CN220785977U - Robot chassis and mobile robot - Google Patents

Abstract

The application belongs to the field of robots, and provides a robot chassis and a mobile robot, wherein the mobile robot comprises the robot chassis, and the robot chassis comprises: the vehicle comprises a vehicle body, a control system, a front wheel device and a rear wheel device; the vehicle body is provided with a first end and a second end which are opposite, a plurality of independent installation spaces are arranged on the vehicle body, and the installation spaces are distributed from the first end to the second end; the control system comprises a control module, a driving module and an interface switch module, wherein the control module is arranged in the installation space of the first end, the driving module is arranged in the installation space of the second end, and the interface switch module is arranged in the installation space of the middle part of the vehicle body. Through offer a plurality of independent installation spaces that are arranged by first end to second end dispersion on the automobile body, be favorable to increasing automobile body installation control system's space, arrange a plurality of modules of control system in different installation spaces, be convenient for carry out dismouting, maintenance work to each module, effectively avoid appearing electromagnetic interference between each module.

Description

Robot chassis and mobile robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to a robot chassis and a mobile robot.

Background

Because the mobile robot has autonomous navigation and positioning capabilities, can automatically finish work tasks such as carrying, stacking and transporting, reduces manual operation and manpower input, improves the working efficiency, and enables the mobile robot to play an increasingly important role in the fields of industry, military, agriculture, education, service industry and the like, wherein the wheel type intelligent mobile robot has wider application in the market with the characteristics of high efficiency, high speed, strong adaptability, low noise and the like, such as an automatic guided vehicle (Automated Guided Vehicle, AGV). The core of the wheel type intelligent mobile robot is a vehicle body, which carries the basic functions of robot movement, positioning and mapping, path planning, autonomous obstacle avoidance and the like. The wheel type ackerman mobile robot body is very suitable for long-time high-strength working scenes based on the characteristics of strong loading capacity, high control precision, good obstacle crossing performance and the like, and has great application prospects in the low-speed unmanned fields of inspection, detection, transportation, teaching and the like.

At present, a part of mobile robot chassis mainly forms an installation space in the middle of a vehicle body, and the installation space is relatively narrow for a control system needing to install the robot chassis, so that when a plurality of modules of the control system are integrated in the installation space, the disassembly and assembly and maintenance work of each module are difficult, and electromagnetic interference among the modules of the control system is large, so that the overall control precision of the control system is affected.

Disclosure of utility model

The embodiment of the application aims to provide a robot chassis and a mobile robot, which are used for solving the technical problems that in the prior art, a plurality of modules of a control system are integrated in a narrow installation space in the middle of a vehicle body, so that the disassembly, assembly and maintenance work of each module are difficult, the electromagnetic interference among the modules of the control system is large, and the overall control precision of the control system is affected.

In order to achieve the above purpose, the application adopts the following technical scheme: there is provided a robot chassis comprising: the vehicle comprises a vehicle body, a control system, a front wheel device and a rear wheel device; the automobile body is provided with a first end and a second end which are opposite, a plurality of independent installation spaces are arranged on the automobile body, and the installation spaces are distributed from the first end to the second end; the control system comprises a control module, a driving module and an interface switch module, wherein the control module is arranged in the installation space of the first end, the driving module is arranged in the installation space of the second end, and the interface switch module is arranged in the installation space of the middle part of the vehicle body; one of the front wheel device and the rear wheel device is arranged at the first end, the other is arranged at the second end, and the front wheel device and the rear wheel device are controlled by the control system.

The robot chassis provided by the application has the beneficial effects that: compared with the prior art, the robot chassis is beneficial to enlarging the space for installing the control system on the vehicle body by arranging the plurality of independent installation spaces distributed from the first end to the second end on the vehicle body, and the control module is arranged in the installation space of the first end, the driving module is arranged in the installation space of the second end, the interface switch module is arranged in the installation space in the middle of the vehicle body, so that the plurality of modules of the control system are arranged in different installation spaces, the disassembly and the assembly work and the maintenance work of each module are convenient, and the plurality of modules of the control system are distributed in different installation spaces, so that electromagnetic interference among the modules is effectively avoided, and the control precision of the control system on the front wheel device and the rear wheel device is effectively ensured.

Optionally, the control module includes a main control module, the driving module includes a motor driver and a load power module, the interface switch module includes an interface component, a protection switch and a deconcentrator, the load power module is electrically connected with the main control module, the main control module is electrically connected with the motor driver, the protection switch and the deconcentrator are both connected with the motor driver.

Optionally, the installation space in the middle of the vehicle body comprises an upper cavity and a lower cavity distributed along the up-down direction, the interface switch module is arranged in the upper cavity, the robot chassis further comprises a battery, and the battery is arranged in the lower cavity.

Optionally, the side of the vehicle body corresponding to the lower cavity is provided with an opening, the battery is slidably arranged in the lower cavity and can enter and exit the lower cavity through the opening, and the opening is provided with an openable door cover

Optionally, the robot chassis further comprises an expansion platform, and the expansion platform is arranged on the top of the vehicle body.

Optionally, the front wheel device includes steering drive assembly, ackerman steering mechanism, two front wheel damper and two front wheel assemblies, steering drive assembly install in on the automobile body, and with ackerman steering mechanism transmission connection, two front wheel damper is located respectively ackerman steering mechanism's both ends, front wheel damper's both ends are connected respectively ackerman steering mechanism with the automobile body, two front wheel assemblies are located respectively the opposite both sides of automobile body, and respectively with ackerman steering mechanism's both ends are connected.

