WO2024125121A1 - Chassis mechanism and delivery robot - Google Patents

Chassis mechanism and delivery robot Download PDF

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Publication number
WO2024125121A1
WO2024125121A1 PCT/CN2023/128028 CN2023128028W WO2024125121A1 WO 2024125121 A1 WO2024125121 A1 WO 2024125121A1 CN 2023128028 W CN2023128028 W CN 2023128028W WO 2024125121 A1 WO2024125121 A1 WO 2024125121A1
Authority
WO
WIPO (PCT)
Prior art keywords
base
chassis mechanism
shock absorber
chassis
driving wheel
Prior art date
Application number
PCT/CN2023/128028
Other languages
French (fr)
Chinese (zh)
Inventor
蔡松坡
Original Assignee
丰巢网络技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 丰巢网络技术有限公司 filed Critical 丰巢网络技术有限公司
Publication of WO2024125121A1 publication Critical patent/WO2024125121A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
    • B60G13/06—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type
    • B60G13/10—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally of fluid type pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/11—Understructures, i.e. chassis frame on which a vehicle body may be mounted with resilient means for suspension, e.g. of wheels or engine; sub-frames for mounting engine or suspensions
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the utility model belongs to the technical field of logistics and transportation, and particularly relates to a chassis mechanism and a distribution robot.
  • the chassis structure of the unmanned vehicle is shown in FIG5 , where two first universal wheels are installed at the front of the chassis, two second universal wheels are installed at the rear of the chassis, and two driving wheels are installed at the rear of the chassis, and the two driving wheels are installed on the chassis through spring shock absorbers.
  • the first universal wheel and the second universal wheel are in contact with the ground, and the universal wheels will be in a suspended state.
  • the shock-absorbing spring is required to press down the driving wheel, but the shock-absorbing spring is in an extended state at this time, and the downward force provided to the driving wheel is small, so that the friction between the driving wheel and the ground is also small, which makes it difficult for the unmanned vehicle to cross the uphill section.
  • the unmanned vehicle passes through a downhill section, the friction between the driving wheel and the ground does not need to be too large, but the downhill ground contacts and compresses the shock-absorbing spring upward.
  • the greater the compression of the shock-absorbing spring the greater the downward force on the driving wheel, which leads to a large friction between the driving wheel and the ground in the downhill section, which in turn makes it difficult for the unmanned vehicle to cross the downhill section.
  • the utility model aims to solve the technical problem that unmanned vehicles in the prior art are difficult to cross uphill and downhill sections, and provides a chassis mechanism and a delivery robot.
  • an embodiment of the utility model provides a chassis mechanism, including a base, a first universal wheel, a second universal wheel, a first shock absorber, a swing arm, a bracket and a driving wheel; the first universal wheel, the second universal wheel and the bracket are all installed on the base; one end of the first shock absorber is installed on the base, and the other end of the first shock absorber is installed on the swing arm, and the swing arm is rotatably connected to the bracket; the driving wheel is installed on the swing arm, and the driving wheel is located between the first universal wheel and the second universal wheel.
  • the chassis mechanism further comprises a tripod mounted on the base, and one end of the first shock absorber away from the swing arm is rotatably connected to the tripod.
  • the chassis mechanism further includes a second shock absorber and a third shock absorber, the first universal wheel is mounted on the base via the second shock absorber, and the second universal wheel is mounted on the base via the third shock absorber.
  • the chassis mechanism further includes an anti-collision strip installed on the outer wall of the base.
  • a receiving space is formed between the anti-collision strip and the outer wall of the base, and the chassis mechanism also includes an emergency stop sensor installed in the receiving space; the emergency stop sensor is used to control the driving wheel to stop rotating when the anti-collision strip is hit.
  • the chassis mechanism also includes a driver and a fan, the driver is mounted on the swing arm, and the output end of the driver is connected to the drive wheel; the driver and the fan are both mounted on the base, and the driver is electrically connected to the drive wheel, and the fan is used to dissipate heat for the driver.
  • the chassis mechanism further includes a radar and an ultrasonic sensor installed on the base, and both the radar and the ultrasonic sensor are used to detect the environment around the base.
  • the chassis mechanism further comprises an anti-fall sensor installed at the bottom of the base, and the anti-fall sensor is used to control the driving wheel to stop rotating when an obstacle is detected.
  • the chassis mechanism further includes a controller and a battery mounted on the base, and the battery and the driving wheel are electrically connected to the controller.
  • Another embodiment of the utility model further provides a delivery robot, comprising a chassis and the above A chassis mechanism, wherein the chassis is mounted on the base.
  • the first shock absorber is a nitrogen shock absorber.
