WO2023001206A1

WO2023001206A1 - Chassis and robot

Info

Publication number: WO2023001206A1
Application number: PCT/CN2022/106882
Authority: WO
Inventors: 陈海波; 朱峰; 黄森
Original assignee: 深兰机器人(上海)有限公司
Priority date: 2021-07-20
Filing date: 2022-07-20
Publication date: 2023-01-26
Also published as: CN113753132A

Abstract

A chassis (10) and a robot (1). The chassis (10) comprises: a chassis fixing frame (200) comprising a base plate (210) and a plurality of support columns (220), the plurality of support columns (220) being spaced apart from each other and provided on the base plate (210) in a circular direction, and the support columns (220) being vertically connected to the base plate (210); and a suspension mechanism (100) connected to the base plate (210), the suspension mechanism (100) comprising at least two wheel body components, the two wheel body components being provided opposite to each other, and the wheel body components being configured to locomote on a locomotion surface. The chassis fixing frame (200) uses an all-steel structure, the plurality of support columns (220) are used as the main bearing beams, all forces are borne on the plurality of support columns (220), and then the overall position is fixed by means of the base plate (210) to ensure that the plurality of support columns (220) are evenly stressed in the vertical direction, firm, and reliable.

Description

底盘和机器人Chassis and Robot

本申请要求申请日为2021年7月20的中国专利申请202110821188.6的优先权。本申请引用上述中国专利申请的全文。This application claims the priority of the Chinese patent application 202110821188.6 with the filing date of July 20, 2021. This application cites the full text of the above-mentioned Chinese patent application.

技术领域technical field

本申请涉及机器人技术领域，具体涉及底盘和机器人。This application relates to the field of robot technology, in particular to chassis and robots.

背景技术Background technique

在相关现有技术中，底盘是机器人的行走部件，其中，底盘包括底盘固定架，底盘固定架安装有轮体组件，底盘固定架除了具有安装轮体的作用，还是机器人的底板支架，涉及到机器人的稳定性及承重效果。现有的底盘固定架承重钢架结构设计不合理，承重效果差，易磨损，行走不平稳，需经常更换，这样就增加了机器人的使用成本。In the relevant prior art, the chassis is the walking part of the robot, wherein the chassis includes a chassis fixing frame, and the chassis fixing frame is equipped with a wheel body assembly. In addition to the function of installing the wheel body, the chassis fixing frame is also the bottom plate support of the robot. The stability and load-bearing effect of the robot. The load-bearing steel frame structure design of the existing chassis fixing frame is unreasonable, the load-bearing effect is poor, easy to wear, the walking is not stable, and it needs to be replaced frequently, which increases the use cost of the robot.

另外，现有技术中，轮体组件与底盘固定架硬性连接，轮体的直径小，且市场上常规的底盘，距离地面低，使得轮体在不同的凹凸路面上行驶时，颠簸较为严重。In addition, in the prior art, the wheel body assembly is rigidly connected to the chassis fixing frame, the diameter of the wheel body is small, and the conventional chassis on the market is low from the ground, so that when the wheel body travels on different uneven roads, the bumps are more serious.

发明内容Contents of the invention

有鉴于此，本申请的第一方面的目的在于提供一种底盘，解决了背景技术中存在的底盘固定架承重效果差，行走不平稳的技术问题。In view of this, the purpose of the first aspect of the present application is to provide a chassis, which solves the technical problems of poor load-bearing effect of the chassis fixing frame and unstable walking in the background technology.

本申请第一方面提供底盘，包括：底盘固定架，包括底板和多个支撑柱，多个所述支撑柱相互间隔并环向设于所述底板上，且所述支撑柱与所述底板垂直；悬架机构，与所述底板连接；其中，所述悬架机构包括至少两个轮体组件，两个所述轮体组件相对设置，所述轮组件构造为在行走面上行走。The first aspect of the present application provides a chassis, including: a chassis fixing frame, including a bottom plate and a plurality of support columns, the plurality of support columns are spaced from each other and arranged on the bottom plate in a circular direction, and the support columns are perpendicular to the bottom plate a suspension mechanism, connected to the bottom plate; wherein, the suspension mechanism includes at least two wheel assemblies, the two wheel assemblies are arranged opposite to each other, and the wheel assemblies are configured to walk on a walking surface.

本申请的第一方面提供的底盘，底盘固定架采用全钢结构，多个支撑柱作为主要承重梁，将所有的受力都依靠在多个支撑柱上，再通过底板进行整***置的固定，以确保多个支撑柱在垂直方向上受力均匀，坚固可靠，能够降低底盘在行走过程中所受到的冲击力，从而使得底盘在行走过程中更平稳。In the chassis provided in the first aspect of the application, the chassis fixing frame adopts an all-steel structure, and multiple support columns are used as the main load-bearing beams, all the forces are relied on the multiple support columns, and then the overall position is fixed through the bottom plate. In order to ensure that the multiple supporting columns are evenly stressed in the vertical direction, it is firm and reliable, and can reduce the impact force on the chassis during walking, thereby making the chassis more stable during walking.

结合第一方面，在一种可能的实现方式中，所述底盘还包括：电箱；所述底盘固定架还包括：侧板组件，侧板组件连接于多个所述支撑柱上，以在所述底板上围合出容纳空间，所述电箱置于所述容纳空间内，且所述电箱与所述侧板组件可拆卸连接。With reference to the first aspect, in a possible implementation manner, the chassis further includes: an electrical box; the chassis fixing bracket further includes: a side plate assembly, which is connected to a plurality of the support columns, so as to An accommodating space is enclosed by the bottom plate, the electrical box is placed in the accommodating space, and the electrical box is detachably connected to the side plate assembly.

结合第一方面，在一种可能的实现方式中，所述底盘还包括：所述底盘还包括电箱限位结构，所述电箱限位结构包括：卡接槽，设于所述电箱上；卡接部，设于所述容纳空间内，且所述卡接部与所述侧板组件连接，所述卡接部与所述卡接槽卡接；侧连板，与所述侧板组件可拆卸连接。With reference to the first aspect, in a possible implementation manner, the chassis further includes: the chassis further includes a limiting structure for the electrical box, and the limiting structure for the electrical box includes: a snap-in slot provided on the electrical box On: the clamping part is provided in the accommodation space, and the clamping part is connected with the side panel assembly, and the clamping part is clamped with the clamping groove; the side connecting plate is connected with the side plate assembly Board assemblies are detachably connected.

结合第一方面，在一种可能的实现方式中，所述悬架机构包括：连杆；弹性压件，与所述连杆抵接；其中，每个所述连杆对应连接有一个所述轮体组件，所述弹性压件构造为压迫所述连杆，以使得所述轮体组件与接触面产生摩擦力；或所述弹性压件构造为松弛所述连杆。With reference to the first aspect, in a possible implementation manner, the suspension mechanism includes: a connecting rod; an elastic pressing member abutting against the connecting rod; wherein, each of the connecting rods is correspondingly connected to one of the In the wheel assembly, the elastic pressing member is configured to press the connecting rod, so that the wheel assembly and the contact surface generate friction; or the elastic pressing member is configured to relax the connecting rod.

结合第一方面，在一种可能的实现方式中，所述弹性压件包括：压板；第一弹性件，一端与所述连杆抵接，所述第一弹性件的另一端与所述压板抵接；其中，所述压板构造为压迫所述第一弹性件，以使得所述第一弹性件压迫所述连杆；或所述压板构造为松弛所述第一弹性件。With reference to the first aspect, in a possible implementation manner, the elastic pressing member includes: a pressing plate; a first elastic member, one end of which abuts against the connecting rod, and the other end of the first elastic member abuts against the pressing plate abutment; wherein, the pressing plate is configured to press the first elastic member, so that the first elastic member presses the connecting rod; or the pressing plate is configured to relax the first elastic member.

结合第一方面，在一种可能的实现方式中，所述第一弹性件包括：安装轴，构造为可转动；扭簧，套接于所述安装轴上，且所述扭簧的一端与所述压板抵接，所述扭簧的另一端与所述连杆抵接；其中，所述压板连接于所述安装轴上。With reference to the first aspect, in a possible implementation manner, the first elastic member includes: a mounting shaft configured to be rotatable; a torsion spring sleeved on the mounting shaft, and one end of the torsion spring is connected to the The pressure plate abuts, and the other end of the torsion spring abuts against the connecting rod; wherein, the pressure plate is connected to the installation shaft.

结合第一方面，在一种可能的实现方式中，所述悬架机构还包括：调节螺杆，构造为旋进以与所述压板相互抵接，或旋退以与所述压板相互脱离。With reference to the first aspect, in a possible implementation manner, the suspension mechanism further includes: an adjusting screw configured to be screwed in to abut against the pressing plate, or screwed back to disengage from the pressing plate.

结合第一方面，在一种可能的实现方式中，所述第一弹性件包括：立柱，一端与所述连杆连接；压簧，套接于所述立柱上；其中，所述压板套接于所述立柱上，且所述压板与所述立柱滑动连接，所述压簧沿弹性方向的一端与所述压板相互抵接。With reference to the first aspect, in a possible implementation manner, the first elastic member includes: a column, one end of which is connected to the connecting rod; a compression spring, sleeved on the column; wherein, the pressure plate is sleeved On the column, and the pressure plate is slidingly connected with the column, and one end of the pressure spring along the elastic direction abuts against the pressure plate.

结合第一方面，在一种可能的实现方式中，所述悬架机构还包括：连接轴；其中，所述连杆具有轴安装孔，所述连接轴构造为通过所述轴安装孔转动连接两个所述连杆。With reference to the first aspect, in a possible implementation manner, the suspension mechanism further includes: a connecting shaft; wherein, the connecting rod has a shaft installation hole, and the connecting shaft is configured to be rotatably connected through the shaft installation hole. two connecting rods.

结合第一方面，在一种可能的实现方式中，所述轮体组件包括：驱动轮，与所述连杆转动连接；复式导向轮，与所述连杆连接；其中，所述连杆具有第一端和第二端，所述驱动轮设于所述第一端，所述复式导向轮设于所述第二端连接。With reference to the first aspect, in a possible implementation manner, the wheel body assembly includes: a driving wheel, rotatably connected to the connecting rod; a compound guide wheel, connected to the connecting rod; wherein, the connecting rod has The first end and the second end, the driving wheel is arranged at the first end, and the compound guide wheel is arranged at the second end for connection.

结合第一方面，在一种可能的实现方式中，所述复式导向轮包括：导向轮，构造为与行走面相互接触；辅助轮，设于所述导向轮的一侧，所述辅助轮与所述导向轮偏心设置，使得所述辅助轮在前进方向上凸出于所述导向轮，并使得所述辅助轮与水平面的切线和所述导向轮与水平面的切线之间具有高度差。With reference to the first aspect, in a possible implementation manner, the composite guide wheel includes: a guide wheel configured to contact the running surface; an auxiliary wheel arranged on one side of the guide wheel, and the auxiliary wheel and The guide wheel is arranged eccentrically, so that the auxiliary wheel protrudes from the guide wheel in the forward direction, and there is a height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.

结合第一方面，在一种可能的实现方式中，所述辅助轮与所述导向轮之间具有第一偏心距和第二偏心距，所述第一偏心距使得所述辅助轮在前进方向上凸出于所述导向轮，所述第二偏心距使得所述辅助轮与水平面的切线和所述导向轮与水平面的切线之间具有所述高度差。With reference to the first aspect, in a possible implementation manner, there is a first eccentricity and a second eccentricity between the auxiliary wheel and the guide wheel, and the first eccentricity makes the auxiliary wheel protrudes above the guide wheel, and the second eccentricity makes the height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.

结合第一方面，在一种可能的实现方式中，所述第一偏心距为水平偏心距；其中，所述辅助轮的水平切线点位于所述导向轮的外径上，以获得所述第一偏心距。With reference to the first aspect, in a possible implementation manner, the first eccentricity is a horizontal eccentricity; wherein, the horizontal tangent point of the auxiliary wheel is located on the outer diameter of the guide wheel, so as to obtain the first eccentricity. An eccentricity.