Optionally, each front wheel damper comprises a front supporting seat, two front fixing seats, two front dampers and two front damper springs, wherein the front supporting seat is arranged on the ackerman steering mechanism, the two front fixing seats are arranged on the vehicle body, one ends of the two front dampers are respectively hinged with two opposite sides of the front supporting seat, the other ends of the two front dampers are respectively correspondingly hinged with the two front fixing seats, and the two front damper springs are respectively sleeved on the two front dampers.

Optionally, the rear wheel device includes fixed plate, two rocking arms, two rotary drive assemblies, two rear wheel damper and two rear wheel assemblies, the fixed plate install in on the automobile body, two the rocking arms respectively with the both ends of fixed plate are articulated, two rotary drive assembly install respectively on two the rocking arms, two rear wheel damper's one end connect respectively in the rocking arms, the other end all connect in the automobile body, two the rear wheel assembly is located respectively the opposite both sides of automobile body, and respectively with two rotary drive assembly is connected.

Optionally, each rear wheel damper includes back supporting seat, two back fixing bases, two back shock absorbers and two back damping springs, back supporting seat set up in on the rocking arm, two back fixing bases all set up in on the automobile body, two back shock absorber's one end respectively with back supporting seat's relative both sides are articulated, two back shock absorber's the other end respectively with two back fixing bases correspond the articulated, two back damping springs overlaps respectively and locates two on the back shock absorber.

The application also provides a mobile robot, comprising the robot chassis.

The mobile robot provided by the application has the beneficial effects that: compared with the prior art, the mobile robot has the advantages that the plurality of independent installation spaces which are distributed from the first end to the second end are formed in the vehicle body by adopting the robot chassis, so that the space for installing the control system on the vehicle body is increased, the control module is arranged in the installation space of the first end, the driving module is arranged in the installation space of the second end, the interface switch module is arranged in the installation space in the middle of the vehicle body, the plurality of modules of the control system are arranged in different installation spaces, the disassembly, assembly and maintenance work on each module are convenient, and the plurality of modules of the control system are distributed in different installation spaces, so that electromagnetic interference between the modules is effectively avoided, and the control accuracy of the control system on the front wheel device and the rear wheel device is effectively ensured.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a robot chassis according to an embodiment of the present application;

Fig. 2 is a schematic diagram of a part of a structure of a robot chassis according to an embodiment of the present application, in which a housing and an expansion platform are omitted;

fig. 3 is a schematic diagram of a part of a robot chassis according to a second embodiment of the present application, in which a housing and an expansion platform are omitted;

fig. 4 is a schematic view of a part of a front wheel device according to an embodiment of the present application;

FIG. 5 is a schematic structural view of a front wheel assembly according to an embodiment of the present application;

FIG. 6 is a schematic view of a portion of a rear wheel apparatus according to an embodiment of the present application;

fig. 7 is a schematic structural view of a rear wheel assembly according to an embodiment of the present application.

Wherein, each reference sign in the figure:

10. A vehicle body; 101. a first end; 102. a second end; 11. a frame; 111. an installation space; 112. an upper cavity; 113. a lower cavity; 12. a support plate; 13. a partition plate; 14. a housing; 15. fixing the cross beam; 16. connecting the corner seat; 17. a bumper; 18. an opening; 19. a door cover; F. a forward direction; 20. a control system; 21. a control module; 211. an intelligent control module; 212. a main control module; 22. a driving module; 221. a motor driver; 222. a load power supply module; a 23-interface switch module; 231. an interface assembly; 232. a protection switch; 233. a wire divider; 24. an automatic charging socket; 25. a manual charging jack 25; 26. and a power supply main switch. 30. A battery; 40. a heat radiation fan; 50. expanding a platform; 60. a front wheel device; 61. a steering drive assembly; 611. a steering motor; 612. a steering decelerator; 613. a universal joint; 62. an ackerman steering mechanism; 621. a steering wheel; 622. a cross arm; 623. a connecting rod; 624. a first rotating shaft; 625. a steering yoke; 626. a second rotating shaft; 63. a front wheel damping mechanism; 631. a front support base; 632. a front fixing seat; 633. a front shock absorber; 634. a front damper spring; 64. a front wheel assembly; 641. a front hub; 642. a front tire; 643. an outer baffle; 644. an inner baffle; 645. a connecting piece; 646. a bearing; 647. a wheel axle; 648. a front circlip; 70. a rear wheel device; 71. a fixing plate; 72. a rocker arm; 73. a rotary drive assembly; 731. a driving motor; 732. driving a speed reducer; 74. a rear wheel damping mechanism; 741. a rear support base; 742. a rear fixing seat; 743. a rear shock absorber; 744. a damping spring; 75. a rear wheel assembly; 751. a rear hub; 752. a rear tire; 753. a power shaft sleeve; 754. a connection cover; 755. a first fastener; 756. and a second fastener.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Referring to fig. 1 to 7 together, a description will be given of a robot chassis according to an embodiment of the present application.

Referring to fig. 1 and 2, the robot chassis includes a vehicle body 10, a control system 20, a front wheel device 60 and a rear wheel device 70; the vehicle body 10 is provided with a first end 101 and a second end 102 which are opposite, a plurality of independent installation spaces 111 are formed on the vehicle body 10, and the installation spaces 111 are distributed from the first end 101 to the second end 102; the control system 20 comprises a control module 21, a driving module 22 and an interface switch module 23, wherein the control module 21 is arranged in the installation space 111 of the first end 101, the driving module 22 is arranged in the installation space 111 of the second end 102, and the interface switch module 23 is arranged in the installation space 111 in the middle of the vehicle body 10; one of the front wheel assembly 60 and the rear wheel assembly 70 is mounted to the first end 101 and the other is mounted to the second end 102, and both the front wheel assembly 60 and the rear wheel assembly 70 are controlled by the control system 20.