  • One end of the nitrogen shock absorber is mounted on the base, and the other end of the nitrogen shock absorber is mounted on the swing arm, and the swing arm is rotatably connected to the bracket;
  • the driving wheel is mounted on the swing arm, and the driving wheel is located between the first universal wheel and the second universal wheel; since the pressure of the nitrogen shock absorber on the swing arm is constant, within the travel range of the nitrogen shock absorber, the pressure of the nitrogen shock absorber on the swing arm and the driving wheel is basically constant; when the chassis mechanism is located in an uphill section, the nitrogen shock absorber will make the driving wheel close to the ground, thereby increasing the friction between the driving wheel and the uphill road surface, thereby improving the uphill ability of the chassis mechanism.
  • the driving wheel When the chassis mechanism is located in a downhill section, the driving wheel will not further compress the nitrogen shock absorber, so that the pressure between the driving wheel and the downhill road surface will not increase further, reducing the friction between the driving wheel and the downhill road surface, and improving the downhill ability of the chassis mechanism.
  • the nitrogen shock absorber has a small volume and does not need to be installed with an energy storage device, thereby reducing the space occupied by the nitrogen shock absorber on the base.
  • FIG1 is a schematic structural diagram of a chassis mechanism provided by an embodiment of the present utility model
  • FIG2 is a partial structural diagram of a chassis mechanism provided by an embodiment of the utility model
  • FIG3 is a partial structural diagram of a chassis mechanism provided by an embodiment of the utility model
  • FIG4 is a schematic diagram of the structure of a delivery robot provided by an embodiment of the present utility model
  • FIG. 5 is a schematic diagram of an unmanned vehicle in the prior art when going uphill or downhill.
  • the reference numerals in the specification are as follows: 1. Base; 2. First universal wheel; 3. Second universal wheel; 4. First shock absorber; 5. Swing arm; 6. Bracket; 7. Driving wheel; 8. Tripod; 9. Second shock absorber; 101. Third shock absorber; 102. Anti-collision strip; 104. Driver; 105. Fan; 106. Radar; 107. Ultrasonic sensor; 108. Anti-drop sensor; 109. Controller; 10. Chassis mechanism; 20. Chassis.
  • first universal wheel 2, the second universal wheel 3, the driving wheel 7, the first shock absorber 4, the swing arm 5 and the bracket 6 are all provided with two, the two first universal wheels 2 are respectively rotatably connected to the left and right sides of the front end of the base 1, the two second universal wheels 3 are respectively rotatably connected to the left and right sides of the rear end of the base 1, and the two driving wheels 7 are respectively located on the left and right sides of the middle part of the base 1.
  • the first shock absorber 4 may be a spring shock absorber, a hydraulic damping shock absorber, a nitrogen spring, or a Spring shock absorber, preferably a nitrogen shock absorber.
  • the first shock absorber 4 is a nitrogen shock absorber.
  • One end of the first shock absorber 4 is mounted on the base 1, and the other end of the first shock absorber 4 is mounted on the swing arm 5, and the swing arm 5 is rotatably connected to the bracket 6;
  • the driving wheel 7 is mounted on the swing arm 5, and the driving wheel 7 is located between the first universal wheel 2 and the second universal wheel 3; since the pressure of the first shock absorber 4 on the swing arm 5 is constant, within the travel range of the first shock absorber 4, the pressure of the first shock absorber 4 on the swing arm 5 and the driving wheel 7 is basically constant; when the chassis mechanism 10 is located on an uphill section, the first shock absorber 4 will make the driving wheel 7 close to the ground, thereby increasing the friction between the driving wheel 7 and the uphill road surface, thereby improving the uphill ability of the chassis mechanism 10.
  • the driving wheel 7 When the chassis mechanism 10 is located on a downhill section, the driving wheel 7 will not further compress the first shock absorber 4, so that the pressure between the driving wheel 7 and the downhill road surface will not increase further, thereby reducing the friction between the driving wheel 7 and the downhill road surface and improving the downhill ability of the chassis mechanism 10.
  • the first shock absorber 4 has a small volume and does not need to be installed with an energy storage device, thereby reducing the space occupied by the first shock absorber 4 on the base 1.
  • the chassis mechanism 10 further includes a tripod 8 mounted on the base 1, and one end of the first shock absorber 4 away from the swing arm 5 is rotatably connected to the tripod 8.
  • the tripod 8 is a right-angle tripod, and the tripod 8 is mounted above the base 1, so that one end of the first shock absorber 4 away from the swing arm 5 can pass through the base 1 and extend upward for a long distance before being connected to the tripod 8, thereby improving the compactness of the chassis mechanism 10.
