixing structure 1310; the rear wheel drive mechanism 1320 is coupled to the two rear wheels 1340 via the suspension mechanism 1330.

In an exemplary embodiment, the rear axle securing structure 1310 includes a rear axle frame 1311; the rear axle frame 1311 is fixed to the lower side of the chassis frame 1100 and is located at the rear of the chassis frame 1100.

In an exemplary embodiment, the rear wheel drive mechanism 1320 includes a rear wheel drive motor 1321 and a rear wheel motor drive (not shown); the input end of the rear wheel motor driver 1322 is connected with the output end of the control mechanism 1400 so as to receive the control instruction sent by the control mechanism 1400; the output end of the rear wheel motor driver is connected with the rear wheel driving motor 1321 to drive the rear wheel driving motor 1321 to rotate. The rotation shaft of the rear wheel driving motor 1321 is connected to the two rear wheels 1340 through the suspension mechanism 1330 so as to drive the two rear wheels 1340 to rotate.

Referring to fig. 2, the suspension mechanism 1330 includes two suspension shafts 1331, two suspension trailing arms 1332, two rear axle half shafts 1333, a differential 1334, and two suspension dampers 1335. The two hanging rotating shafts 1331 are respectively hinged to two sides of the chassis frame 1100; one end of each of the two suspension trailing arms 1332 is fixed to the two suspension shafts 1331, and the other end of each of the two suspension trailing arms 1332 is fixed to the chassis frame 1100 through the two suspension dampers 1335, so that the suspension trailing arms 1332 can rotate around the suspension dampers 1335 relative to the chassis frame 1100, and the non-independent suspension can be used for buffering impact and absorbing vibration when driving on uneven ground or crossing obstacles. The two rear axle half shafts 1333 are respectively connected with the two suspension drag arms 1332 in a rotating manner, the rotating shaft of the rear wheel drive motor 1321 is connected with the input end of the differential 1334, the two output ends of the differential 1334 are respectively connected with the two rear axle half shafts 1333, and the two rear wheels 1340 are respectively fixed on the two rear axle half shafts 1333, so that power is adaptively distributed to the two rear axle half shafts 1333 through the differential 1334, and then the two rear wheels 1340 are driven to rotate.

In an exemplary embodiment, a hinge point of the suspension rotation shaft 1331 on the chassis frame 1100, a hinge point of the suspension damper 1335 on the suspension trailing arm 1332, and a hinge point of the suspension damper 1335 on the chassis frame 1100 are sequentially connected to form a suspension angle S, and the angle range of the suspension angle S is 80 to 110 degrees.

In the embodiment of the present application, the suspension shaft 1331 is disposed at the hinge point of the chassis frame 1100, the suspension damper 1335 is disposed at the hinge point of the suspension trailing arm 1332, and the suspension damper 1335 is disposed at the hinge point of the chassis frame 1100, and the angle range of the suspension angle S formed by sequential connection is designed to be 80 degrees to 110 degrees, so that the stress of the two rear axle suspension dampers is in a linear region, and thus the two suspension dampers 1335 can have a uniform damping effect, better buffer and absorb shock, and can effectively suppress the overall jolt vibration of the chassis caused by uneven ground, and effectively reduce the shock vibration caused by crossing obstacles.

Preferably, when the mobile robot chassis is not loaded with a load, the angle range of the suspension angle is 80 degrees to 85 degrees; when the mobile robot chassis is loaded with a load, the angle range of the suspension angle is 85 degrees to 95 degrees. Because the excessive change of the suspension angle easily makes the stress of two rear axle suspension shock absorbers in a nonlinear area, and then easily causes the shock absorber effect that appears too soft or too hard because of the different loads of the chassis or uneven ground. According to the embodiment of the application, when the mobile robot chassis is not loaded with a load, the angle range of the suspension angle is 80-85 degrees; when the mobile robot chassis is loaded with a load, the angle range of the suspension angle is 85 degrees to 95 degrees, so that the suspension angle S of the chassis in actual operation can be basically kept to be close to a 90-degree right angle, and the stress of the two suspension dampers 1335 is further ensured to be in a linear region, so that the two suspension dampers 1335 can have uniform and moderate damping effect, and the integral bumping vibration of the chassis is reduced. In the exemplary embodiment of the present application, the suspension damper 1335 is a spring damper, and the exemplary embodiment of the present application limits the variation range of the suspension angle by adjusting the limit of the deformation length of the spring damper, and of course, other manners may also be adopted to limit the variation range of the suspension angle, such as adding additional mechanical limit, and the like, and the present application is not limited thereto.