In the present embodiment, the first end 101 is a front end of the vehicle body 10 and the second end 102 is a rear end of the vehicle body 10 along the advancing direction F of the robot chassis, the front wheel device 60 is mounted to the first end 101, and the rear wheel device 70 is mounted to the second end 102. In other embodiments, the first end 101 may be a rear end of the vehicle body 10, the second end 102 may be a front end of the vehicle body 10, the front wheel device 60 may be mounted to the second end 102, and the rear wheel device 70 may be mounted to the first end 101 along the forward direction F of the robot chassis. The control system 20 is electrically connected to the front wheel device 60 and the rear wheel device 70, and the control system 20 controls the operation of the front wheel device 60 and the rear wheel device 70.

The vehicle body 10 is a non-load-bearing vehicle body and has high load capacity. The plurality of installation spaces 111 are distributed from the first end 101 to the second end 102, and the control module 21, the driving module 22 and the interface switch module 23 are different functional modules and are arranged in the different installation spaces 111 of the vehicle body 10, so that the utilization rate of the internal space of the vehicle body 10 is improved, the effectiveness, coordination and relative independence of each functional module are effectively ensured, and the subsequent operations such as expansion, replacement, debugging and maintenance of the functional modules by a user are facilitated.

Compared with the prior art, the robot chassis provided by the application has the advantages that the plurality of independent installation spaces 111 which are distributed from the first end 101 to the second end 102 are formed in the vehicle body 10, so that the space for installing the control system 20 on the vehicle body 10 is increased, the control module 21 is arranged in the installation space 111 of the first end 101, the driving module 22 is arranged in the installation space 111 of the second end 102, the interface switch module 23 is arranged in the installation space 111 in the middle of the vehicle body 10, the plurality of modules of the control system 20 are arranged in different installation spaces 111, the disassembly and maintenance work of each module is convenient, and the plurality of modules of the control system 20 are distributed in different installation spaces 111, so that electromagnetic interference among the modules is effectively avoided, and the control precision of the control system 20 on the front wheel device 60 and the rear wheel device 70 is effectively ensured.

In some embodiments of the present application, the vehicle body 10 includes a frame 11, a support plate 12, a plurality of partition plates 13, and a housing 14, wherein the frame 11, the support plate 12, and the plurality of support plates 12 cooperate to form a plurality of independent installation spaces 111, and the housing 14 is covered by the frame 11. Specifically, the housing 14 is provided to cover the peripheral side surface of the frame 11 and the upper surface of the frame 11.

The frame 11 is of a frame type structure, the frame 11 is formed by welding sectional materials, and the rigidity strength is high.

Optionally, the supporting plate 12 and the plurality of partition plates 13 are sheet metal parts and welded with the frame 11. The number of the installation spaces 111 is three, and the three installation spaces 111 are sequentially distributed from the first end 101 to the second end 102.

In some embodiments, referring to fig. 2, the vehicle body 10 further includes a reinforcing cross member 15 and a connection corner seat 16, wherein the reinforcing cross member 15 is mounted on top of the frame 11, and the connection corner seat 16 is connected to one end of the reinforcing cross member 15 and the frame 11. By additionally installing the reinforcing cross beam 15, the overall strength and reliability of the vehicle body 10 are effectively enhanced, and the reinforcing cross beam 15 and the vehicle frame 11 are connected through the connecting angle seat 16, so that the stability of connection between the reinforcing cross beam 15 and the vehicle frame 11 is enhanced.

It should be noted that, the reinforcement beam 15 may be disassembled and assembled according to the size of the functional module installed inside the frame 11, so as to accommodate more functional modules while ensuring the overall rigidity of the frame 11.

In some embodiments, the body 10 further includes a bumper 17, the bumper being coupled to the first end 101 of the frame 11 when the first end 101 is the front end of the body 10 and coupled to the second end 102 of the frame 11 when the second end 102 is the rear end of the body 10.

Alternatively, the bumper 17 is welded to the frame 11, but the bumper 17 may be fixedly connected to the frame 11 by screws.

In some embodiments of the present application, the control module 21 includes an intelligent control module 211 and a main control module 212, the driving module 22 includes a motor driver 221 and a load power module 222, the interface switch module 23 includes an interface component 231, a protection switch 232 and a wire divider 233, the load power module 222 is electrically connected with the intelligent control module 211 and the main control module 212, the intelligent control module 211 is electrically connected with the main control module 212, the main control module 212 is electrically connected with the motor driver 221, and the protection switch 232 and the wire divider 233 are both connected with the motor driver 221.

The intelligent control module 211 is mainly responsible for intelligent positioning, navigation, mapping, and other tasks. The main control module 212 is mainly responsible for motion control, security, sensor data analysis and other tasks. The motor driver 221 is used to control motor operations of the front wheel apparatus 60 and the rear wheel apparatus 70, such as motor speed, motor steering, and the like. The electrical interface assembly 231 is used for transferring among the battery 30, the display device and various functional modules, and can be externally connected with other functional modules. The load power module 222 is used for supplying power to the intelligent control module 211, the main control module 212 and the like. The splitter 233 is used to convert the high voltage output from the battery 30 into a preset low voltage. The protection switch 232 is used for automatically opening a loop when high current appears in a circuit where the protection switch is positioned, and protecting devices such as the motor driver 221.