结合第一方面，在一种可能的实现方式中，所述高度差为导向轮的半径的1/2至1/8。With reference to the first aspect, in a possible implementation manner, the height difference is 1/2 to 1/8 of the radius of the guide wheel.

结合第一方面，在一种可能的实现方式中，所述辅助轮设置为两个，两个所述辅助轮分别设于所述导向轮的相对两侧，且两个所述辅助轮同轴设置。With reference to the first aspect, in a possible implementation manner, there are two auxiliary wheels, the two auxiliary wheels are respectively arranged on opposite sides of the guide wheel, and the two auxiliary wheels are coaxial set up.

结合第一方面，在一种可能的实现方式中，所述复式导向轮还包括：轮轴；其中，所述导向轮具有轮架，所述轮架包括顶板和侧板，所述侧板与所述顶板连接，且所述侧板向外弯曲并围合出一个容置空间，所述导向轮部分地置于所述容置空间内，所述侧板具有相对的两侧，以连接所述轮轴，所述辅助轮转动连接于所述轮轴远离所述侧板的一端。With reference to the first aspect, in a possible implementation manner, the composite guide wheel further includes: a wheel shaft; wherein, the guide wheel has a wheel frame, and the wheel frame includes a top plate and a side plate, and the side plate and the The top board is connected, and the side boards are bent outwards to enclose an accommodating space, the guide wheels are partially placed in the accommodating space, and the side boards have opposite two sides to connect the A wheel shaft, the auxiliary wheel is rotatably connected to the end of the wheel shaft away from the side plate.

结合第一方面，在一种可能的实现方式中，所述复式导向轮还包括：轴承，转动连接于所述轮轴上；和/或所述轮轴采用采用焊接、铆压、螺纹锁紧中的任意一种方式与所述轮架固定连接；其中，所述辅助轮固定套设于所述轴承的外周面上With reference to the first aspect, in a possible implementation manner, the compound guide wheel further includes: a bearing rotatably connected to the wheel shaft; and/or the wheel shaft is welded, riveted, or threaded. Either way is fixedly connected with the wheel frame; wherein, the auxiliary wheel is fixedly sleeved on the outer peripheral surface of the bearing

结合第一方面，在一种可能的实现方式中，所述底盘固定架还包括：连接板，设于所述底盘前进方向的前端，且所述连接板与所述底盘固定架连接；其中，所述连接板的相对两侧分别设有一个所述复式导向轮，两个所述悬架机构分别位于所述底盘前进方向的后端。With reference to the first aspect, in a possible implementation manner, the chassis fixing frame further includes: a connecting plate disposed at the front end of the chassis in an advancing direction, and the connecting plate is connected to the chassis fixing frame; wherein, The opposite sides of the connecting plate are respectively provided with one of the multiple guide wheels, and the two suspension mechanisms are respectively located at the rear end of the forward direction of the chassis.

结合第一方面，在一种可能的实现方式中，所述底盘固定架还包括：防撞架，与所述连接板连接。With reference to the first aspect, in a possible implementation manner, the chassis fixing frame further includes: an anti-collision frame connected to the connecting plate.

本申请的第二方面提供机器人，所述机器人包括：上述任一实现方式中中所述的底盘；其中，所述底盘固定架还包括安装板和固定梁，所述支撑柱为方钢管，所述固定梁连接于所述底盘的所述支撑柱远离所述底板的一端，所述固定梁具有水平安装面，所述水平安装面与所述安装板相互贴合，以使得所述安装板与所述底板相互平行。The second aspect of the present application provides a robot, which includes: the chassis described in any of the above implementations; wherein, the chassis fixing frame also includes a mounting plate and a fixed beam, and the support column is a square steel pipe, so The fixed beam is connected to the end of the support column of the chassis away from the bottom plate, the fixed beam has a horizontal installation surface, and the horizontal installation surface and the installation plate are attached to each other, so that the installation plate and the installation plate The bottom plates are parallel to each other.

本申请第二方面提供的机器人，由于包括上述任一实现方式中的底盘，因此具有了上述任一项的底盘的技术效果，在此不再赘述。Since the robot provided in the second aspect of the present application includes the chassis in any of the above-mentioned implementation manners, it has the technical effect of any of the above-mentioned chassis, and will not be repeated here.

附图说明Description of drawings

图1所示为本申请一些实现方式提供的底盘的立体结构示意图。FIG. 1 is a schematic diagram of a three-dimensional structure of a chassis provided in some implementation manners of the present application.

图2所示为本申请一些实现方式提供的底盘的底盘固定架的立体结构示意图。FIG. 2 is a schematic three-dimensional structure diagram of a chassis fixing bracket of a chassis provided in some implementation manners of the present application.

图3所示为图2所示的一些实现方式提供的底盘的底盘固定架的主视结构示意图。FIG. 3 is a front structural schematic diagram of a chassis fixing frame provided by some implementations shown in FIG. 2 .

图4所示为图2所示的一些实现方式提供的底盘的底盘固定架的侧视结构示意图。FIG. 4 is a schematic side view structural diagram of a chassis fixing frame provided by some implementation manners shown in FIG. 2 .

图5所示为图2所示的一些实现方式提供的底盘的底盘固定架的俯视结构示意图。FIG. 5 is a schematic top view of the chassis fixing frame provided by some implementations shown in FIG. 2 .

图6所示为本申请一些实现方式提供的底盘的悬架机构的立体结构示意图。FIG. 6 is a schematic perspective view of a suspension mechanism of a chassis provided in some implementation manners of the present application.

图7所示为本申请另外一些实现方式提供的底盘的悬架机构的立体结构示意图。FIG. 7 is a schematic perspective view of a suspension mechanism of a chassis provided in some other implementation manners of the present application.

图8所示为本申请一些实现方式提供的底盘的悬架机构的局部结构的立体结构示意图。FIG. 8 is a schematic three-dimensional structural diagram of a partial structure of a suspension mechanism of a chassis provided in some implementation manners of the present application.

图9所示为图8中的B处放大结构式示意图。FIG. 9 is a schematic diagram showing an enlarged structural formula at B in FIG. 8 .

图10所示为本申请一些实现方式提供的底盘的复式导向轮的立体结构示意图。FIG. 10 is a schematic perspective view of the three-dimensional structure of the multiple guide wheels of the chassis provided in some implementations of the present application.

图11所示为图10所示的实现方式提供的底盘的复式导向轮的主视结构示意图。FIG. 11 is a front structural schematic view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

图12所示为图10所示的实现方式提供的底盘的复式导向轮的侧视结构示意图。FIG. 12 is a schematic side view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

图13所示为图10所示的实现方式提供的底盘的复式导向轮的俯视结构示意图。FIG. 13 is a schematic top view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

图14所示为图10所示的实现方式提供的底盘的复式导向轮的仰视结构示意图。FIG. 14 is a schematic bottom view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 .

图15所示为本申请一些实现方式提供的机器人的结构示意图。Fig. 15 is a schematic structural diagram of a robot provided in some implementation manners of the present application.

图16所示为本申请另外一些实现方式提供的机器人的主视结构示意图。FIG. 16 is a schematic diagram of a front view structure of a robot provided in some other implementation manners of the present application.

图17所示为本申请另外一些实现方式提供的机器人的立体结构示意图。FIG. 17 is a schematic diagram of a three-dimensional structure of a robot provided in some other implementation manners of the present application.

图18所示为本申请的一些实现方式提供的机器人在上坎前的主视结构示意图。FIG. 18 is a schematic diagram of a front view structure of a robot before going up a hurdle provided by some implementations of the present application.

图19所示为本申请的一些实现方式提供的机器人的前部的复式导向轮上坎过程的主视结构示意图。Fig. 19 is a front structural schematic view of the front double guide wheel sill-up process of the robot provided in some implementation manners of the present application.

图20所示为本申请的一些实现方式提供的机器人的前部的复式导向轮上坎后的主视结构示意图。Fig. 20 is a schematic diagram of the front structure of the front part of the robot after the upper sill of the multiple guide wheels provided by some implementations of the present application.

图21所示为本申请的一些实现方式提供的机器人的驱动轮上坎后的主视结构示意图。Fig. 21 is a schematic diagram of the front view structure of the driving wheel of the robot provided by some implementation manners of the present application.

图22所示为本申请的一些实现方式提供的机器人的前部的复式导向轮下坎后的主视结构示意图。Fig. 22 is a front structural schematic view of the front compound guide wheels of the robot provided by some implementations of the present application after lowering the sill.

图23所示为本申请的一些实现方式提供的机器人的驱动轮下坎后的主视结构示意图。Fig. 23 is a schematic diagram of the front view structure of the driving wheel of the robot provided in some implementation manners of the present application after the driving wheel is lowered to the sill.

具体实施方式detailed description

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some, not all, embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

申请概述Application overview

为了解决背景技术中存在的底盘固定架承重效果差，行走不平稳的技术问题，可以增大轮体的直径，能够改善底盘在行走过程中不平稳的现象。但是，由于轮体的安装受限于底盘的底部空间的大小，因此，通过增大轮体的直径方式，就受到了限制。In order to solve the technical problems of poor load-bearing effect of the chassis fixing frame and unstable walking in the background technology, the diameter of the wheel body can be increased to improve the unevenness of the chassis during walking. However, since the installation of the wheel body is limited by the size of the bottom space of the chassis, it is limited by increasing the diameter of the wheel body.

针对上述的技术问题，本申请的基本构思是提出一种底盘和机器人。将底盘拆分为两层：第一层用于使得承载力集中于与行走面垂直的垂直方向上；第二层用于保证整体结构更稳定。由于通过多个支撑柱垂直连接于底板上，保证了承载力可集中于垂直方向上，且底板连接多个支撑柱保证了整体结构的稳定性和平稳性。In view of the above technical problems, the basic idea of this application is to propose a chassis and a robot. Split the chassis into two layers: the first layer is used to concentrate the bearing capacity in the vertical direction perpendicular to the walking surface; the second layer is used to ensure the overall structure is more stable. Since the multiple support columns are vertically connected to the base plate, it is ensured that the bearing capacity can be concentrated in the vertical direction, and the base plate is connected with multiple support columns to ensure the stability and stability of the overall structure.

需要说明的是，本申请所提供的底盘可以应用于任何场景下的机器人。具体而言，机械结构的设计目的是要完成具体的工作任务，完成工作任务的方式为通过对应的机械结构或机械结构中的部分或全部组件以完成具体的机械动作或信息传递。It should be noted that the chassis provided in this application can be applied to robots in any scene. Specifically, the design purpose of the mechanical structure is to complete specific work tasks, and the way to complete the work tasks is to complete specific mechanical actions or information transmission through the corresponding mechanical structure or some or all components in the mechanical structure.

在介绍了本申请的基本原理之后，下面将参考附图来具体介绍本申请的各种非限制性实施例。After introducing the basic principles of the application, various non-limiting embodiments of the application will be described in detail below with reference to the accompanying drawings.

示例性底盘Exemplary Chassis

图1所示为本申请一些实现方式提供的底盘的立体结构示意图。如图1所示，该底盘100，包括底盘固定架200和悬架机构100。其中，底盘固定架200包括底板210和多个支撑柱220，例如，支撑柱220可以为四个，多个支撑柱220相互间隔并环向设于底板210上，使得支撑力能够均布于底板210上，结构更稳定。且支撑柱220与底板210垂直，使得承载力可以集中于支撑柱220上，可以减少底盘100在行走过程中发生摇晃现象，更平稳。悬架机构200与支撑柱220连接。其中，悬架机构100包括至少两个轮体组件，两个轮体组件相对设置，轮组件构造为在行走面上行走。FIG. 1 is a schematic diagram of a three-dimensional structure of a chassis provided in some implementation manners of the present application. As shown in FIG. 1 , the chassis 100 includes a chassis fixing frame 200 and a suspension mechanism 100 . Wherein, the chassis fixing frame 200 includes a base plate 210 and a plurality of support columns 220, for example, there may be four support columns 220, and the plurality of support columns 220 are spaced apart from each other and arranged circumferentially on the base plate 210, so that the support force can be evenly distributed on the base plate On 210, the structure is more stable. Moreover, the support column 220 is perpendicular to the bottom plate 210, so that the bearing capacity can be concentrated on the support column 220, which can reduce the shaking phenomenon of the chassis 100 during walking and is more stable. The suspension mechanism 200 is connected to the support column 220 . Wherein, the suspension mechanism 100 includes at least two wheel body assemblies, the two wheel body assemblies are arranged oppositely, and the wheel assembly is configured to walk on the walking surface.