In an exemplary embodiment, the front axle assembly 1200 includes a front axle securing structure 1210, two front wheels 1220, a front wheel steering drive mechanism 1230, a steering linkage 1240, and a front wheel dynamic adjustment mechanism 1250; the front axle fixing structure 1210 is installed at the lower side of the chassis frame 1100 and located at the front of the chassis frame 1100; two front wheels 1220 are fixed at both ends of the front axle fixing structure 1210; the front wheel steering driving mechanism 1230 is connected with the two front wheels 1220 through the steering linkage 1240; the front wheel state adjusting mechanism 1250 is used for adjusting the rotation states of the two front wheels 1220.

In an exemplary embodiment, the front axle securing structure 1210 includes a front axle frame 1211, a front axle main beam 1212, and a front axle main beam swivel 1213. The front axle frame 1211 is fixed to a lower side of the chassis frame 1100 and is positioned at a front portion of the chassis frame 1100. The front axle main beam 1212 is fixed to the front end of the front axle frame 1211 through the front axle main beam swivel 1213. Two front wheels 1220 are fixed to both ends of the front axle main beam 1212.

In an exemplary embodiment, the front wheel steering drive mechanism 1230 includes a steering drive motor mount 1231, a steering drive motor 1232, and a steering motor driver (not shown). The steering driving motor mounting seat 1231 is fixed in the middle of the front axle main beam 1212. The steering driving motor 1232 is fixed to the steering driving motor mounting base 1231. The input end of the steering motor driver 1233 is connected to the output end of the control mechanism 1400, and the output end of the steering motor driver 1233 is connected to the input end of the steering driving motor 1232, so as to receive the control command sent by the control mechanism 1400 and drive the steering driving motor 1232 to rotate. The rotation output shaft of the steering driving motor 1232 is connected to the two front wheels 1220 through the steering linkage 1240.

In an exemplary embodiment, referring to fig. 3, the steering linkage 1240 includes a steering coupling 1241, two steering gears 1242, two steer-fixing rods 1243, a tie rod 1244, two steering links 1245, and two front wheel securing rods 1246. The two steering machines 1242 are connected to a rotating shaft of the steering driving motor 1232 through the steering coupling 1241 to transmit power and motion of the steering driving motor 1232 to the two steering machines 1242. One end of each of the two steering fixing rods 1243 is hinged to the two steering gears 1242, and the other end of each of the two steering fixing rods 1243 is hinged to the two ends of the tie rod 1244, so that the motion and power transmitted from the two steering gears 1242 are transmitted to the tie rod 1244. The middle of the tie rod 1244 is hinged with two steering connecting rods 1245, and the two steering connecting rods 1245 are respectively connected with the two front wheels 1220 through the two front wheel fixing rods 1246, so that the two steering connecting rods 1245 pull or push the two steering front wheel fixing rods 1246, and then the two front wheels 1220 are pulled or pushed to rotate. In the embodiment of the present application, by fixing the two steering links 1245 at the middle portion of the tie rod 1244 instead of fixing the two steering links 1245 at the two ends of the tie rod 1244, the size selection range of the two steering links 1245 can be increased, and thus the design size limitation of the steering linkage 1240 can be reduced, and the range of the steering movement of the two steered front wheels 1220 can be increased.