It should be noted that, the intelligent control module 211 is an unnecessary installation module, and a user can selectively install the intelligent control module according to an application scenario and performance requirements of the robot chassis.

Alternatively, protection switch 232 may be, but is not limited to, an air switch.

The number of motor drivers 221 is equal to the number of motors of the front wheel device 60 and the rear wheel device 70, and the number of protection switches 232 and splitters 233 is equal to the number of motor drivers 221. Alternatively, the number of motors of the front wheel device 60 and the number of motors of the rear wheel device 70 are three in total, so that the number of motor drivers 221 is also three, the numbers of the protection switches 232 and the splitters 233 are also three, the three protection switches 232 are respectively electrically connected with the three motor drivers 221, and the three splitters 233 are respectively electrically connected with the three motor drivers 221.

In some embodiments, referring to fig. 1, the control system 20 further includes an automatic charging jack 24, a manual charging jack 25, and a power master switch 26 disposed on the vehicle body 10, wherein the automatic charging jack 24, the manual charging jack 25, and the battery 30 master switch are electrically connected to the control module 21.

Specifically, the automatic charging jack 24, the manual charging jack 25, and the power master switch 26 are all disposed on the housing 14 and located at the second end 102.

In some embodiments of the present application, referring to fig. 2, the installation space 111 in the middle of the vehicle body 10 includes an upper cavity 112 and a lower cavity 113 distributed in the up-down direction, the interface switch module 23 is disposed in the upper cavity 112, the robot chassis further includes a battery 30, and the battery 30 is disposed in the lower cavity 113. The battery 30 is used to power the control system 20, the front wheel assembly 60, and the rear wheel assembly 70. Specifically, the battery 30 is electrically connected to the load power module 222, the interface assembly 231, the protection switch 232 and the splitter 233, the battery 30 is used for supplying power to the load power module 222 and the interface assembly 231, and the battery 30 is also used for supplying power to the motor driver 221 through the protection switch 232 and the splitter 233.

Through arranging interface switch module 23 and battery 30 respectively in upper cavity 112 and lower cavity 113, realize interface switch module 23 and battery 30 layering arrangement, the overall arrangement is reasonable, is convenient for carry out dismouting, maintenance etc. work to battery 30, interface switch module 23. In addition, by disposing the battery 30 in the lower cavity 113 in the middle of the vehicle body 10, it is advantageous to ensure the stability of the robot chassis during traveling.

Alternatively, the number of batteries 30 may be one, two, or other numbers, etc., it being understood that a user may selectively install single batteries, double batteries, or other numbers of batteries as desired. In the embodiment of the application, the number of the batteries 30 is two, the batteries 30 are large-capacity batteries 30, and the large-capacity batteries 30 are used for storing and supplying power, so that the cruising ability of the robot chassis is improved, and the use experience of a user is improved.

In some embodiments of the present application, referring to fig. 1, an opening 18 is provided at a side portion of the vehicle body 10 corresponding to the lower cavity 113, the opening 18 is communicated with the lower cavity 113, the battery 30 is slidably disposed in the lower cavity 113 and can enter and exit the lower cavity 113 through the opening 18, it can be understood that the battery 30 and the lower cavity 113 cooperate to form a pull-push structure, the battery 30 can be disposed in the lower cavity 113 or separated from the lower cavity 113 by pushing and pulling the battery 30, and an openable door cover 19 is disposed at the opening 18.

Specifically, the opening 18 is formed in the housing 14, one side of the door 19 is hinged to a side of the opening 18, and the door 19 is turned relative to the housing 14 to open or close the opening 18.

When the door 19 is in the closed state, the other side of the door 19 may be connected to the housing 14, for example, the door 19 is screwed, clamped, fastened, or the like with the housing 14. Optionally, when the door 19 is in the closed state, the other side of the door 19 is screwed with the housing 14 to press the battery 30 against the lower cavity 113, so as to prevent the battery 30 from being separated from the lower cavity 113.

In some embodiments, referring to fig. 2 and 3, the robot chassis further includes a cooling fan 40, the cooling fan 40 is mounted on the frame 11, and a specific mounting position of the cooling fan 40 can be selected according to requirements, for example, the cooling fan 40 can be disposed in a diagonal direction in a middle portion of the frame 11.

Alternatively, the number of the heat radiation fans 40 may be one or more.

In some embodiments of the present application, referring to fig. 1, the robot chassis further includes an expanding platform 50, wherein the expanding platform 50 is disposed on top of the vehicle body 10. The expansion platform 50 is used for carrying different devices, which is beneficial to enhancing the functions and performances of the robot chassis, for example, the expansion platform 50 can carry different sensors, such as a laser radar, a vision sensor, an ultrasonic detector and the like, so as to obtain richer environmental information and realize the functions of navigation, obstacle avoidance, positioning and the like of the mobile robot. The expansion platform 50 may also be equipped with various actuators, such as a mechanical arm, a clamp, a gripper, a camera, a disinfection spray head, etc., to perform various operations and tasks, such as handling, assembly, and detection. The docking station 50 may also be used to carry various auxiliary devices, such as batteries, charging piles, base stations, etc., to ensure continuous operation and long distance movement of the mobile robot. It can be appreciated that the expansion platform 50 provides rich expansion interfaces and spaces, so that the robot chassis has higher flexibility, and can be loaded with various different devices to meet the requirements of different application scenes.