  • a mounting groove is provided on the tripod 8
  • a first mounting hole is provided on the inner wall of the mounting groove
  • a second mounting hole is provided at one end of the first shock absorber 4 away from the swing arm 5, and the first shock absorber 4 is rotatably connected to the tripod 8 by inserting positioning pins into the first mounting hole and the second mounting hole.
  • the chassis mechanism 10 further includes a second shock absorber 9 and a first Three shock absorbers 101
  • the first universal wheel 2 is installed on the base 1 through the second shock absorber 9
  • the second universal wheel 3 is installed on the base 1 through the third shock absorber 101.
  • the second shock absorber 9 and the third shock absorber 101 both include but are not limited to spring shock absorbers, etc., preferably non-nitrogen shock absorbers, which can save costs.
  • the first universal wheel 2 is rotatably connected to the base 1 through the second shock absorber 9, and the second universal wheel 3 is rotatably connected to the base 1 through the third shock absorber 101.
  • the first universal wheel 2 and the second universal wheel 3 can be extended and retracted up and down on the base 1, further improving the ability of the chassis mechanism 10 to cross obstacles such as pits and protrusions.
  • the chassis mechanism 10 further includes an anti-collision strip 102 installed on the outer wall of the base 1.
  • the anti-collision strip 102 can be made of materials such as silica gel, and the anti-collision strip 102 is installed on the outer walls of the base 1.
  • the anti-collision strip 102 can play a buffering role, thereby avoiding the accident of the base 1 and its upper parts being damaged, thereby extending the service life of the chassis mechanism 10.
  • a receiving space (not shown in the figure) is formed between the anti-collision strip 102 and the outer wall of the base 1, and the chassis mechanism 10 further includes an emergency stop sensor (not shown in the figure) installed in the receiving space; the emergency stop sensor is used to control the driving wheel 7 to stop rotating when the anti-collision strip 102 collides.
  • the emergency stop sensor includes but is not limited to a contact sensor, and the emergency stop sensor is located between the anti-collision strip 102 and the outer wall of the base 1, thereby avoiding damage to the emergency stop sensor by the external environment and extending the service life of the emergency stop sensor.
  • the anti-collision strip 102 when the chassis mechanism 10 moves, when the anti-collision strip 102 collides with an external object, the anti-collision strip 102 will trigger the emergency stop sensor, and the emergency stop sensor will send an emergency stop signal to the controller 109, and the controller 109 will control the driving wheel 7 to stop rotating, thereby ensuring that the damage caused by the base 1 mechanism continues to be maintained when it collides with an external object, thereby improving the safety of the chassis mechanism 10.
  • the chassis mechanism 10 further includes a driver 104 and a fan 105, the driver 104 and the fan 105 are both mounted on the base 1, and the driver 104 is electrically connected to the drive wheel 7, and the fan 105 is used to dissipate heat from the driver 104.
  • a hub motor is integrated on the drive wheel 7, the driver 14 is electrically connected to the hub motor, and the driver 104 can control the speed, start and stop, and rotation direction of the drive wheel 7, and the fan 105 can not only cool the driver 104, but also cool other heating electrical components on the base 1.
  • the chassis mechanism 10 further includes a radar 106 and an ultrasonic sensor 107 mounted on the base 1, and the radar 106 and the ultrasonic sensor 107 are both used to detect the environment around the base 1.
  • the radar 106 can scan the environment around the base 1 and identify whether there are obstacles around the base 1; the ultrasonic sensor 107 can detect blind spots that the radar 106 cannot scan, and the ultrasonic sensor 107 can detect transparent objects that the radar 106 cannot scan.
  • the design of the radar 106 and the ultrasonic sensor 107 enables the chassis mechanism 10 to automatically identify the environment around it, so that the chassis mechanism 10 can achieve automatic driving.
  • the chassis mechanism 10 further includes an anti-drop sensor 108 installed at the bottom of the base 1, and the anti-drop sensor 108 is used to control the driving wheel 7 to stop rotating when an obstacle is detected.
  • the anti-drop sensor 108 includes but is not limited to a camera and a laser sensor, and the anti-drop sensor 108 can detect obstacles such as foreign objects, pits, and protrusions on the ground, and when the controller 109 identifies that the chassis mechanism 10 cannot cross the obstacle, the controller 109 controls the driving wheel 7 to stop rotating, thereby avoiding the accident of the chassis mechanism 10 falling.
  • the chassis mechanism 10 further includes a controller 109 and a battery (not shown in the figure) mounted on the base 1, and the battery and the driving wheel 7 are electrically connected to the controller 109.