更为具体地，底盘固定架200采用全钢结构，多个支撑柱220作为主要承重梁，将所有的受力都依靠在多个支撑柱上，再通过底板210进行整***置的固定，以确保多个支撑柱220在垂直方向上受力均匀，坚固可靠，能够降低底盘10在行走过程中所受到的冲击力，从而使得底盘10在行走过程中更平稳。More specifically, the chassis fixing frame 200 adopts an all-steel structure, and a plurality of support columns 220 are used as main load-bearing beams, and all forces are relied on the plurality of support columns, and then the overall position is fixed through the bottom plate 210 to ensure The plurality of support columns 220 are uniformly stressed in the vertical direction, are firm and reliable, and can reduce the impact force received by the chassis 10 during walking, thereby making the chassis 10 more stable during walking.

继续结合图1所示，结合第一方面，在一种可能的实现方式中，底盘10还包括电箱800，底盘固定架200还包括：侧板组件230，侧板组件230连接于多个支撑柱上，能够进一步增强底盘固定架的整体结构强度。侧板组件230包括设置在两侧的板体组件，板体组件包括侧板和连接端板，连接端板与侧板分别与对应侧的支撑柱连接，两个侧板相对设置，以在底板210上围合出容纳空间。电箱800置于容纳空间内，减少了底盘的结构尺寸，电箱800与侧板组件230可拆卸连接，方便对电箱进行维修。Continuing to show in FIG. 1 , in combination with the first aspect, in a possible implementation manner, the chassis 10 further includes an electrical box 800, and the chassis fixing frame 200 further includes: a side plate assembly 230, which is connected to a plurality of supports On the column, the overall structural strength of the chassis mount can be further enhanced. The side plate assembly 230 includes plate body assemblies arranged on both sides. The plate body assembly includes side plates and connecting end plates. 210 encloses an accommodating space. The electrical box 800 is placed in the accommodation space, which reduces the structural size of the chassis. The electrical box 800 is detachably connected to the side plate assembly 230 to facilitate maintenance of the electrical box.

继续结合图1所示，在一种可能的实现方式中，底盘10还包括电箱限位结构250，电箱限位结构250包括：卡接槽253、卡接部251和侧连接板255，卡接槽253设于电箱上，卡接部251设于容纳空间内，且卡接部251与侧板组件230连接，卡接部251的凸出部分与卡接槽253的凹陷部分的形状相适配，使得卡接部251与卡接槽253卡接。侧连板上设有多个通孔，以穿设紧固件，使得侧连板与侧板组件230可拆卸连接。其中，由于电箱在日常维护时需要拆卸检修和更换电池，通过采用卡接槽253和卡接部251的异性卡位，能够控制上下左右四个方面的位移，然后在后端通过螺纹件对齐固定确保整个电箱在机器人运动的过程中能不被外力冲击或震动而松脱。Continuing to show in FIG. 1 , in a possible implementation manner, the chassis 10 further includes an electrical box limiting structure 250, and the electrical box limiting structure 250 includes: a clamping slot 253, a clamping portion 251 and a side connecting plate 255, The clamping groove 253 is provided on the electric box, the clamping part 251 is arranged in the accommodation space, and the clamping part 251 is connected with the side plate assembly 230, the shape of the protruding part of the clamping part 251 and the concave part of the clamping groove 253 Matched so that the engaging portion 251 engages with the engaging groove 253 . A plurality of through holes are provided on the side connecting plate for passing fasteners, so that the side connecting plate is detachably connected to the side plate assembly 230 . Among them, since the electric box needs to be disassembled, overhauled and replaced with batteries during routine maintenance, by adopting the opposite sex clamping position of the clamping groove 253 and the clamping part 251, the displacement in the four aspects of up, down, left, and right can be controlled, and then the rear end can be aligned through screw parts Fixing ensures that the entire electrical box will not be loosened by external impact or vibration during the movement of the robot.

图6所示为本申请一些实现方式提供的底盘的立体结构示意图。如图6所示，该悬架机构100包括：连杆120和弹性压件140。FIG. 6 is a schematic perspective view of a three-dimensional structure of a chassis provided in some implementation manners of the present application. As shown in FIG. 6 , the suspension mechanism 100 includes: a connecting rod 120 and an elastic pressing member 140 .

具体地，每个连杆120对应连接有一个轮体组件，轮体组件与连杆120连接，弹性压件140与连杆120抵接，弹性压件140构造为压迫连杆120，以使得轮体组件与接触面产生摩擦力，或弹性压件140构造为松弛连杆120。连杆120在弹性压件140的压迫作用下，使得轮体组件能够紧贴地面而产生足够的摩擦力，从而驱使轮体组件中在前进方向上的轮体先上坎，然后随着弹性压件140的弹性力的逐渐释放，轮体组件与地面的摩擦力逐渐减小，这就避免了剧烈颠簸的产生。Specifically, each connecting rod 120 is correspondingly connected with a wheel assembly, the wheel assembly is connected to the connecting rod 120, the elastic pressing piece 140 abuts against the connecting rod 120, and the elastic pressing piece 140 is configured to press the connecting rod 120, so that the wheel The body component and the contact surface generate friction, or the elastic pressing piece 140 is configured to loosen the connecting rod 120 . The connecting rod 120 is under the pressure of the elastic pressing member 140, so that the wheel body assembly can be close to the ground and generate enough frictional force, thereby driving the wheel body in the forward direction of the wheel body assembly to go up the bump first, and then with the elastic pressure With the gradual release of the elastic force of the member 140, the frictional force between the wheel body assembly and the ground gradually decreases, which avoids the generation of violent bumps.

图8所示为本申请一些实现方式提供的底盘的悬架机构的局部结构的立体结构示意图。如图8所示，在一种可能的实现方式中，轮体组件包括驱动轮130和复式导向轮110，驱动轮130与连杆120转动连接，复式导向轮110与连杆120连接。其中，连杆120具有第一端121和第二端123，驱动轮130设于第一端121，复式导向轮110设于第二端123。FIG. 8 is a schematic three-dimensional structural diagram of a partial structure of a suspension mechanism of a chassis provided in some implementation manners of the present application. As shown in FIG. 8 , in a possible implementation manner, the wheel assembly includes a driving wheel 130 and a compound guide wheel 110 , the drive wheel 130 is rotatably connected to the connecting rod 120 , and the compound guide wheel 110 is connected to the connecting rod 120 . Wherein, the connecting rod 120 has a first end 121 and a second end 123 , the driving wheel 130 is arranged at the first end 121 , and the compound guide wheel 110 is arranged at the second end 123 .

具体地，继续结合图8所示，驱动轮130与第一端121转动连接，图9所示为图8中的B处放大结构式示意图。如图9所示，第一端121的底部设有驱动轮轴1301，驱动轮130与驱动轮轴1301转动连接。驱动轮130用于驱动悬架机构100行走，复式导向轮110通过轮架111与第二端123连接。驱动轮130安装在悬架机构100上与复式导向轮110一起使用，能够作为平衡轮，能够提高行走过程中的稳定性。另外，悬架机构100作为单独的部件，也提高了其适应性。该悬架机构100通过驱动轮130提供驱动力使得复式导向轮110可越过对应的高度的坎，使得悬架机构100能够越过对应的高度的坎，提高了悬架机构100的应用范围。Specifically, referring to FIG. 8 , the driving wheel 130 is rotationally connected to the first end 121 . FIG. 9 shows an enlarged schematic diagram of the structure at B in FIG. 8 . As shown in FIG. 9 , the bottom of the first end 121 is provided with a driving wheel shaft 1301 , and the driving wheel 130 is rotatably connected to the driving wheel shaft 1301 . The driving wheel 130 is used to drive the suspension mechanism 100 to travel, and the compound guide wheel 110 is connected to the second end 123 through the wheel frame 111 . The driving wheel 130 is installed on the suspension mechanism 100 and used together with the compound guide wheel 110, which can be used as a balance wheel and can improve the stability during walking. In addition, the suspension mechanism 100 as an independent component also improves its adaptability. The suspension mechanism 100 provides driving force through the driving wheel 130 so that the multiple guide wheels 110 can overcome the corresponding height of the threshold, so that the suspension mechanism 100 can overcome the corresponding height of the threshold, which improves the application range of the suspension mechanism 100 .

更为具体地，驱动轮130用于驱动悬架机构100行走，复式导向轮110通过轮架111与第二端123连接。驱动轮130安装在悬架机构100上与复式导向轮110一起使用，能够作为平衡轮，能够提高行走过程中的稳定性。另外，悬架机构100作为单独的部件，也提高了其适应性。该悬架机构100通过驱动轮130提供驱动力使得复式导向轮110可越过对应的高度的坎，使得悬架机构100能够越过对应的高度的坎，提高了悬架机构100的应用范围。More specifically, the driving wheel 130 is used to drive the suspension mechanism 100 to travel, and the multiple guide wheel 110 is connected to the second end 123 through the wheel frame 111 . The driving wheel 130 is installed on the suspension mechanism 100 and used together with the compound guide wheel 110, which can be used as a balance wheel and can improve the stability during walking. In addition, the suspension mechanism 100 as an independent component also improves its adaptability. The suspension mechanism 100 provides driving force through the driving wheel 130 so that the multiple guide wheels 110 can overcome the corresponding height of the threshold, so that the suspension mechanism 100 can overcome the corresponding height of the threshold, which improves the application range of the suspension mechanism 100 .

继续结合图6所示，在一种可能的实现方式中，弹性压件140包括压板141和第一弹性件143，第一弹性件143的一端与连杆120抵接，第一弹性件143的另一端与压板141抵接。其中，压板141构造为压迫第一弹性件143，以使得第一弹性件143压迫连杆120。或压板141构造为松弛第一弹性件143。可以理解为，弹性件141具有弹性，在受到压板141的压迫后，弹性件141能够在弹性力的作用下反作用于连杆120，从而能够增大连杆120上的轮体组件的摩擦力。其中，压板141在动力机构的驱动下压迫弹性件141，以使得弹性件141压迫连杆120。Continuing to show in FIG. 6 , in a possible implementation manner, the elastic pressing member 140 includes a pressing plate 141 and a first elastic member 143 , one end of the first elastic member 143 abuts against the connecting rod 120 , and the first elastic member 143 The other end abuts against the pressing plate 141 . Wherein, the pressing plate 141 is configured to press the first elastic member 143 so that the first elastic member 143 presses the connecting rod 120 . Or the pressing plate 141 is configured to loosen the first elastic member 143 . It can be understood that the elastic member 141 has elasticity, and after being pressed by the pressing plate 141 , the elastic member 141 can react against the connecting rod 120 under the action of elastic force, thereby increasing the frictional force of the wheel assembly on the connecting rod 120 . Wherein, the pressing plate 141 presses the elastic member 141 under the drive of the power mechanism, so that the elastic member 141 presses the connecting rod 120 .

图7所示为本申请另外一些实现方式提供的底盘的悬架机构的立体结构示意图。如图7所示，在一种可能的实现方式中，第一弹性件143包括：安装轴1431和扭簧1433，安装轴1431横向安装，且安装轴1431构造为可转动。FIG. 7 is a schematic perspective view of a suspension mechanism of a chassis provided in some other implementation manners of the present application. As shown in FIG. 7 , in a possible implementation manner, the first elastic member 143 includes: an installation shaft 1431 and a torsion spring 1433 , the installation shaft 1431 is installed laterally, and the installation shaft 1431 is configured to be rotatable.