In some embodiments of the present application, referring to fig. 3, the front wheel apparatus 60 includes a steering driving assembly 61, an ackerman steering mechanism 62, two front wheel shock absorbing mechanisms 63 and two front wheel assemblies 64, the steering driving assembly 61 is mounted on the vehicle body 10 and is in transmission connection with the ackerman steering mechanism 62, the two front wheel shock absorbing mechanisms 63 are respectively located at two ends of the ackerman steering mechanism 62, two ends of the front wheel shock absorbing mechanisms 63 are respectively connected with the ackerman steering mechanism 62 and the vehicle body 10, and the two front wheel assemblies 64 are respectively located at two opposite sides of the vehicle body 10 and are respectively connected with two ends of the ackerman steering mechanism 62.

The steering driving assembly 61 is electrically connected with one of the motor drivers 221, and when the robot is steered, the steering driving assembly 61 drives the ackerman steering mechanism 62 to perform corresponding movement under the control of the motor driver 221, and the ackerman steering mechanism 62 drives the two front wheel assemblies 64 to deflect, so that the steering function of the robot chassis is realized. The ackerman steering mechanism 62 can enhance the steering performance and the operability of the robot chassis, improve the adaptability and the maneuvering speed of the robot chassis, and enable the robot chassis to show good performance under various environments and conditions.

Specifically, the steering drive assembly 61 includes a steering motor 611, a steering reducer 612, and a universal joint 613, the steering motor 611 is located in the middle of the vehicle body 10 and is mounted on the support plate 12, an output shaft of the steering motor 611 is connected to an input shaft of the steering reducer 612, an output shaft of the steering reducer 612 is connected to the universal joint 613, and the universal joint 613 is connected to the ackerman steering mechanism 62.

Referring to fig. 4, the ackerman steering mechanism 62 includes a steering wheel 621, a cross arm 622, two connecting rods 623, two first rotating shafts 624, two steering fork arms 625 and two second rotating shafts 626, the steering wheel 621 is connected with a universal joint 613, and it can be understood that an output shaft of the steering reducer 612 is in transmission connection with the steering wheel 621 through the universal joint 613. The two connecting rods 623 are respectively connected with two ends of the steering wheel 621, one ends of the two steering fork arms 625 are respectively hinged with one ends of the two steering fork arms 625 through first rotating shafts 624, the other ends of the two steering fork arms 625 are respectively connected with the two front wheel assemblies 64, and the middle parts of the two steering fork arms 625 are respectively hinged with two ends of the two steering fork arms 625 through second rotating shafts 626.

Alternatively, steering motor 611 may be, but is not limited to, a band-type brake servo motor, steering motor 611 being used to effect steering changes and locking of ackerman steering mechanism 62.

The steering wheel 621 may be, but is not limited to, a rack and pinion steering wheel 621.

In some embodiments, the cross arm 622 is provided with a hollowed-out hole. By forming the hollowed holes in the cross arm 622, the reduction of the weight of the robot chassis is facilitated on the basis of ensuring the strength and rigidity of the ackerman steering mechanism 62.

Alternatively, one end of the link 623 is connected to the steering wheel 621 by a screw. The steering yoke 625 may be, but is not limited to, H-shaped or V-shaped, etc.

The two front wheel damper mechanisms 63 are respectively connected with two ends of the cross arm 622 to form a non-independent suspension and are positioned outside the frame 11.

In some embodiments of the present application, each front wheel damper mechanism 63 includes a front support 631, two front fixing seats 632, two front dampers 633 and two front damper springs 744, where the two front support 631 are disposed on the ackerman steering mechanism 62, for example, the front support 631 may be welded on the cross arm 622, or the front support 631 is connected to the cross arm 622 by using bolts. Both the front fixing bases 632 are disposed on the vehicle body 10, for example, the front fixing bases 632 may be fixed on the partition 13 by screws, or the front fixing bases 632 may be welded on the partition 13. One end of each of the two front dampers 633 is hinged to the corresponding front support seat 631, for example, one end of each of the front dampers 633 may be hinged to the corresponding front support seat 631 through a rotation shaft, a pin shaft, a bolt, or the like, the other end of each of the two front dampers 633 may be hinged to the corresponding front fixing seat 632, for example, the other end of each of the front dampers 633 may be hinged to the corresponding front fixing seat 632 through a rotation shaft, a pin shaft, a bolt, or the like, and the two front damper springs 744 are respectively sleeved on the two front dampers 633. The front damper 633 is a stroke-adjustable structure containing damping oil, and is assembled with the front damper spring 744 through the front damper 633 to form an independent component with a damping function.

Above-mentioned technical scheme, each front wheel damper 63 includes two front shock absorbers 633, realizes two shock attenuation effects, and specific better shock-absorbing capacity.

Alternatively, the distance between the two front dampers 633 of the front wheel damper mechanism 63 is gradually increased from bottom to top, and the two front dampers 633 are arranged at a 30 ° intersection.

In some embodiments, referring to FIG. 5, front wheel assembly 64 includes a front hub 641, a front tire 642, an outer shield 643, an inner shield 644, a connection 645, a bearing 646, a wheel axle 647, and a front circlip 648. The front tire 642 is provided on the front hub 641 and is coaxially disposed with the front hub 641. The outer baffle 643 and the inner baffle 644 are fixed in the front hub 641 by a connecting piece 645, and the outer baffle 643 and the inner baffle 644 are both coaxially arranged with the front hub 641, and the outer baffle 643 and the inner baffle 644 are annular plates. The number of bearings 646 is two, and two bearings 646 are respectively embedded in the outer baffle 643 and the inner baffle 644, and the two bearings 646 are coaxially arranged with the front hub 641. The axle 647 is disposed through two bearings 646, one end of the axle 647 is connected to the steering yoke 625, and it will be appreciated that the ackerman steering mechanism 62 is drivingly connected to the hub via the axle 647. A front circlip 648 is provided over the other end of the axle 647 and outside of the bearing 646 to limit the disengagement of the axle 647 from the front hub 641.