  • the controller 109 is also electrically connected to the emergency stop sensor, the driver 104, the fan 105, the radar 106, the ultrasonic sensor 107, and the anti-fall sensor 108; the fan 105, the controller 109, the battery 109, the driving wheel 7 ...
  • the pool is installed inside the base 1, and the radar 106, the ultrasonic sensor 107 and the anti-fall sensor 108 are installed outside the base 1.
  • most of the components of the delivery robot are integrated on the base 1, which ensures the stability of the chassis mechanism 10.
  • another embodiment of the utility model further provides a delivery robot including a chassis 20 and the above-mentioned chassis mechanism 10, wherein the chassis 20 is mounted on the base 1.
  • a delivery robot including a chassis 20 and the above-mentioned chassis mechanism 10, wherein the chassis 20 is mounted on the base 1.
  • a storage space for storing express, parcels, plates and other items can be provided in the chassis 20, and the chassis mechanism 10 can drive the chassis 20 to move.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Microelectronics & Electronic Packaging (AREA)
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Abstract

A chassis mechanism (10), comprising a base (1), first universal wheels (2), second universal wheels (3), first shock absorbers (4), swing arms (5), supports (6), and driving wheels (7). The first universal wheels (2), the second universal wheels (3) and the supports (6) are all mounted on the base (1). One end of a first shock absorber (4) is mounted on the base (1), and the other end of the first shock absorber (4) is mounted on a swing arm (5), the swing arm (5) being rotatably connected to a support (6). The driving wheels (7) are mounted on the swing arms (5), and the driving wheels (7) are located between the first universal wheels (2) and the second universal wheels (3). Also provided is a delivery robot. In the chassis mechanism, the pressure of the first shock absorbers on the swing arms and the driving wheels is substantially constant, thereby improving the uphill and downhill moving capability of the chassis mechanism.

Description

一种底盘机构及配送机器人Chassis mechanism and delivery robot 技术领域Technical Field
本实用新型属于物流运输技术领域，特别是涉及一种底盘机构及配送机器人。The utility model belongs to the technical field of logistics and transportation, and particularly relates to a chassis mechanism and a distribution robot.
背景技术Background technique
随着快递行业的不断发展，越来越多的快递配送机器人应用到市场中；特别快递在最后一公里的自动化配送正逐渐形成规模。另外，也有越来越多的餐饮行业也使用到松餐机器人来自动送餐。With the continuous development of the express delivery industry, more and more express delivery robots are being applied to the market; in particular, the automated delivery of express delivery in the last mile is gradually taking shape. In addition, more and more catering industries are also using Songcan robots to automatically deliver meals.
现有技术中，无人小车的底盘结构如图5所示，底盘前部安装有两个第一万向轮，底盘的后部安装有两个第二万向轮，底盘的后部安装有两个驱动轮，且两个驱动轮通过弹簧减震器安装在底盘上。但是，当无人小车经过上坡路段时，第一万向轮和第二万向轮与地面接触，万向轮将处于悬空的状态，此时需要减震弹簧下压驱动轮，但是此时的减震弹簧处于伸展状态，其提供到驱动轮的下压力较小，从而驱动轮与地面之间的摩擦力也较小，从而导致无人小车难以越过上坡路段。当无人小车经过下坡路段时，驱动轮与地面之间的摩擦力不需要太大，但是下坡地面接触且向上压缩减震弹簧，减震弹簧的压缩量越大，对驱动轮的下压力就越大，从而导致下坡路段驱动轮与地面之间具有较大的摩擦力，进而导致无人小车难以越过下坡路段。In the prior art, the chassis structure of the unmanned vehicle is shown in FIG5 , where two first universal wheels are installed at the front of the chassis, two second universal wheels are installed at the rear of the chassis, and two driving wheels are installed at the rear of the chassis, and the two driving wheels are installed on the chassis through spring shock absorbers. However, when the unmanned vehicle passes through an uphill section, the first universal wheel and the second universal wheel are in contact with the ground, and the universal wheels will be in a suspended state. At this time, the shock-absorbing spring is required to press down the driving wheel, but the shock-absorbing spring is in an extended state at this time, and the downward force provided to the driving wheel is small, so that the friction between the driving wheel and the ground is also small, which makes it difficult for the unmanned vehicle to cross the uphill section. When the unmanned vehicle passes through a downhill section, the friction between the driving wheel and the ground does not need to be too large, but the downhill ground contacts and compresses the shock-absorbing spring upward. The greater the compression of the shock-absorbing spring, the greater the downward force on the driving wheel, which leads to a large friction between the driving wheel and the ground in the downhill section, which in turn makes it difficult for the unmanned vehicle to cross the downhill section.