In an exemplary embodiment, referring to fig. 4 and 5, front wheel dynamic adjustment mechanism 1250 includes first rotating shaft 1251, second rotating shaft 1252, first bearing housing 1253, second bearing housing 1254, and third bearing housing 1255; the first bearing seat 1253, the second bearing seat 1254 and the third bearing seat 1255 are sequentially fixed to the front axle frame 1211 along a direction perpendicular to the front axle main beam 1212; the two ends of the first self-transmission shaft 1241 are fixed by the first bearing seat 1253 and the second bearing seat 1254, respectively, and the second self-transmission shaft 1242 is fixed by the third bearing seat 1255; the exposed part of the first self-transmission shaft 1241 between the first bearing seat 1253 and the second bearing seat 1254 is sleeved with the front axle main beam rotating seat 1213; the portion of the second self-transmitting shaft 1242 exposed from the third bearing seat 1255 is sleeved with the front wheel steering driving mechanism 1230. Specifically, the portion of the second self-transmitting shaft 1242 exposed from the third bearing seat 1255 is sleeved with the steering driving motor mount 1231 of the front wheel steering driving mechanism 1230, and the steering driving motor mount 1231 is sleeved on the exposed second self-transmitting shaft 1242, so that the steering driving motor 1232 fixed on the steering driving motor mount, the steering linkage mechanism 1240 connected with the steering driving motor and the front wheel 1220 connected with the steering linkage mechanism can all rotate adaptively relative to the third bearing seat 1255, and further, the two front wheels 1220 passively adapted to the ground can stably land when the ground is uneven, so as to avoid the two front wheels 1220 passively adapted to the ground from shaking and vibrating too much when the ground is uneven, and then cooperate with the two rear wheels always pressed on the ground due to their own weight, so as to keep the four wheels of the chassis in a state of simultaneously landing as much as possible, therefore, the chassis of the mobile robot can move stably, unstable states of shaking, swinging, vibration and the like of the chassis of the robot caused by uneven ground are reduced, and the stability of the chassis of the mobile robot is improved. Further, the front axle main beam rotating seat 1213, the first rotating shaft 1251, the first bearing seat 1253 and the second bearing seat 1254 form a rotating pair; the front wheel steering driving mechanism 1230, the second rotation shaft 1252 and the third bearing seat 1255 form another revolute pair, and the two revolute pairs sequentially arranged along the direction perpendicular to the front axle main beam 1212 form a stressed structure in which the front axle frame 1211 is arranged in front of the rear axle, so that the stress of the front axle assembly is more uniform.

Preferably, the central axes of the first bearing seat 1253, the second bearing seat 1254 and the third bearing seat 1255 are aligned, so that the front wheel steering driving mechanism 1230 and the two front wheels 1220 fixed to the front main axle 1212 can rotate adaptively and flexibly with the first self-transmitting shaft 1241 and the second self-rotating shaft 1252 with respect to the first bearing seat 1253, the second bearing seat 1254 and the third bearing seat 1255, and avoid mutual interference and jamming.

Preferably, a central axis of the first bearing seat 1253, a central axis of the second bearing seat 1254, and a central axis of the third bearing seat 1255 coincide with a central axis of the front axle frame 1211, so that the two front wheels 1220 can be balanced with each other by rotating the first self-transmitting shaft 1241 and the second self-rotating shaft 1252 relative to the first bearing seat 1253, the second bearing seat 1254, and the third bearing seat 1255.

Preferably, the diameter of the first self-transmitting shaft 1241 is larger than the diameter of the second self-transmitting shaft 1242. Since the steering portion of the steering linkage 1240 receives forces in various directions such as shocks and vibrations during the operation of the chassis, and also generates moments in various directions due to the offset distance of these forces with respect to the center of the first rotating shaft, the ability of the rotating pair formed by the first rotating shaft 1251, the first bearing housing 1253, and the second bearing housing 1254 to directly receive vertical, longitudinal, and lateral forces is enhanced by the first rotating shaft 1251 having a large diameter. Because the action moment that unbalanced force produced is mainly offset to the revolute pair that second rotation shaft 1252 and third bearing seat 1255 constitute for avoid the especially bending damage of first rotation shaft 1251 of front axle assembly, second rotation shaft 1252 with the revolute pair atress that third bearing seat 1243 constitutes is less, consequently, through the diameter is less the second rotation shaft can alleviate front axle assembly 1200's weight and reduce the consumptive material, and through mutually supporting of the biography axle and the bearing frame of two different diameters, has improved front axle assembly 1200's bulk strength, can effectively avoid leading to the deformation, distortion and the vibration scheduling problem of front wheel steering drive mechanism 1230 and steering linkage mechanism 1240 because of the inhomogeneous messenger's of atress.