Alternatively, the front tire 642 is a pneumatic rubber tire.

Alternatively, the connection 645 may be, but is not limited to, a bolt. The number of the connecting pieces 645 is three, and three bolt through holes are formed in the rear hub 751 and are respectively provided for the three connecting pieces 645 to penetrate.

Optionally, axle 647 is D-shaped.

In some embodiments of the present application, referring to fig. 3, the rear wheel device 70 includes a fixing plate 71, two rocker arms 72, two rotary driving assemblies 73, two rear wheel damping mechanisms 74 and two rear wheel assemblies 75, wherein the fixing plate 71 is mounted on the vehicle body 10, the two rocker arms 72 are respectively hinged with two ends of the fixing plate 71, the two rotary driving assemblies 73 are respectively mounted on the two rocker arms 72, one ends of the two rear wheel damping mechanisms 74 are respectively connected with the rocker arms 72, the other ends of the two rear wheel damping mechanisms are respectively connected with the vehicle body 10, and the two rear wheel assemblies 75 are respectively located on two opposite sides of the vehicle body 10 and are respectively connected with the two rotary driving assemblies 73. The two rotary driving assemblies 73 are electrically connected with the other two motor drivers 221, respectively, and the rotary driving assemblies 73 drive the corresponding rear wheel assemblies 75 to rotate at a preset speed and direction under the control of the corresponding motor drivers 221 so as to move the robot chassis.

Alternatively, the fixing plate 71 is mounted on the bottom of the frame 11.

Referring to fig. 6, the rotary driving assembly 73 includes a driving motor 731 and a driving reducer 732, the driving motor 731 is disposed on the rocker arm 72, an output shaft of the driving motor 731 is connected to an input shaft of the driving reducer 732, the driving reducer 732 is disposed on the rocker arm 72, and an output shaft of the driving reducer 732 is connected to the corresponding rear wheel assembly 75.

Alternatively, the drive motor 731 may be, but is not limited to, a band-type brake servo motor, where the drive motor 731 is capable of band-type brake braking and band-type brake parking of the rear wheel assembly 75.

One end of the rear wheel damper 74 is connected to the swing arms 72, and two rear wheel dampers 74 are connected to the two swing arms 72, respectively, to form independent suspensions, and are located outside the frame 11.

In some embodiments of the present application, each rear wheel damper mechanism 74 includes a rear supporting seat 741, two rear fixing seats 742, two rear dampers 743 and two rear damper springs 744, the rear supporting seat 741 is disposed on the rocker arm 72, the two rear fixing seats 742 are both disposed on the vehicle body 10, one ends of the two rear dampers 743 are respectively hinged with opposite sides of the rear supporting seat 741, for example, one ends of the rear dampers 743 may be hinged with the corresponding rear supporting seats 741 through a rotating shaft, a pin shaft or a bolt, etc., the other ends of the two rear dampers 743 are respectively hinged with the two rear fixing seats 742, for example, the other ends of the rear dampers 743 may be hinged with the corresponding rear fixing seats 742 through a rotating shaft, a pin shaft or a bolt, etc., and the two rear damper springs 744 are respectively sleeved on the two rear dampers 743. The rear shock absorber 743 is a stroke-adjustable structure containing damping oil, and the rear shock absorber 743 and the rear shock absorbing spring 744 are assembled together to form an independent component with a shock absorbing function.

In the above technical solution, each rear wheel shock absorbing mechanism 74 includes two rear shock absorbers 743, which realizes a double shock absorbing effect and has a good shock absorbing performance.

Alternatively, the distance between the two rear shock absorbers 743 of the rear wheel shock absorbing mechanism 74 is gradually increased from bottom to top, and the two rear shock absorbers 743 are arranged at a 30 ° intersection.

In some embodiments, referring to fig. 7, the rear wheel assembly 75 includes a rear hub 751, a rear tire 752, a power sleeve 753, a connecting cover 754, a first fastener 755, and a second fastener 756. The rear tire 752 is fitted over the rear hub 751 and is disposed coaxially with the rear hub 751. The power shaft sleeve 753 is fixed in the rear hub 751 through the first fastener 755, the power shaft sleeve 753 and the rear hub 751 are coaxially arranged, an output shaft of the speed reducer penetrates through the power shaft sleeve 753, the connecting cover 754 is located on the outer side of the rear hub 751 and is connected with the output shaft of the speed reducer through the second fastener 756, and circumferential fixation is achieved between the output shaft of the speed reducer and the power shaft sleeve 753 through keys.

Alternatively, the rear tire 752 is a pneumatic rubber tire.

Alternatively, both first fastener 755 and second fastener 756 may be, but are not limited to, bolts.

The robot chassis provided by the embodiment of the application has at least the following beneficial effects:

1. The plurality of independent installation spaces 111 which are distributed from the first end 101 to the second end 102 are formed in the vehicle body 10, so that the space for installing the control system 20 in the vehicle body 10 is increased, the control module 21 is arranged in the installation space 111 of the first end 101, the driving module 22 is arranged in the installation space 111 of the second end 102, the interface switch module 23 is arranged in the installation space 111 in the middle of the vehicle body 10, the plurality of modules of the control system 20 are arranged in different installation spaces 111, the disassembly, assembly and maintenance work on each module are facilitated, and the plurality of modules of the control system 20 are distributed in different installation spaces 111, so that electromagnetic interference between the modules is effectively avoided, and the control accuracy of the control system 20 to the front wheel device 60 and the rear wheel device 70 is effectively ensured.