扭簧1433套接于安装轴1431上。其中，压板141连接于安装轴1431上。压板141可呈U形，使得压板141的两侧的板体分别与安装轴1431固定连接，以能够与安装轴1431同步转动。扭簧1433的一端与压板141抵接，扭簧1433的另一端与连杆120抵接，可理解为，扭簧1433的一端与压板141的底板连接，扭簧1433的另一端连接到第一端121，以使得扭簧1433的压紧力可以快速作用于驱动轮130。The torsion spring 1433 is sleeved on the installation shaft 1431 . Wherein, the pressing plate 141 is connected to the installation shaft 1431 . The pressing plate 141 can be U-shaped, so that the plates on both sides of the pressing plate 141 are respectively fixedly connected with the installation shaft 1431 so as to be able to rotate synchronously with the installation shaft 1431 . One end of the torsion spring 1433 abuts against the pressing plate 141, and the other end of the torsion spring 1433 abuts against the connecting rod 120. It can be understood that one end of the torsion spring 1433 is connected to the bottom plate of the pressing plate 141, and the other end of the torsion spring 1433 is connected to the first end 121, so that the compression force of the torsion spring 1433 can quickly act on the driving wheel 130.

更为具体地，继续结合图7所示，压板141驱动第一弹性件143压迫连杆120的动力机构可以为调节螺杆160，调节螺杆160与底盘固定架螺纹连接，调节螺杆160构造为旋进以与压板141相互抵接，或旋退以与压板141相互脱离。其中，底盘固定架上设有竖板，竖板上开设有螺纹孔，以穿设调节螺杆160。通过采用调节螺杆160作为动力机构，结构简单，调节方便，调节螺杆160的作用除了可以作为驱动压板141的动力，还可以根据底盘上面不同的负重调节扭簧1433的承受力，起到过坎和凹凸路面平稳过渡作用。More specifically, as shown in FIG. 7 , the power mechanism for the pressing plate 141 to drive the first elastic member 143 to press the connecting rod 120 can be an adjusting screw 160, which is screwed to the chassis fixing frame, and the adjusting screw 160 is configured to screw in to abut against the pressing plate 141 , or rotate back to disengage from the pressing plate 141 . Wherein, the chassis fixing frame is provided with a vertical plate, and the vertical plate is provided with threaded holes for passing the adjusting screw 160 . By adopting the adjustment screw 160 as the power mechanism, the structure is simple and the adjustment is convenient. The function of the adjustment screw 160 can not only be used as the power to drive the pressure plate 141, but also can adjust the bearing force of the torsion spring 1433 according to the different loads on the chassis, so as to play the role of crossing and Smooth transition effect on uneven road surface.

更为具体地，当调节螺杆160向前调节推进使压板141通过安装轴1431沿逆时针旋转时，扭簧1433接触压板141的一端受压后，导致扭簧1433跟连杆120接触的一端向下施压，然后使驱动轮130跟地面增加摩擦力。同时拉簧的下端固定在转动轴323上，牵引件的上端固定在底盘框架上，确保在调节螺杆160向前调节推进使压板141通过安装轴1431沿逆时针旋转时，扭簧1433接触压板141的一端受压后底盘整体过度上仰而后翻。More specifically, when the adjusting screw 160 is adjusted and pushed forward to make the pressure plate 141 rotate counterclockwise through the installation shaft 1431, the end of the torsion spring 1433 contacting the pressure plate 141 is pressed, causing the end of the torsion spring 1433 in contact with the connecting rod 120 to Press down, and then make the driving wheel 130 increase the frictional force with the ground. At the same time, the lower end of the extension spring is fixed on the rotating shaft 323, and the upper end of the traction member is fixed on the chassis frame, so as to ensure that when the adjusting screw 160 is adjusted and pushed forward to make the pressing plate 141 rotate counterclockwise through the mounting shaft 1431, the torsion spring 1433 contacts the pressing plate 141 After one end of the chassis is under pressure, the chassis as a whole is tilted up excessively and then turned over.

由于扭簧1433的特性是线性变形，所以在整体过坎的过程中释放和承压的力都是比较平稳的，再通过拉簧的拉力使底盘在过坎过程中所产生的震动被制约从而减小了缓冲。Since the characteristic of the torsion spring 1433 is linear deformation, the force of releasing and bearing pressure is relatively stable during the overall hurdle-crossing process, and the vibration generated by the chassis during the ridge-passing process is restricted by the tension of the extension spring. Reduced buffering.

图17所示为本申请的另外一些实现方式提供的机器人的立体结构示意图。如图17所示，第一弹性件143包括：立柱1435和压簧1437，立柱1435的一端与连杆120连接。FIG. 17 is a schematic diagram of a three-dimensional structure of a robot provided in some other implementation manners of the present application. As shown in FIG. 17 , the first elastic member 143 includes: a column 1435 and a compression spring 1437 , and one end of the column 1435 is connected to the connecting rod 120 .

其中，底盘固定架上具有固定板1439，立柱1435的一端通过固定板1439与底盘固定架连接，立柱1435的另一端连接到第一端121。Wherein, there is a fixing plate 1439 on the chassis fixing frame, one end of the column 1435 is connected with the chassis fixing frame through the fixing plate 1439 , and the other end of the column 1435 is connected to the first end 121 .

具体地，压簧1437套接于立柱1435上。立柱412的一端通过固定板1439与底盘固定架200连接，连杆120的另一端连接到第一端121设置的安装座321上。Specifically, the compression spring 1437 is sleeved on the column 1435 . One end of the column 412 is connected to the chassis fixing frame 200 through the fixing plate 1439 , and the other end of the connecting rod 120 is connected to the mounting seat 321 provided at the first end 121 .

其中，压板141套接于立柱1435上，压板141位于立柱1435的底部，且压板141与立柱1435滑动连接，可以理解为，压板141可以沿立柱1435上下滑动。压簧1437沿弹性方向的一端与压板141抵接。压簧1437沿弹性方向的另一端与底盘固定架相互抵接，可以理解为，压板141与立柱1435螺纹连接以实现压板141与立柱1435之间轴向上的相对滑动，通过转动压板141可以使得压板141挤压压簧1437或拉长压簧1437，从而通过调节压簧1437的弹性变形量来达到压迫连杆120或松弛连杆120的目的。其中，压板141的动力可由人工提供，例如，通过人工转动压板141。Wherein, the pressing plate 141 is sleeved on the column 1435 , the pressing plate 141 is located at the bottom of the column 1435 , and the pressing plate 141 is slidingly connected with the column 1435 , it can be understood that the pressing plate 141 can slide up and down along the column 1435 . One end of the compression spring 1437 along the elastic direction abuts against the pressure plate 141 . The other end of the compression spring 1437 along the elastic direction abuts against the chassis fixing frame. It can be understood that the pressure plate 141 is threadedly connected with the column 1435 to realize relative sliding in the axial direction between the pressure plate 141 and the column 1435. By rotating the pressure plate 141, the The pressing plate 141 compresses the compression spring 1437 or elongates the compression spring 1437 , so as to achieve the purpose of compressing the connecting rod 120 or loosening the connecting rod 120 by adjusting the elastic deformation of the compression spring 1437 . Wherein, the power of the pressing plate 141 can be provided manually, for example, by turning the pressing plate 141 manually.

图16所示为本申请另外一些实现方式提供的机器人的主视结构示意图。如图16所示，在一种可能的实现方式中，悬架机构100还包括：连接轴150。FIG. 16 is a schematic diagram of a front view structure of a robot provided in some other implementation manners of the present application. As shown in FIG. 16 , in a possible implementation manner, the suspension mechanism 100 further includes: a connecting shaft 150 .

其中，继续结合图3所示，连杆120具有轴安装孔125，轴安装孔125位于第一端121与第二端123之间，连接轴150构造为通过轴安装孔125转动连接两个连杆120。可以理解为，轴安装孔125构造为安装连接轴150，使得连接轴150一端转动连接于一个连杆120上的轴安装孔125内，连接轴150的另一端转动连接于另一个连杆120上的安装孔125内。连接轴150既起到连接两个连杆120的作用，使得悬架机构100的结构更稳定，且通过连接轴150转动连接两个连杆120，能够平衡两侧的复式导向轮110和驱动轮130的结构，使得复式导向轮110在转向的过程中不会发生偏斜或侧翻。Wherein, as shown in FIG. 3 , the connecting rod 120 has a shaft mounting hole 125, the shaft mounting hole 125 is located between the first end 121 and the second end 123, and the connecting shaft 150 is configured to rotate through the shaft mounting hole 125 to connect two connecting rods. Rod 120. It can be understood that the shaft mounting hole 125 is configured to mount the connecting shaft 150 so that one end of the connecting shaft 150 is rotatably connected to the shaft mounting hole 125 on one connecting rod 120 , and the other end of the connecting shaft 150 is rotatably connected to the other connecting rod 120 Inside the mounting hole 125. The connecting shaft 150 not only plays the role of connecting the two connecting rods 120, but also makes the structure of the suspension mechanism 100 more stable, and connects the two connecting rods 120 through the connecting shaft 150 to balance the compound guide wheels 110 and driving wheels on both sides. 130, so that the compound guide wheel 110 will not be deflected or rolled over during the turning process.

示例性复式导向轮Exemplary Duplex Guide Wheels

图10所示为本申请一些实现方式提供的底盘的复式导向轮的立体结构示意图。如图10所示，该复式导向轮110包括：导向轮111和辅助轮113。FIG. 10 is a schematic perspective view of the three-dimensional structure of the multiple guide wheels of the chassis provided in some implementations of the present application. As shown in FIG. 10 , the composite guide wheel 110 includes: a guide wheel 111 and an auxiliary wheel 113 .

具体地，导向轮111构造为与行走面相互接触。具体地，辅助轮113设于导向轮111的一侧，辅助轮113与导向轮111偏心设置，使得辅助轮113在前进方向上凸出于导向轮111，并使得导向轮111与水平面的切线和辅助轮113与水平面的切线之间具有高度差H，且辅助轮113悬空，从而使得复式导向轮110在前进方向上，辅助轮113能够与坎先接触。Specifically, the guide wheels 111 are configured to be in contact with the running surface. Specifically, the auxiliary wheel 113 is arranged on one side of the guide wheel 111, and the auxiliary wheel 113 is eccentrically arranged with the guide wheel 111, so that the auxiliary wheel 113 protrudes from the guide wheel 111 in the forward direction, and the tangent between the guide wheel 111 and the horizontal plane and There is a height difference H between the auxiliary wheel 113 and the tangent of the horizontal plane, and the auxiliary wheel 113 is suspended in the air, so that the auxiliary wheel 113 can contact the ridge first in the forward direction of the compound guide wheel 110 .

更为具体地，导向轮111构造为与行走面相互接触。复式导向轮110未过坎之前，由于辅助轮113悬空，导向轮111与地面相互接触，由于坎的高度高出地面，且辅助轮在前进方向上凸出导向轮111，因此，在过坎过程中，辅助轮113先与坎相互接触，在摩擦力的作用下，辅助轮113沿着坎爬升，从而带动导向轮111爬上坎，当辅助轮113爬升到高度差H的高度，则导向轮111与坎接触，使得导向轮111再带动辅助轮113继续爬坎，直至越过坎，从而通过两个阶段的过坎方式，复式导向轮110能够爬过坎。其中，辅助轮113可以爬过的坎的高度，与导向轮与水平面的切线和辅助轮与水平面的切线之间所形成的高度差相对应。因此，只要设计合适的高度差，复式导向轮111就可以越过相当高度的坎，然后导向轮111再越过坎，通过将导向轮111的过坎过程拆分为两个阶段来实现，从而提高了复式导向轮110能够越过的坎的高度的范围，也就提高了复式导向轮110的应用范围。More specifically, the guide wheels 111 are configured to be in contact with the running surface. Before the compound guide wheel 110 crosses the ridge, because the auxiliary wheel 113 is in the air, the guide wheel 111 is in contact with the ground. Since the height of the ridge is higher than the ground, and the auxiliary wheel protrudes from the guide wheel 111 in the forward direction, therefore, in the process of crossing the ridge, In the process, the auxiliary wheel 113 first contacts with the ridge, and under the action of friction, the auxiliary wheel 113 climbs along the ridge, thereby driving the guide wheel 111 to climb up the ridge. When the auxiliary wheel 113 climbs to the height of the height difference H, the guide wheel 111 is in contact with the ridge, so that the guide wheel 111 drives the auxiliary wheel 113 to continue climbing the ridge until the ridge is crossed, so that the multiple guide wheels 110 can climb over the ridge through the two-stage way of crossing the ridge. Wherein, the height of the ridge that the auxiliary wheels 113 can climb is corresponding to the height difference formed between the tangent line between the guide wheel and the horizontal plane and the tangent line between the auxiliary wheel and the horizontal plane. Therefore, as long as the suitable height difference is designed, the compound guide wheel 111 can cross over a ridge of considerable height, and then the guide wheel 111 crosses the ridge again, and realizes by splitting the process of crossing the ridge of the guide wheel 111 into two stages, thereby improving the The range of the height of the ridge that the compound guide wheel 110 can cross also increases the application range of the compound guide wheel 110 .