Preferably, the outer radius of the first bearing seat 1423 and the outer radius of the second bearing seat 1424 are both larger than the outer radius of the third bearing seat 1255, so as to further reduce the weight of the front axle assembly 1200 and reduce the consumables.

In an exemplary embodiment, the radius of both of the front wheels 1220 is less than the radius of both of the rear wheels 1340. Utility model people discover at the in-process of realizing utility model: through analysis and calculation of the obstacle crossing capability of the two front wheels 1220 and the obstacle crossing capability of the two rear wheels 1340, it can be known that when the radius of the two rear wheels 1340 is the same as that of the two front wheels 1220, the obstacle crossing capability of the two front wheels 1220 is stronger than that of the two driving rear wheels 1340, and when the radius of the two front wheels 1220 is smaller than that of the two rear wheels 1340, specifically, the two rear wheels 1340 are the same in size, the radii are both denoted as R_WTwo of the front wheels 1220 are the same size and have a radius r_w，R_W>r_wThe two front wheels 1220 and the two rear wheels 1340 can obtain the same obstacle crossing capability, and therefore, the two front wheels 1220 and the two rear wheels 1340 are designed to have a smaller radius than the two rear wheels 1340, so as to avoid the situation that the two front wheels 1220 get over the obstacle and the two rear wheels 1340 cannot get over the obstacle, so that the chassis is jammed and cannot advance. Meanwhile, the radius of the two front wheels 1220 is smaller than the radius of the two rear wheels 1340, so that the steering resistance moment applied to the two front wheels 1220 is reduced, and the improvement of the flexibility of chassis steering control is facilitated.

Referring to fig. 6, in an exemplary embodiment, a contact sensor 1500 for detecting an obstacle is further included; the output end of the contact sensor 1500 is connected to the control mechanism 1400 to transmit the information of the detected obstacle unable to cross to the control mechanism 1400, and the control mechanism 1400 sends a stall or backward command to the rear wheel motor driver 1322 according to the obstacle unable to cross information, and the rear wheel motor driver 1322 directly drives the rear wheel drive motor 1321 to stall or backward. The touch sensor is installed at a smaller value between the maximum obstacle surmountable height of the two front wheels 1220 and the maximum obstacle surmountable height of the two rear wheels 1340. Specifically, in the exemplary embodiment of the present application, since the two front wheels 1220 each have a radius smaller than the two rear wheels 1340 and the two front wheels 1220 and the two rear wheels 1340 have the same obstacle crossing height, in order to effectively detect an obstacle and early warn an obstacle that cannot be crossed, in the exemplary embodiment of the present application, the contact sensor 1500 is fixed on the front axle frame and disposed in front of the front wheels, and the height of the contact sensor from the ground is the maximum obstacle crossing height h of the front wheels 1220. When the contact sensor 1500 hits an obstacle and detects it, it is determined that the obstacle exceeds the obstacle crossing height of the robot chassis, that is, both the steering front wheels 1220 and both the driving rear wheels 1340 cannot cross, and at this time, the contact sensor 1500 transmits information of the detected obstacle that cannot cross to the rear wheel driving motor 1321, informing the rear wheel driving motor 1321 to stop rotating.

The embodiment of the application also provides a mobile robot, which comprises a robot body and a mobile robot chassis; the machine body is fixed on the mobile robot chassis, and the structure of the mobile robot chassis is completely the same as that of the mobile robot chassis, and is not described in detail herein.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A mobile robot chassis comprises a chassis frame, a front axle assembly and a rear axle assembly; the rear axle assembly comprises a rear axle fixing structure, two rear wheels, a rear wheel driving mechanism and a suspension mechanism; the two rear wheels are fixed at two ends of the rear axle fixing structure; the rear wheel driving mechanism is connected with the two rear wheels through the suspension mechanism;