2. The steering motor 611 is adopted to drive the ackerman steering mechanism 62 to steer the two front wheel assemblies 64, and the two driving motors 731 are adopted to respectively drive the two rear wheel assemblies 75 to rotate, so that the center of mass of the robot chassis is centered, the stability of the robot chassis in the driving process is effectively ensured, and the safety of the core components of the robot chassis is ensured.

3. The power of the steering motor 611 is transmitted to the steering wheel 621 through the universal joint 613, so that the axial shaking of the steering motor 611 and the ackerman steering mechanism 62 in the moving process can be counteracted, and the stability of power transmission is effectively ensured. The power output by the drive motor 731 is directly transferred to the rear wheel assembly 75, which is advantageous for reducing the loss of accuracy due to the transmission of the complex transmission system. Two driving motors 731 are adopted to respectively drive the two rear wheel assemblies 75 to rotate, so that the control precision is high, and the differential steering efficiency is high. And the ackerman steering mechanism 62 and the rotary driving assembly 73 are simpler in structure, high in reliability and good in controllability, and can have the property of reducing the turning radius when being excessively bent, so that the excessively bent gesture is smoother, and the flexibility of the robot chassis is improved.

4. Steering motor 611 and driving motor 731 all adopt band-type brake clothes motor, can realize that the robot chassis is in the in-process of traveling, under emergency braking and the unusual outage circumstances, the robot chassis can automatic parking locking, effectively prevent the robot chassis because the unusual safety accident such as swift current slope that arouses of outage etc. simultaneously band-type brake servo motor's reaction rate is fast, long service life, and the fault rate is low, is favorable to improving the security performance of robot chassis.

5. The vehicle body 10 is a non-load-bearing vehicle body 10, and the vehicle frame 11 is a frame structure formed by welding sectional materials, and has high load capacity.

6. The specific installation position and the pneumatic number of the cooling fan 40 can be selected according to the requirements, and the power consumption is reduced to the greatest extent while the cooling effect is ensured.

7. The reinforcement cross member 15 can be disassembled and assembled according to the size of the functional module installed inside the frame 11, thereby accommodating more functional modules while ensuring the overall rigidity of the frame 11.

8. The two front wheel damping mechanisms 63 are respectively connected with the two ends of the cross arm 622 to form non-independent suspension, the two rear wheel damping mechanisms 74 are respectively connected with the two rocker arms 72 to form independent suspension, and the front wheel damping mechanisms 63 and the rear wheel damping mechanisms 74 are both positioned outside the frame 11, so that the structure of the robot chassis is simplified, the strength is high, the maintenance is easy, the positioning change of the front wheel assembly 64 in the driving process is small, the impact on the vehicle body 10 can be reduced, and the front wheel assembly 64 and the rear wheel assembly 75 are also effectively ensured to be attached to the ground. In addition, when shock attenuation is carried out, the shock attenuation spring 744 can absorb ground vibration and then convert mechanical energy into elastic potential energy for attenuation, and meanwhile, the shock absorber can convert the elastic potential energy into heat energy through compressing damping oil and release the heat energy into air, so that the potential energy attenuation process is accelerated, and the motion stability of the robot chassis is effectively guaranteed.

10. The intelligent control module 211 in the control module 21 receives, calculates and transmits the collected sensing data and the wireless signal, which is beneficial to improving the operation efficiency and the control precision. In addition, the intelligent control module 211 is an unnecessary installation module, and a user can selectively install according to the application scene and the performance requirement of the robot chassis, so that the cost can be reasonably controlled under the condition of meeting the application scene.

11. Through setting up three motor driver 221, one of them motor driver 221 is connected with steering motor 611 electricity, and two other motor driver 221 are connected with two driving motor 731 electricity respectively, realize independent control, and battery 30 provides reliable electric energy for three motor driver 221 respectively through three independent air switch and three deconcentrator 233, so, not only effectively guarantees the positioning accuracy in the driving, also is favorable to improving motor driver 221's life simultaneously.

12. The front tire 642 and the rear tire 752 are all inflated ordinary rubber wheels, the surface of the tire is provided with complex patterns, the friction coefficient of the tire can be effectively increased, the tire has better grip force, meanwhile, the damping performance of the robot chassis can be further improved by the inflated rubber material in the tire, the inflated rubber tire is simple in structure, has better stability and bearing capacity, and is easy to repair and replace due to abrasion of the tire, so that the tire can be suitable for various complex environments.

13. The user can selectively install single battery, double battery or other quantity batteries according to the demand, and battery 30 is the large-capacity battery, adopts large-capacity battery 30 to carry out electric power storage and power supply, is favorable to improving the duration of robot chassis, improves user's use experience and feels.

14. The battery 30 and the lower cavity 113 cooperate to form a drawing structure, and the battery 30 can be arranged in the lower cavity 113 or separated from the lower cavity 113 through pushing and pulling the battery 30, and the opening 18 is opened or closed through the door cover 19, so that the stability of the battery 30 is effectively ensured, and the battery 30 is convenient to disassemble and assemble.