图11所示为图10所示的实现方式提供的复式导向轮的主视结构示意图。如图11所示，辅助轮113与导向轮111在轴向上的投影部分重叠，可以理解为，辅助轮113与导向轮111偏心设置，至少在前进方向上形成有偏心距离，辅助轮113在前进方向上凸出于导向轮111，但是，辅助轮113与导向轮111在前进方向上的偏心距离小于辅助轮113的半径与导向轮111的半径之和，因此，复合导向轮110在过坎时，辅助轮113先与坎接触爬坡，导向轮111再与坎接触爬坡，从而可以保证复式导向轮110分两个阶段过坎。FIG. 11 is a schematic front view of the structure of the multiple guide wheels provided by the implementation shown in FIG. 10 . As shown in Figure 11, the auxiliary wheel 113 overlaps with the axial projection of the guide wheel 111. It can be understood that the auxiliary wheel 113 is eccentrically arranged with the guide wheel 111, at least forming an eccentric distance in the forward direction. Protrude from the guide wheel 111 in the advancing direction, but the eccentric distance between the auxiliary wheel 113 and the guiding wheel 111 in the advancing direction is less than the sum of the radius of the auxiliary wheel 113 and the radius of the guiding wheel 111. At this time, the auxiliary wheel 113 first contacts with the ridge to climb the slope, and the guide wheel 111 contacts with the ridge to climb the slope, so that the compound guide wheel 110 can be guaranteed to cross the ridge in two stages.

另外，由于复式导向轮110具有至少一个辅助轮113，因此，该复式导向轮110可以实现单边通过障碍物。In addition, since the compound guide wheel 110 has at least one auxiliary wheel 113, the compound guide wheel 110 can pass obstacles on one side.

继续结合如图11所示，在一种可能的实现方式中，辅助轮113与导向轮111之间具有第一偏心距A1和第二偏心距A2，可以理解为，第一偏心距A1为辅助轮113与导向轮111在前进方向上形成的偏心距离。辅助轮113与导向轮111之间具有两个偏心距，即第一偏心距A1为水平方向上的偏心距，第二偏心距A2为高度差方向上的偏心距，也就是垂直偏心距。第一偏心距A1使得辅助轮113在前进方向上凸出于导向轮111，第二偏心距A2使得辅助轮113悬空。从而使得导向轮111既能够满足在一定的直径范围内转动的要求，又能够满足高度差H，使得在行走方向上，辅助轮113能够与坎先接触。Continuing to show in FIG. 11 , in a possible implementation, there is a first eccentricity A1 and a second eccentricity A2 between the auxiliary wheel 113 and the guide wheel 111. It can be understood that the first eccentricity A1 is the auxiliary The eccentric distance formed between the wheel 113 and the guide wheel 111 in the forward direction. There are two eccentricities between the auxiliary wheel 113 and the guide wheel 111, that is, the first eccentricity A1 is the eccentricity in the horizontal direction, and the second eccentricity A2 is the eccentricity in the height difference direction, that is, the vertical eccentricity. The first eccentricity A1 makes the auxiliary wheel 113 protrude from the guide wheel 111 in the forward direction, and the second eccentricity A2 makes the auxiliary wheel 113 suspended. Therefore, the guide wheel 111 can not only meet the requirement of rotating within a certain diameter range, but also meet the height difference H, so that in the walking direction, the auxiliary wheel 113 can contact the ridge first.

继续结合图11所示，在一种可能的实现方式中，第一偏心距A1为水平偏心距，其中，在确定高度差辅助轮113的底部水平切线与辅助轮113的外径相切，形成水平切线点C，辅助轮113的水平切线点C位于导向轮111的外径上，以获得第一偏心距A1，为最优的第一偏心距，使得复式导向轮110在过坎的过程中更平稳。Continuing to show in FIG. 11 , in a possible implementation manner, the first eccentricity A1 is a horizontal eccentricity, wherein the horizontal tangent at the bottom of the auxiliary wheel 113 at the determined height difference is tangent to the outer diameter of the auxiliary wheel 113, forming The horizontal tangent point C, the horizontal tangent point C of the auxiliary wheel 113 is located on the outer diameter of the guide wheel 111, so as to obtain the first eccentricity A1, which is the optimal first eccentricity, so that the compound guide wheel 110 is in the process of crossing the ridge more stable.

更为具体地，以三寸导向轮为例，也就是，导向轮111的半径为75毫米，辅助轮113半径为80毫米。高度差H为6.5毫米至13毫米，最优可以选取9.5毫米至10毫米，提高了复式导向轮110能够过坎的高度。第一偏心距A1为20毫米至26毫米，可以优选为23毫米，在同类3寸导向轮中是比较小的，这样的偏心距可以更好的完成小半径的转向。其中，导向轮111可以为万向轮。More specifically, taking a three-inch guide wheel as an example, that is, the radius of the guide wheel 111 is 75 mm, and the radius of the auxiliary wheel 113 is 80 mm. The height difference H is 6.5 mm to 13 mm, and optimally 9.5 mm to 10 mm, which improves the height at which the compound guide wheels 110 can cross the ridge. The first eccentricity A1 is 20 mm to 26 mm, preferably 23 mm, which is relatively small among similar 3-inch guide wheels, and such an eccentricity can better complete small-radius steering. Wherein, the guide wheel 111 may be a universal wheel.

继续结合图11所示，在一种可能的实现方式中，高度差H为导向轮111的半径的1/2至1/8，可以理解为，高度差H可以为导向轮半径的1/2、导向轮半径的1/5、导向轮半径的1/8。Continuing to show in Figure 11, in a possible implementation, the height difference H is 1/2 to 1/8 of the radius of the guide wheel 111, it can be understood that the height difference H can be 1/2 of the radius of the guide wheel , 1/5 of the radius of the guide wheel, and 1/8 of the radius of the guide wheel.

继续结合图10所示，在一种可能的实现方式中，辅助轮113设置为两个，两个辅助轮113分别设于导向轮111的相对两侧，两个辅助轮113同轴设置。其中，辅助轮113转动连接于轮轴117上，且两个辅助轮113分别设于导向轮111的相对两侧，使得复式导向轮110的在行走过程中更稳平稳，且具有一定的承重能力。Continuing to show in FIG. 10 , in a possible implementation manner, there are two auxiliary wheels 113 , the two auxiliary wheels 113 are respectively arranged on opposite sides of the guide wheel 111 , and the two auxiliary wheels 113 are arranged coaxially. Wherein, the auxiliary wheel 113 is rotatably connected to the wheel shaft 117, and the two auxiliary wheels 113 are respectively arranged on opposite sides of the guide wheel 111, so that the compound guide wheel 110 is more stable during walking and has a certain load-bearing capacity.

图12所示为图10所示的实现方式提供的复式导向轮的侧视结构示意图。如图12所示，在一种可能的实现方式中，复式导向轮100还包括：轮轴117，其中，导向轮111具有轮架115，轮架115包括顶板1151和侧板1153，侧板1153与顶板1151连接，且侧板1153向外弯曲并围合出一个容置空间，导向轮111部分地置于容置空间内，可以理解为，导向轮111的轮体部分地置于容置空间内。侧板1153具有相对的两侧，以连接轮轴117，辅助轮113转动连接于轮轴117远离侧板1153的一端。FIG. 12 is a side structural schematic view of the compound guide wheel provided by the implementation shown in FIG. 10 . As shown in Figure 12, in a possible implementation, the compound guide wheel 100 also includes: a wheel shaft 117, wherein the guide wheel 111 has a wheel frame 115, and the wheel frame 115 includes a top plate 1151 and a side plate 1153, and the side plate 1153 and The top plate 1151 is connected, and the side plates 1153 are bent outwards to enclose an accommodating space. The guide wheel 111 is partially placed in the accommodating space. It can be understood that the wheel body of the guiding wheel 111 is partially placed in the accommodating space . The side plate 1153 has two opposite sides for connecting the axle 117 , and the auxiliary wheel 113 is rotatably connected to the end of the axle 117 away from the side plate 1153 .

具体地，轮轴117连接于轮架115的外侧。轮轴117与轮架115固定连接。导向轮111的轮体转动连接于轮架115内，且导向轮111与辅助轮113偏心设置，可以理解为，导向轮111的轴心与辅助轮113的轴心不同心。导向轮111在行走过程中，能够越过不同高度的路面。Specifically, the wheel shaft 117 is connected to the outer side of the wheel frame 115 . The wheel shaft 117 is fixedly connected with the wheel frame 115 . The wheel body of the guide wheel 111 is rotatably connected in the wheel frame 115, and the guide wheel 111 and the auxiliary wheel 113 are arranged eccentrically. It can be understood that the axis of the guide wheel 111 is not concentric with that of the auxiliary wheel 113. The guide wheels 111 can cross road surfaces of different heights during walking.

更为具体地，继续结合图12和图10所示，轮架115包括：顶板1151和侧板1153，侧板1153构成U形结构，且侧板1153与顶板连接，形成容置空间，以安装导向轮111的轮体。其中，一个轮轴117的一端连接于侧板1153的一侧。另一个轮轴117的一端连接于侧板1153的另一侧。图13所示为图5所示的实现方式提供的复式导向轮的俯视结构示意图。如图13所示，侧板1153具有弯曲部，使得侧板1153的横截面成为具有向外凸出结构的U形，且弯曲部的凸出部朝向辅助轮113，使得置于容置空间内的导向轮111的轮体不会与侧板1153发生相互干涉，且能够提高侧板1153的结构强度。导向轮111的轮***于容置空间内，辅助轮113位于容置空间的外侧，可以避免导向轮111与辅助轮113之间发生相互干涉。图14所示为图10所示的实现方式提供的底盘的复式导向轮的仰视结构示意图。如图14所示，顶板1151上设有螺纹孔，可用于通过紧固件安装复式导向轮100。More specifically, as shown in Figure 12 and Figure 10, the wheel frame 115 includes: a top plate 1151 and a side plate 1153, the side plate 1153 forms a U-shaped structure, and the side plate 1153 is connected with the top plate to form an accommodation space for installation The wheel body of guide wheel 111. Wherein, one end of a wheel shaft 117 is connected to one side of the side plate 1153 . One end of the other axle 117 is connected to the other side of the side plate 1153 . FIG. 13 is a schematic top view of the multiple guide wheels provided by the implementation shown in FIG. 5 . As shown in Figure 13, the side plate 1153 has a curved portion, so that the cross-section of the side plate 1153 becomes a U-shape with an outwardly protruding structure, and the protruding portion of the curved portion faces the auxiliary wheel 113, so that it is placed in the accommodating space The wheel body of the guide wheel 111 will not interfere with the side plate 1153, and the structural strength of the side plate 1153 can be improved. The wheel body of the guiding wheel 111 is located in the accommodating space, and the auxiliary wheel 113 is located outside the accommodating space, so that mutual interference between the guiding wheel 111 and the auxiliary wheel 113 can be avoided. FIG. 14 is a schematic bottom view of the multiple guide wheels of the chassis provided by the implementation shown in FIG. 10 . As shown in FIG. 14 , threaded holes are provided on the top plate 1151 , which can be used to install the multiple guide wheels 100 through fasteners.