the suspension mechanism is characterized by comprising two suspension rotating shafts, two suspension dragging arms, two rear axle half shafts, a differential and two suspension shock absorbers; the two suspension rotating shafts are respectively hinged to two sides of the chassis frame; one end of each of the two suspension trailing arms is fixed on the two suspension rotating shafts respectively, and the other end of each of the two suspension trailing arms is fixed on the chassis frame through the two suspension shock absorbers respectively; the two rear axle half shafts are respectively connected with the two suspension drag arms in a rotating manner, the output end of the rear wheel driving mechanism is connected with the input end of the differential mechanism, the two output ends of the differential mechanism are respectively connected with the two rear axle half shafts, and the two rear wheels are respectively fixed on the two rear axle half shafts;

a hinge point of the suspension rotating shaft on the chassis frame, a hinge point of the suspension shock absorber on the suspension trailing arm and a hinge point of the suspension shock absorber on the chassis frame are sequentially connected to form a suspension angle; the angle range of the suspension angle is 80 degrees to 110 degrees.

2. The mobile robot chassis of claim 1, wherein the suspension angle is in a range of 80 degrees to 85 degrees when the mobile robot chassis is unloaded; when the mobile robot chassis is loaded with a load, the angle range of the suspension angle is 85 degrees to 95 degrees.

3. The mobile robot chassis of claim 2,

the front axle assembly comprises a front axle fixing structure, two front wheels, a front wheel steering driving mechanism, a steering linkage mechanism and a front wheel dynamic adjusting mechanism; the front axle fixing structure comprises a front axle frame, a front axle main beam and a front axle main beam rotating seat; the front axle main beam is fixed on the front axle frame through the front axle main beam rotating seat; the two front wheels are fixed at two ends of the front axle main beam; the front wheel steering driving mechanism is connected with the two front wheels through the steering linkage mechanism;

the mobile robot chassis further comprises a front wheel dynamic adjusting mechanism; the front wheel dynamic adjusting mechanism comprises a first rotating shaft, a second rotating shaft, a first bearing seat, a second bearing seat and a third bearing seat; the first bearing seat, the second bearing seat and the third bearing seat are sequentially fixed on the front axle frame along the direction vertical to the front axle main beam; two ends of the first self-transmission shaft are fixed through the first bearing seat and the second bearing seat respectively, and the second self-transmission shaft is fixed through the third bearing seat; the exposed part of the first self-transmission shaft, which is positioned between the first bearing seat and the second bearing seat, is sleeved with the front axle main beam rotating seat; the part of the second self-transmission shaft exposed out of the third bearing seat is sleeved with the front wheel steering driving mechanism.

4. The mobile robot chassis of claim 3, wherein a central axis of the first bearing seat, a central axis of the second bearing seat, and a central axis of the third bearing seat are collinear.

5. The mobile robot chassis of claim 3, wherein a central axis of the first bearing mount, a central axis of the second bearing mount, and a central axis of the third bearing mount coincide with a centerline of the front axle frame.

6. The mobile robot chassis of claim 3, wherein a diameter of the first self-transmitting shaft is greater than a diameter of the second self-transmitting shaft.

7. The mobile robot chassis of claim 3, wherein the steering linkage comprises a steering coupling, two steerers, two steering fixing rods, a tie rod, two steering links, and two front wheel fixing rods; the two steering machines are connected with an output shaft of the front wheel steering driving mechanism through the steering coupling; one ends of the two steering fixing rods are respectively hinged to the two steering machines, and the other ends of the two steering fixing rods are respectively hinged to two ends of the steering tie rod; the middle part of the steering tie rod is respectively hinged with two steering connecting rods; the two steering connecting rods are respectively connected with the two front wheels through the two front wheel fixing rods.

8. The mobile robot chassis of claim 3, wherein the radius of both of the rear wheels is greater than the radius of both of the front wheels.

9. The mobile robot chassis of any of claims 3-8, further comprising a control mechanism for controlling the front wheel steering drive mechanism and the rear wheel steering drive mechanism, and a contact sensor for detecting an obstacle; and the output end of the contact sensor is connected with the input end of the control mechanism.

10. A mobile robot comprising a fuselage and a mobile robot chassis of any of claims 1-9; the machine body is fixed on the mobile robot chassis.