The embodiment of the application also provides a mobile robot, which comprises the robot chassis in any embodiment. The robot chassis can be used for forming mobile robots with different functions by carrying different sensors, various actuators or other auxiliary equipment. For example, the robot chassis may collect the required signals by carrying a vision sensor, a radar, a 5G antenna, etc., and feed back the signals to the intelligent control module 211, the intelligent control module 211 receives, processes and analyzes the signals to generate the required target signals, and transmits the required target signals to the main control module 212, the main control module 212 converts the target signals into specific analog signals or digital signals, and then transmits the specific analog signals or digital signals to the motor driver 221, the steering driving assembly 61 drives the front wheel assembly 64 to precisely steer under the control of the corresponding motor driver 221, and the rotation driving assembly 73 drives the corresponding rear wheel assembly 75 to travel under the control of the corresponding motor driver 221, so as to realize the functions of unmanned autonomous navigation, remote control navigation, etc. of the mobile robot.

Compared with the prior art, the mobile robot provided by the application has the advantages that the plurality of independent installation spaces 111 distributed from the first end 101 to the second end 102 are formed in the vehicle body 10 by adopting the robot chassis, so that the space for installing the control system 20 on the vehicle body 10 is increased, the control module 21 is arranged in the installation space 111 of the first end 101, the driving module 22 is arranged in the installation space 111 of the second end 102, the interface switch module 23 is arranged in the installation space 111 in the middle of the vehicle body 10, the plurality of modules of the control system 20 are arranged in different installation spaces 111, the disassembly and maintenance work of each module is facilitated, and the plurality of modules of the control system 20 are distributed in different installation spaces 111, so that electromagnetic interference among the modules is effectively avoided, and the control precision of the control system 20 on the front wheel device 60 and the rear wheel device 70 is effectively ensured.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application.

Claims (10)

1. The robot chassis is characterized by comprising a vehicle body, a control system, a front wheel device and a rear wheel device; the automobile body is provided with a first end and a second end which are opposite, a plurality of independent installation spaces are arranged on the automobile body, and the installation spaces are distributed from the first end to the second end; the control system comprises a control module, a driving module and an interface switch module, wherein the control module is arranged in the installation space of the first end, the driving module is arranged in the installation space of the second end, and the interface switch module is arranged in the installation space of the middle part of the vehicle body; one of the front wheel device and the rear wheel device is arranged at the first end, the other is arranged at the second end, and the front wheel device and the rear wheel device are controlled by the control system.

2. The robot chassis of claim 1, wherein: the control module comprises a main control module, the driving module comprises a motor driver and a load power supply module, the interface switch module comprises an interface component, a protection switch and a deconcentrator, the load power supply module is electrically connected with the main control module, the main control module is electrically connected with the motor driver, and the protection switch and the deconcentrator are both connected with the motor driver.

3. The robot chassis of claim 1, wherein: the installation space in the middle of the automobile body comprises an upper cavity and a lower cavity which are distributed along the up-down direction, the interface switch module is arranged in the upper cavity, the robot chassis further comprises a battery, and the battery is arranged in the lower cavity.

4. A robot chassis according to claim 3, characterized in that: the automobile body corresponds the lateral part of cavity down is equipped with the opening, the battery slide set up in the cavity down, and can pass through the opening business turn over the cavity down, the opening part is provided with openable door closure.

5. The robot chassis of claim 1, wherein: the robot chassis further comprises an expansion platform, and the expansion platform is arranged on the top of the vehicle body.

6. The robot chassis of any of claims 1-5, wherein: the front wheel device comprises a steering driving assembly, an Ackerman steering mechanism, two front wheel damping mechanisms and two front wheel assemblies, wherein the steering driving assembly is arranged on the vehicle body and is in transmission connection with the Ackerman steering mechanism, the two front wheel damping mechanisms are respectively positioned at two ends of the Ackerman steering mechanism, the two ends of the front wheel damping mechanisms are respectively connected with the Ackerman steering mechanism and the vehicle body, and the two front wheel assemblies are respectively positioned at two opposite sides of the vehicle body and are respectively connected with two ends of the Ackerman steering mechanism.

7. The robot chassis of claim 6, wherein: each front wheel damping mechanism comprises a front supporting seat, two front fixing seats, two front dampers and two front damping springs, wherein the front supporting seats are arranged on the ackerman steering mechanism, the two front fixing seats are arranged on the vehicle body, one ends of the two front dampers are respectively hinged to the two opposite sides of the front supporting seats, the other ends of the two front dampers are respectively hinged to the two front fixing seats in a corresponding mode, and the two front damping springs are respectively sleeved on the two front dampers.

8. The robot chassis of any of claims 1-5, wherein: the rear wheel device comprises a fixing plate, two rocker arms, two rotary driving assemblies, two rear wheel damping mechanisms and two rear wheel assemblies, wherein the fixing plate is installed on a vehicle body, the two rocker arms are respectively hinged with two ends of the fixing plate, the two rotary driving assemblies are respectively installed on the two rocker arms, one ends of the two rear wheel damping mechanisms are respectively connected with the rocker arms, the other ends of the two rear wheel damping mechanisms are respectively connected with the vehicle body, and the two rear wheel assemblies are respectively located on two opposite sides of the vehicle body and are respectively connected with the two rotary driving assemblies.

9. The robot chassis of claim 8, wherein: each rear wheel damping mechanism comprises a rear supporting seat, two rear fixing seats, two rear dampers and two rear damping springs, wherein the rear supporting seats are arranged on the rocker arms, the two rear fixing seats are arranged on the vehicle body, one ends of the two rear dampers are respectively hinged with the two opposite sides of the rear supporting seats, the other ends of the two rear dampers are respectively correspondingly hinged with the two rear fixing seats, and the two rear damping springs are respectively sleeved on the two rear dampers.

10. A mobile robot comprising a robot chassis according to any of claims 1-9.