继续结合图11和图14所示，在一种可能的实现方式中，复式导向轮100还包括轴承119，轴承119转动连接于轮轴117上，和/或轮轴117采用焊接、铆压、螺纹锁紧中的任意一种方式与轮架115固定连接，其中，辅助轮113固定套设于轴承119的外周面上，使得辅助轮113能够与轴承119同步转动，且通过轴承119安装辅助轮113，可以减少辅助轮113直接与轮轴117摩擦而产生阻力。11 and 14, in a possible implementation, the compound guide wheel 100 also includes a bearing 119, the bearing 119 is rotatably connected to the wheel shaft 117, and/or the wheel shaft 117 adopts welding, riveting, thread lock Either way is fixedly connected to the wheel frame 115, wherein the auxiliary wheel 113 is fixedly sleeved on the outer peripheral surface of the bearing 119, so that the auxiliary wheel 113 can rotate synchronously with the bearing 119, and the auxiliary wheel 113 is installed through the bearing 119, It can reduce the friction between the auxiliary wheel 113 and the axle 117 to generate resistance.

图15所示为本申请一些实现方式提供的机器人的结构示意图。如图15所示，该机器人包括：任一实现方式中的底盘10；其中，图2所示为本申请一些实现方式提供的底盘的底盘固定架的立体结构示意图。如图2所示，底盘固定架200还包括安装板280和固定梁240，支撑柱220为方钢管，固定梁240连接于底盘的支撑柱220远离底板210的一端，固定梁240具有水平安装面，水平安装面与安装板280相互贴合，以使得安装板280与底板210相互平行。安装板280可用来固定和确保塑胶外壳在受到外部冲击时不变形，或长时间放置时因环境变化而导致塑胶外壳变形。Fig. 15 is a schematic structural diagram of a robot provided in some implementation manners of the present application. As shown in FIG. 15 , the robot includes: a chassis 10 in any implementation manner; wherein, FIG. 2 is a schematic three-dimensional structure diagram of a chassis fixing frame of the chassis provided in some implementation manners of the present application. As shown in Figure 2, the chassis fixing frame 200 also includes a mounting plate 280 and a fixed beam 240, the support column 220 is a square steel pipe, the fixed beam 240 is connected to the end of the support column 220 of the chassis away from the bottom plate 210, and the fixed beam 240 has a horizontal mounting surface , the horizontal mounting surface and the mounting plate 280 are attached to each other, so that the mounting plate 280 and the bottom plate 210 are parallel to each other. The mounting plate 280 can be used to fix and ensure that the plastic casing is not deformed when subjected to external impact, or the plastic casing is deformed due to environmental changes when placed for a long time.

底盘10还包括牵引件300和上述实现方式中的悬架机构100。牵引件300与底盘固定架200连接。任一实现方式中的悬架机构100，悬架机构100与牵引件300连接。其中，牵引件300与底盘固定架200连接，连杆120连接于牵引件300上。该悬架机构100通过牵引件300与悬架机构100连接，提高了悬架机构100在过坎过程中的平稳性。The chassis 10 also includes a traction member 300 and the suspension mechanism 100 in the above implementation manner. The traction member 300 is connected with the chassis fixing frame 200 . For the suspension mechanism 100 in any implementation manner, the suspension mechanism 100 is connected with the traction member 300 . Wherein, the traction member 300 is connected with the chassis fixed frame 200 , and the connecting rod 120 is connected with the traction member 300 . The suspension mechanism 100 is connected with the suspension mechanism 100 through the traction member 300, which improves the stability of the suspension mechanism 100 in the process of crossing a hurdle.

继续结合图7所示，在一种可能的实现方式中，底盘10还包括有牵引件300，牵引件300的上端与底盘固定架200连接，牵引件300的下端与连杆120连接，通过牵引件300，可将悬架机构100连接于底盘固定架200上。Continuing to show in FIG. 7 , in a possible implementation manner, the chassis 10 further includes a traction member 300, the upper end of the traction member 300 is connected to the chassis fixing frame 200, and the lower end of the traction member 300 is connected to the connecting rod 120. The component 300 can connect the suspension mechanism 100 to the chassis fixing frame 200 .

具体地，牵引件300包括：弹性件310，例如可以为拉簧。弹性件310沿弹性方向的一端与底盘固定架200连接，弹性件310沿弹性方向的另一端与连杆120连接，使得弹性件310在弹性力的作用下，可以起到到连杆120的牵引作用，结构简单，可靠。Specifically, the traction member 300 includes: an elastic member 310, such as a tension spring. One end of the elastic member 310 along the elastic direction is connected to the chassis fixing frame 200, and the other end of the elastic member 310 along the elastic direction is connected to the connecting rod 120, so that the elastic member 310 can play the role of traction to the connecting rod 120 under the action of the elastic force. function, simple structure and reliability.

继续结合图9所示，在一种可能的实现方式中，牵引件300还包括：限位转动件320，限位转动件320转动连接于连杆120的第一端121，限位转动件320构造为转动的角度为锐角。其中，弹性件310沿弹性方向的另一端与限位转动件320连接，以使得弹性件310在限位转动件320的限位作用下，既能够转动一定的角度，以提高弹性件310在压缩或伸长过程中所产生的作用力较为平缓，又不会无限度转动而失去其牵引功能。Continuing to show in FIG. 9 , in a possible implementation manner, the traction member 300 further includes: a limit rotation member 320 , the limit rotation member 320 is rotatably connected to the first end 121 of the connecting rod 120 , the limit rotation member 320 It is configured to rotate at an acute angle. Wherein, the other end of the elastic member 310 along the elastic direction is connected with the limiting rotating member 320, so that the elastic member 310 can rotate at a certain angle under the limiting action of the limiting rotating member 320, so as to improve the compressive force of the elastic member 310. Or the force generated during the elongation process is relatively gentle, and it will not lose its traction function due to infinite rotation.

继续结合图9所示，在一种可能的实现方式中，第一端设有安装座321，限位转动件320包括：转动轴323和限位销325，安装座321设于第一端121，转动轴323转动连接于安装座321上，且转动轴323位于第一端的端面1211的上方，可以理解为，转动轴323距离第一端的端面1211有一定距离。限位销325径向贯穿转动轴323伸出安装座321的一端，其中，限位销325穿出转动轴323的两端的长度，不小于限位轴与第一端121的端面之间的距离，使得限位销325随转动轴323的转动过程中与第一端121的端面相互抵接。其中，弹性件310沿弹性方向的另一端与转动轴323连接。也就是，正常状态下，限位销325水平设置，从而限位销325的转动不会超过90°。转动轴323与设置限位销325的一端相对的另一端，则连接弹性件310。其中，弹性件310的两端可设置钩状结构，以便于连接固定弹性件310。Continuing to show in FIG. 9 , in a possible implementation manner, the first end is provided with a mounting seat 321 , the limiting rotating member 320 includes: a rotating shaft 323 and a limiting pin 325 , and the mounting seat 321 is provided at the first end 121 The rotating shaft 323 is rotatably connected to the mounting base 321, and the rotating shaft 323 is located above the end surface 1211 of the first end. It can be understood that the rotating shaft 323 has a certain distance from the end surface 1211 of the first end. The limit pin 325 radially penetrates the rotating shaft 323 and protrudes from one end of the mounting seat 321, wherein the length of the limit pin 325 passing through the two ends of the rotating shaft 323 is not less than the distance between the limit shaft and the end surface of the first end 121 , so that the limit pin 325 abuts against the end surface of the first end 121 during the rotation of the rotation shaft 323 . Wherein, the other end of the elastic member 310 along the elastic direction is connected to the rotating shaft 323 . That is, under normal conditions, the limiting pin 325 is horizontally arranged, so that the rotation of the limiting pin 325 will not exceed 90°. The other end of the rotating shaft 323 opposite to the end where the limit pin 325 is disposed is connected to the elastic member 310 . Wherein, the two ends of the elastic member 310 can be provided with hook-shaped structures, so as to connect and fix the elastic member 310 .

继续结合图7所示，在一种可能的实现方式中，牵引件300还包括：第一调节杆330，第一调节杆330与底盘固定架200连接，第一调节杆330构造为在弹性件310的弹性方向上伸长或缩短。其中，弹性件310沿弹性方向的一端与第一调节杆 330连接。其中，第一调节杆330可以为螺纹杆件，在底盘固定架200上设置螺纹孔，使得第一调节杆330件与底盘固定架200可实现螺纹连接。弹性件310与第一调节杆330连接，当调节第一调节杆330的伸出长度，会使得弹性件310被拉伸或缩短。可以理解为，在扭簧1433的压力释放作用力后，会产生底盘10过渡后仰的趋势，或者，底盘10上配有上装时，在上坎的情况下出现上仰角而容易导致后翻。通过调节螺杆160来调节弹性件310的弹性伸长量，就可以用来平衡底盘过渡后仰的趋势或后翻趋势。Continuing to show in FIG. 7 , in a possible implementation manner, the traction member 300 further includes: a first adjusting rod 330 connected to the chassis fixing frame 200, and the first adjusting rod 330 is configured to be on the elastic member 310 is stretched or shortened in the elastic direction. Wherein, one end of the elastic member 310 along the elastic direction is connected with the first adjusting rod 330. Wherein, the first adjusting rod 330 may be a threaded rod member, and a threaded hole is provided on the chassis fixing frame 200 so that the first adjusting rod 330 and the chassis fixing frame 200 can be threadedly connected. The elastic member 310 is connected to the first adjusting rod 330 , and when the extension length of the first adjusting rod 330 is adjusted, the elastic member 310 will be stretched or shortened. It can be understood that after the pressure of the torsion spring 1433 releases the force, the chassis 10 will have a tendency to lean back excessively, or when the chassis 10 is equipped with a top, there will be an upward tilt angle in the case of an upper sill, which will easily lead to a backturn. By adjusting the screw rod 160 to adjust the elastic elongation of the elastic member 310, it can be used to balance the tendency of the chassis to lean backward or turn backward.

继续结如图16所示，在一种可能的实现方式中，底盘10还包括：第二调节杆600，第二调节杆600与底盘固定架200连接，且第二调节杆600位于第二端123的顶面的上方，第二调节杆600构造为与第二端123的顶面相互抵接或相互脱离。其中，第二调节杆600可以为螺纹杆件，在底盘固定架200上设置螺纹孔，使得第二调节杆600件与底盘固定架200可实现螺纹连接。在第二端123设有耐磨块900，当第二调节杆600旋进，第二调节杆600向下抵到耐磨块900上，能够对上坎时，底盘在后仰过程中，如果拉簧没有起到作用，能够对悬架机构100起到二次保护作用。As shown in FIG. 16 , in a possible implementation, the chassis 10 further includes: a second adjustment rod 600 connected to the chassis fixing frame 200 , and the second adjustment rod 600 is located at the second end Above the top surface of the second end 123 , the second adjusting rod 600 is configured to abut against or disengage from the top surface of the second end 123 . Wherein, the second adjusting rod 600 may be a threaded rod member, and a threaded hole is provided on the chassis fixing frame 200 so that the second adjusting rod 600 and the chassis fixing frame 200 can be threadedly connected. A wear-resistant block 900 is provided at the second end 123. When the second adjusting rod 600 is screwed in, the second adjusting rod 600 is pushed downward against the wear-resistant block 900 and can be aligned with the upper sill. When the chassis is reclining, if The tension spring does not play a role, and can play a secondary protection role for the suspension mechanism 100 .

图17所示为本申请的一些实现方式提供的机器人的立体结构示意图。如图17所示，该机器人1，包括：任一实现方式中的底盘10。其中，底盘10的底盘固定架200具有安装板280，图5所示为图2所示的一些实现方式提供的底盘的底盘固定架的俯视结构示意图。如图5所示，安装板280水平设置，从而可以通过安装板280加载该机器人1，适用于极低速度通过较高的障碍物。该机器人1由于采用上述任一实现方式中的复式导向轮110可以作为万向轮，使得该机器人1可以在高落差地面旋转。另外，由于该机器人1包括上述任一实现方式中的底盘10，因此具有了上述任一项的底盘10的技术效果，在此不再赘述。FIG. 17 is a schematic diagram of a three-dimensional structure of a robot provided in some implementation manners of the present application. As shown in FIG. 17 , the robot 1 includes: the chassis 10 in any implementation manner. Wherein, the chassis fixing bracket 200 of the chassis 10 has a mounting plate 280 , and FIG. 5 is a schematic top view structural diagram of the chassis fixing bracket provided by some implementations shown in FIG. 2 . As shown in FIG. 5 , the mounting plate 280 is arranged horizontally, so that the robot 1 can be loaded through the mounting plate 280 , which is suitable for passing through relatively high obstacles at extremely low speed. Since the robot 1 adopts the compound guide wheel 110 in any of the above implementation manners, it can be used as a universal wheel, so that the robot 1 can rotate on the ground with a high drop. In addition, since the robot 1 includes the chassis 10 in any of the above-mentioned implementation manners, it has the technical effect of the chassis 10 in any of the above-mentioned implementations, which will not be repeated here.

结合图15所示，在一种可能的实现方式中，机器人还包括：连接板260和任一实现方式中的复式导向轮110。图3所示为图2所示的一些实现方式提供的底盘的底盘固定架的主视结构示意图。如图3所示，连接板260与底盘固定架200连接，复式导向轮110与连接板260连接。其中，驱动轮130在底盘的行走方向上位于两个复式导向轮110之间。可以理解为，连接板260可确保复式导向轮110在受到正前方力和地面凹凸所参生的冲击时不会变形和损坏。As shown in FIG. 15 , in a possible implementation manner, the robot further includes: a connecting plate 260 and the multiple guide wheels 110 in any implementation manner. FIG. 3 is a front structural schematic diagram of a chassis fixing frame provided by some implementations shown in FIG. 2 . As shown in FIG. 3 , the connecting plate 260 is connected to the chassis fixing frame 200 , and the multiple guide wheels 110 are connected to the connecting plate 260 . Wherein, the driving wheel 130 is located between the two compound guide wheels 110 in the traveling direction of the chassis. It can be understood that the connecting plate 260 can ensure that the compound guide wheel 110 will not be deformed and damaged when being impacted by the frontal force and the unevenness of the ground.

底盘10上设置四组复式导向轮110，使得机器人1在行走、过坎的过程中更为稳定。Four groups of compound guide wheels 110 are arranged on the chassis 10, so that the robot 1 is more stable in the process of walking and crossing hurdles.

继续结合图15所示，在一种可能的实现方式中，底盘10还包括：防撞Continuing to show in FIG. 15 , in a possible implementation manner, the chassis 10 further includes: anti-collision

架270，图4所示为图2所示的一些实现方式提供的底盘的底盘固定架的侧视结构示意图。如图4所示，防撞架270与连接板260连接，可以用于保护连接于连接板260上的复式导向轮110被撞，在此不再赘述。防撞梁270采用刚性固定，可以确保外部塑胶部件在碰撞受力后产生位置偏移和外形变形。同时确保内部碰撞机构能够有效触发。 Frame 270 . FIG. 4 is a schematic side view structural view of a chassis fixing frame of the chassis provided in some implementation manners shown in FIG. 2 . As shown in FIG. 4 , the anti-collision frame 270 is connected to the connection plate 260 and can be used to protect the multiple guide wheels 110 connected to the connection plate 260 from being bumped, and details will not be repeated here. The anti-collision beam 270 is rigidly fixed, which can ensure that the external plastic parts will be displaced and deformed after impact. At the same time, it ensures that the internal crash mechanism can be effectively triggered.

在一种可能的实现方式中，机器人1具有配重重心，配重重心位于底盘10的驱动轮130的前方，以能够更有效地通过地面高障碍物或高落差。In a possible implementation manner, the robot 1 has a counterweight center of gravity, which is located in front of the driving wheels 130 of the chassis 10 , so as to be able to pass through high obstacles on the ground or high drop more effectively.

图18所示为本申请的一些实现方式提供的机器人在上坎前的主视结构示意图。如图18所示，驱动轮130与导向轮111支撑于地面上，而辅助轮113悬空。此时，安装板280与水平面之间的夹角θ ₁为零，也就是，安装板280没有发生倾斜。 FIG. 18 is a schematic diagram of a front view structure of a robot before going up a hurdle provided by some implementations of the present application. As shown in FIG. 18 , the driving wheel 130 and the guiding wheel 111 are supported on the ground, while the auxiliary wheel 113 is suspended in the air. At this time, the included angle _θ1 between the mounting plate 280 and the horizontal plane is zero, that is, the mounting plate 280 does not tilt.

图19所示为本申请的一些实现方式提供的机器人的前部的复式导向轮110上坎过程的主视结构示意图。如图19所示，当驱动轮130启动，同时推动前部的复式导向轮110爬上坎a，悬架机构100在扭簧1433张力的作用下，让驱动轮130紧贴地面产生足够的摩擦力，扭簧1433的张力是通过压板141挤压扭簧1433而产生更大的摩擦力，驱使前部的复式导向轮110爬上坎a，同时牵引件300确保底盘的重心向前增加悬架机构100的摩擦力，同时也确保底盘上面配置其它结构时，在一定高度下不会产生向后倾倒情况。此时，机器人在爬坡过程中，因此，底盘发生了倾斜，使得安装板280与水平面之间的夹角θ ₁逐渐增大，此时，可使得弹性件310与第一调节杆330相互脱离，可避免后翻。 FIG. 19 is a schematic front view structural view of the process of going up the sill with the multiple guide wheels 110 at the front of the robot provided by some implementations of the present application. As shown in Figure 19, when the driving wheel 130 is activated and simultaneously pushes the front compound guide wheel 110 to climb up the ridge a, the suspension mechanism 100 makes the driving wheel 130 close to the ground to generate sufficient friction under the tension of the torsion spring 1433 Force, the tension of the torsion spring 1433 is through the pressure plate 141 to squeeze the torsion spring 1433 to generate greater friction, driving the front compound guide wheel 110 to climb up the ridge a, while the traction member 300 ensures that the center of gravity of the chassis is forward to increase the suspension The frictional force of the mechanism 100 also ensures that when other structures are arranged on the chassis, it will not fall backward at a certain height. At this time, the robot is in the climbing process, so the chassis is inclined, so that the angle _θ1 between the mounting plate 280 and the horizontal plane gradually increases. At this time, the elastic member 310 and the first adjustment rod 330 can be separated from each other. , to avoid back flipping.

图20所示为本申请的一些实现方式提供的机器人的前部的复式导向轮110上坎后的主视结构示意图。如图20所示，当前部的复式导向轮110越过坎，而驱动轮130支撑于地面上还未越过上坎a，底盘的倾斜角度可达到最大，也就是，使得安装板280与水平面之间的夹角θ ₁最大，此时，弹性件310与第一调节杆330继续处于相互脱离状态。 FIG. 20 is a schematic front view of the structure of the front compound guide wheel 110 of the robot provided by some implementations of the application. As shown in Figure 20, the compound guide wheel 110 at the front part has crossed the sill, and the driving wheel 130 is supported on the ground and has not crossed the upper sill a, so the inclination angle of the chassis can reach the maximum, that is, make the gap between the mounting plate 280 and the horizontal plane The included angle θ ₁ is the largest, at this time, the elastic member 310 and the first adjusting rod 330 continue to be in a state of disengaging from each other.

图21所示为本申请的一些实现方式提供的机器人的驱动轮130上坎后的主视结构示意图。如图21所示，当驱动轮130开始爬坎a，安装板280与水平面之间的夹角θ ₁又逐渐变小，可连接弹性件310与第一调节杆330。 FIG. 21 is a schematic diagram of the front structure of the driving wheel 130 of the robot provided by some implementations of the present application after the sill is raised. As shown in FIG. 21 , when the driving wheel 130 begins to climb the ridge a, the angle _θ1 between the mounting plate 280 and the horizontal plane gradually decreases again, and the elastic member 310 and the first adjusting rod 330 can be connected.

图22所示为本申请的一些实现方式提供的机器人的前部的复式导向轮110下坎后的主视结构示意图。如图22所示，当前部的复式导向轮110爬过上坎a而进入第一行走路面b后，爬过下坎c进入到第二行走路面d，底盘10再次发生倾斜，此时，安装板280与水平面之间的夹角θ ₁又逐渐增大。 FIG. 22 is a schematic front view of the structure of the front compound guide wheel 110 of the robot provided by some implementations of the present application. As shown in Figure 22, after the compound guide wheel 110 at the front portion climbs over the upper sill a and enters the first walking surface b, then climbs over the lower sill c and enters the second walking surface d, and the chassis 10 tilts again. At this time, the installation The angle _θ1 between the plate 280 and the horizontal plane gradually increases again.

图23所示为本申请的一些实现方式提供的机器人的驱动轮130下坎后的主视结构示意图。如图23所示，当驱动轮130也驶入第二行走路面d，底盘10的倾斜角度又开始逐渐变小，此时，安装板280与水平面之间的夹角θ ₁又逐渐变小，可再次使得第一调节杆 330与弹性件310相互脱离。 FIG. 23 is a schematic diagram of the front view structure of the driving wheel 130 of the robot provided by some implementations of the present application after it has descended the sill. As shown in Figure 23, when the driving wheel 130 also drives into the second walking surface d, the inclination angle of the chassis 10 begins to gradually decrease again, and at this time, the included angle _θ1 between the mounting plate 280 and the horizontal plane gradually decreases again, The first adjusting rod 330 and the elastic member 310 can be separated from each other again.

本申请通过在原有的导向轮111的直径不变的前提下增加了辅助轮113，通过先过辅助轮113，再过导向轮111的原理来增加了过坎高度可达20mm，同时，将复式导向轮110与驱动轮130集成连杆120上，通过弹性件310做成平衡式悬架机构100，可以应对不同的凹凸路面。底盘10由两个驱动轮130、四个复式导向轮110组成，驱动轮130是安装在悬架机构100上跟后部的复式导向轮110组成为平衡轮一起使用，辅助轮113的离地高度根据需要过坎的高度定义。调节螺杆160根据底盘上面不同的负重调节扭簧1433承受力，起到过坎和凹凸路面平稳过渡作用。当扭簧1433作用力在连杆120上，通过安装轴1431来实现左右摇摆保持平衡，确保底盘上有上装时不会过度前仰和后翻，从而使得机器人对于凹凸路面具有良好的通过性，且在高速行驶时产生震动也具有平稳性。In this application, the auxiliary wheel 113 is added under the premise that the diameter of the original guide wheel 111 remains unchanged, and the principle of passing the auxiliary wheel 113 first, and then the guide wheel 111 increases the height of the sill to 20mm. At the same time, the compound The guide wheel 110 and the drive wheel 130 are integrated on the connecting rod 120, and the elastic member 310 is used to form a balanced suspension mechanism 100, which can cope with different uneven road surfaces. The chassis 10 is made up of two driving wheels 130 and four compound guide wheels 110. The driving wheels 130 are installed on the suspension mechanism 100 and are used together with the compound guide wheels 110 at the rear as balance wheels. The height of the auxiliary wheels 113 from the ground is Defined according to the height of the hurdle that needs to be crossed. Adjusting screw rod 160 adjusts the bearing force of torsion spring 1433 according to the different loads on the chassis, so as to play the role of smooth transition between hurdles and uneven road surfaces. When the force of the torsion spring 1433 acts on the connecting rod 120, the shaft 1431 is used to achieve left-right swing and maintain balance, so as to ensure that the chassis will not be excessively leaned forward and backward when there is a body on the chassis, so that the robot has good passability on uneven road surfaces. And it also has stability when vibration occurs when driving at high speed.

本申请中的复式导向轮110、悬架机构100、底盘和机器人简单的结构对设备的成本有着很大的市场空间。The complex guide wheels 110, the suspension mechanism 100, the chassis and the simple structure of the robot in this application have a large market space for the cost of the equipment.

本申请中的整体底盘结构件采用型材加钣金成型，对整机的通过性和强度性有了大幅度提升，确保产品寿命能得到提升。The overall chassis structure in this application is formed by profile and sheet metal, which greatly improves the passability and strength of the whole machine and ensures that the product life can be improved.

以上仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换等，均应包含在本申请的保护范围之内。The above are only preferred embodiments of the application, and are not intended to limit the application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the application shall be included within the scope of protection of the application. .

Claims

一种底盘，其特征在于，所述底盘包括：A chassis, characterized in that the chassis comprises:

底盘固定架，包括底板和多个支撑柱，多个所述支撑柱相互间隔并环向设于所述底板上，且所述支撑柱与所述底板垂直；The chassis fixing frame includes a bottom plate and a plurality of support columns, the plurality of support columns are spaced apart from each other and arranged on the bottom plate in a circumferential direction, and the support columns are perpendicular to the bottom plate;

悬架机构，与所述支撑柱连接；a suspension mechanism connected to the support column;

其中，所述悬架机构包括至少两个轮体组件，两个所述轮体组件相对设置，所述轮体组件构造为在行走面上行走。Wherein, the suspension mechanism includes at least two wheel assemblies, the two wheel assemblies are arranged opposite to each other, and the wheel assemblies are configured to walk on the walking surface.
根据权利要求1所述的底盘，其特征在于，所述底盘还包括：The chassis according to claim 1, wherein the chassis further comprises:

电箱；Electric box;

所述底盘固定架还包括：侧板组件，所述侧板组件连接于多个所述支撑柱上，以在所述底板上围合出容纳空间，所述电箱置于所述容纳空间内，且所述电箱与所述侧板组件可拆卸连接。The chassis fixing frame also includes: a side plate assembly, the side plate assembly is connected to a plurality of the support columns to enclose an accommodation space on the bottom plate, and the electrical box is placed in the accommodation space , and the electrical box is detachably connected to the side panel assembly.
根据权利要求2所述的底盘，其特征在于，所述底盘还包括电箱限位结构，所述电箱限位结构包括：The chassis according to claim 2, characterized in that, the chassis also includes an electrical box limiting structure, and the electrical box limiting structure includes:

卡接槽，设于所述电箱上；The clamping groove is arranged on the electric box;

卡接部，设于所述容纳空间内，且所述卡接部与所述侧板组件连接，所述卡接部与所述卡接槽卡接；A clamping part is provided in the accommodation space, and the clamping part is connected with the side plate assembly, and the clamping part is clamped with the clamping groove;

侧连板，与所述侧板组件可拆卸连接。The side connecting plate is detachably connected with the side plate assembly.
根据权利要求1至3中任一项所述的底盘，其特征在于，所述悬架机构包括：The chassis according to any one of claims 1 to 3, wherein the suspension mechanism comprises:

连杆；link;

弹性压件，与所述连杆抵接；an elastic pressing piece abuts against the connecting rod;

其中，每个所述连杆对应连接有一个所述轮体组件，所述弹性压件构造为压迫所述连杆，以使得所述轮体组件与接触面产生摩擦力；或所述弹性压件构造为松弛所述连杆。Wherein, each of the connecting rods is correspondingly connected with one of the wheel assemblies, and the elastic pressing member is configured to press the connecting rod so that the wheel assembly and the contact surface generate friction; or the elastic pressing The member is configured to loosen the connecting rod.
根据权利要求4所述的底盘，其特征在于，所述弹性压件包括：The chassis according to claim 4, wherein the elastic pressing member comprises:

压板；platen;

第一弹性件，一端与所述连杆抵接，所述第一弹性件的另一端与所述压板抵接；a first elastic member, one end of which is in contact with the connecting rod, and the other end of the first elastic member is in contact with the pressure plate;

其中，所述压板构造为压迫所述第一弹性件，以使得所述第一弹性件压迫所述连杆；或所述压板构造为松弛所述第一弹性件。Wherein, the pressing plate is configured to press the first elastic member, so that the first elastic member presses the connecting rod; or the pressing plate is configured to relax the first elastic member.
根据权利要求5所述的底盘，其特征在于，所述第一弹性件包括：The chassis according to claim 5, wherein the first elastic member comprises:

安装轴，构造为可转动；The mounting shaft is configured to be rotatable;

扭簧，套接于所述安装轴上，且所述扭簧的一端与所述压板抵接，所述扭簧的另一端与所述连杆抵接；A torsion spring is sleeved on the installation shaft, and one end of the torsion spring is in contact with the pressure plate, and the other end of the torsion spring is in contact with the connecting rod;

其中，所述压板连接于所述安装轴上。Wherein, the pressing plate is connected to the installation shaft.
根据权利要求5或6所述的底盘，其特征在于，所述悬架机构还包括：The chassis according to claim 5 or 6, wherein the suspension mechanism further comprises:

调节螺杆，构造为旋进以与所述压板相互抵接，或旋退以与所述压板相互脱离。The adjusting screw is configured to be screwed in so as to abut against the pressing plate, or to be screwed back so as to be separated from the pressing plate.
根据权利要求5所述的底盘，其特征在于，所述第一弹性件包括：The chassis according to claim 5, wherein the first elastic member comprises:

立柱，一端与所述连杆连接；a column, one end of which is connected to the connecting rod;

压簧，套接于所述立柱上；The compression spring is sleeved on the column;

其中，所述压板套接于所述立柱上，且所述压板与所述立柱滑动连接，所述压簧沿弹性方向的一端与所述压板相互抵接。Wherein, the pressure plate is sleeved on the upright, and the pressure plate is slidably connected to the upright, and one end of the compression spring along the elastic direction abuts against the pressure plate.
根据权利要求4至8中任一项所述的底盘，其特征在于，所述悬架机构还包括：The chassis according to any one of claims 4 to 8, wherein the suspension mechanism further comprises:

连接轴；connecting shaft;

其中，所述连杆具有轴安装孔，所述连接轴构造为通过所述轴安装孔转动连接两个所述连杆。Wherein, the connecting rod has a shaft installation hole, and the connecting shaft is configured to rotatably connect the two connecting rods through the shaft installation hole.
根据权利要求1至3中任一项所述的底盘，其特征在于，所述轮体组件包括：The chassis according to any one of claims 1 to 3, wherein the wheel assembly comprises:

驱动轮，与所述连杆转动连接；The driving wheel is rotatably connected with the connecting rod;

复式导向轮，与所述连杆连接；The compound guide wheel is connected with the connecting rod;

其中，所述连杆具有第一端和第二端，所述驱动轮设于所述第一端，所述复式导向轮设于所述第二端连接。Wherein, the connecting rod has a first end and a second end, the driving wheel is arranged at the first end, and the compound guide wheel is arranged at the second end for connection.
根据权利要求10所述的底盘，其特征在于，所述复式导向轮包括：The chassis according to claim 10, wherein the compound guide wheels comprise:

导向轮，构造为与行走面相互接触；a guide wheel configured to contact the running surface;

辅助轮，设于所述导向轮的一侧，所述辅助轮与所述导向轮偏心设置，使得所述辅助轮在前进方向上凸出于所述导向轮，并使得所述辅助轮与水平面的切线和所述导向轮与水平面的切线之间具有高度差。The auxiliary wheel is arranged on one side of the guide wheel, and the auxiliary wheel is eccentrically arranged with the guide wheel, so that the auxiliary wheel protrudes from the guide wheel in the forward direction, and makes the auxiliary wheel and the horizontal plane There is a height difference between the tangent of the guide wheel and the tangent of the guide wheel to the horizontal plane.
根据权利要求11所述的底盘，其特征在于，所述辅助轮与所述导向轮之间具有第一偏心距和第二偏心距，所述第一偏心距使得所述辅助轮在前进方向上凸出于所述导向轮，所述第二偏心距使得所述辅助轮与水平面的切线和所述导向轮与水平面的切线之间具有所述高度差。The chassis according to claim 11, characterized in that there is a first eccentricity and a second eccentricity between the auxiliary wheel and the guide wheel, and the first eccentricity makes the auxiliary wheel move in the forward direction Protruding from the guide wheel, the second eccentricity makes the height difference between the tangent between the auxiliary wheel and the horizontal plane and the tangent between the guide wheel and the horizontal plane.
根据权利要求12所述的底盘，其特征在于，所述第一偏心距为水平偏心距；其中，所述辅助轮的水平切线点位于所述导向轮的外径上，以获得所述第一偏心距。The chassis according to claim 12, wherein the first eccentricity is a horizontal eccentricity; wherein, the horizontal tangent point of the auxiliary wheel is located on the outer diameter of the guide wheel, so as to obtain the first Eccentricity.
根据权利要求11至13中任一项所述的底盘，其特征在于，所述高度差为导向轮的半径的1/2至1/8。The chassis according to any one of claims 11 to 13, characterized in that the height difference is 1/2 to 1/8 of the radius of the guide wheel.
根据权利要求11至13中任一项所述的底盘，其特征在于，所述辅助轮设置为两个，两个所述辅助轮分别设于所述导向轮的相对两侧，且两个所述辅助轮同轴设置。The chassis according to any one of claims 11 to 13, characterized in that there are two auxiliary wheels, the two auxiliary wheels are respectively arranged on opposite sides of the guide wheel, and the two auxiliary wheels Said training wheel coaxial setting.
根据权利要求11至13中任一项所述的底盘，其特征在于，所述复式导向轮还包括：The chassis according to any one of claims 11 to 13, wherein the compound guide wheels further comprise:

轮轴；axle;

其中，所述导向轮具有轮架，所述轮架包括顶板和侧板，所述侧板与所述顶板连接，且所述侧板向外弯曲并围合出一个容置空间，所述导向轮部分地置于所述容置空间内，所述侧板具有相对的两侧，以连接所述轮轴，所述辅助轮转动连接于所述轮轴远离所述侧板的一端。Wherein, the guide wheel has a wheel frame, and the wheel frame includes a top plate and a side plate, the side plate is connected with the top plate, and the side plate is bent outwards to enclose an accommodating space, and the guide wheel The wheels are partially placed in the accommodating space, the side plate has two opposite sides for connecting with the wheel axle, and the auxiliary wheel is rotatably connected to an end of the wheel axle away from the side plate.
根据权利要求16所述的底盘，其特征在于，所述复式导向轮还包括：The chassis according to claim 16, wherein the compound guide wheels further comprise:

轴承，转动连接于所述轮轴上；和/或所述轮轴采用采用焊接、铆压、螺纹锁紧中的任意一种方式与所述轮架固定连接；The bearing is rotatably connected to the wheel shaft; and/or the wheel shaft is fixedly connected to the wheel frame by any one of welding, riveting and thread locking;

其中，所述辅助轮固定套设于所述轴承的外周面上。Wherein, the auxiliary wheel is fixedly sleeved on the outer peripheral surface of the bearing.
根据权利要求11至13中任一项所述的底盘，其特征在于，所述底盘固定架还包括：The chassis according to any one of claims 11 to 13, wherein the chassis fixing bracket further comprises:

连接板，设于所述底盘前进方向的前端，且所述连接板与所述底盘固定架连接；The connecting plate is arranged at the front end of the forward direction of the chassis, and the connecting plate is connected with the chassis fixing frame;

其中，所述连接板的相对两侧分别设有一个所述复式导向轮，两个所述悬架机构分别位于所述底盘前进方向的后端。Wherein, the two opposite sides of the connecting plate are respectively provided with one of the multiple guide wheels, and the two suspension mechanisms are respectively located at the rear end of the forward direction of the chassis.
根据权利要求18所述的底盘，其特征在于，所述底盘固定架还包括：The chassis according to claim 18, wherein the chassis fixing bracket further comprises:

防撞架，与所述连接板连接。The anti-collision frame is connected with the connecting plate.
一种机器人，其特征在于，所述机器人包括：A robot, characterized in that the robot comprises:

如权利要求1至19中任一项所述的底盘；A chassis as claimed in any one of claims 1 to 19;

其中，所述底盘固定架还包括安装板和固定梁，所述支撑柱为方钢管，所述固定梁连接于所述底盘的所述支撑柱远离所述底板的一端，所述固定梁具有水平安装面，所述水平安装面与所述安装板相互贴合，以使得所述安装板与所述底板相互平行。Wherein, the chassis fixing frame also includes a mounting plate and a fixed beam, the support column is a square steel pipe, the fixed beam is connected to the end of the support column of the chassis away from the bottom plate, and the fixed beam has a horizontal The installation surface, the horizontal installation surface and the installation plate are attached to each other, so that the installation plate and the bottom plate are parallel to each other.