实用新型内容Utility Model Content
本实用新型针对现有技术中无人小车难以越过上下坡路段的技术问题，提供了一种底盘机构及配送机器人。 The utility model aims to solve the technical problem that unmanned vehicles in the prior art are difficult to cross uphill and downhill sections, and provides a chassis mechanism and a delivery robot.
鉴于以上技术问题，本实用新型实施例提供一种底盘机构，包括底座、第一万向轮、第二万向轮、第一减震器、摆臂、支架以及驱动轮；所述第一万向轮、所述第二万向轮以及所述支架均安装在所述底座上；所述第一减震器的一端安装在所述底座上，所述第一减震器的另一端安装在所述摆臂上，所述摆臂转动连接在所述支架上；所述驱动轮安装在所述摆臂上，且所述驱动轮位于所述第一万向轮和所述第二万向轮之间。In view of the above technical problems, an embodiment of the utility model provides a chassis mechanism, including a base, a first universal wheel, a second universal wheel, a first shock absorber, a swing arm, a bracket and a driving wheel; the first universal wheel, the second universal wheel and the bracket are all installed on the base; one end of the first shock absorber is installed on the base, and the other end of the first shock absorber is installed on the swing arm, and the swing arm is rotatably connected to the bracket; the driving wheel is installed on the swing arm, and the driving wheel is located between the first universal wheel and the second universal wheel.
可选地，所述底盘机构还包括安装在所述底座上的三角架，所述第一减震器远离所述摆臂的一端转动连接在所述三角架上。Optionally, the chassis mechanism further comprises a tripod mounted on the base, and one end of the first shock absorber away from the swing arm is rotatably connected to the tripod.
可选地，所述底盘机构还包括第二减震器和第三减震器，所述第一万向轮通过所述第二减震器安装在所述底座上，所述第二万向轮通过所述第三减震器安装在所述底座上。Optionally, the chassis mechanism further includes a second shock absorber and a third shock absorber, the first universal wheel is mounted on the base via the second shock absorber, and the second universal wheel is mounted on the base via the third shock absorber.
可选地，所述底盘机构还包括安装在所述底座外壁上的防撞条。Optionally, the chassis mechanism further includes an anti-collision strip installed on the outer wall of the base.
可选地，所述防撞条和所述底座的外壁之间形成有容纳空间，所述底盘机构还包括安装在所述容纳空间中的急停传感器；所述急停传感器用于在所述防撞条被撞击时，控制所述驱动轮停止转动。Optionally, a receiving space is formed between the anti-collision strip and the outer wall of the base, and the chassis mechanism also includes an emergency stop sensor installed in the receiving space; the emergency stop sensor is used to control the driving wheel to stop rotating when the anti-collision strip is hit.
可选地，所述底盘机构还包括驱动器以及风扇，所述驱动件安装在所述摆臂上，且所述驱动件的输出端连接所述驱动轮；所述驱动器和所述风扇均安装在所述底座上，且所述驱动器与所述驱动轮电连接，所述风扇用于给所述驱动器散热。Optionally, the chassis mechanism also includes a driver and a fan, the driver is mounted on the swing arm, and the output end of the driver is connected to the drive wheel; the driver and the fan are both mounted on the base, and the driver is electrically connected to the drive wheel, and the fan is used to dissipate heat for the driver.
可选地，所述底盘机构还包括安装在所述底座上的雷达和超声波传感器，所述雷达和所述超声波传感器均用于检测所述底座周围的环境。Optionally, the chassis mechanism further includes a radar and an ultrasonic sensor installed on the base, and both the radar and the ultrasonic sensor are used to detect the environment around the base.
可选地，所述底盘机构还包括安装在所述底座的底部的防跌落传感器，所述防跌落传感器用于在检测到障碍物时，控制所述驱动轮停止转动。Optionally, the chassis mechanism further comprises an anti-fall sensor installed at the bottom of the base, and the anti-fall sensor is used to control the driving wheel to stop rotating when an obstacle is detected.
可选地，所述底盘机构还包括安装在所述底座上的控制器和电池，所述电池、所述驱动轮均与所述控制器电连接。Optionally, the chassis mechanism further includes a controller and a battery mounted on the base, and the battery and the driving wheel are electrically connected to the controller.
本实用新型另一实施例还提供了一种配送机器人，包括机箱以及上述的 底盘机构，所述机箱安装在所述底座上。Another embodiment of the utility model further provides a delivery robot, comprising a chassis and the above A chassis mechanism, wherein the chassis is mounted on the base.
本实施例中，所述第一减震器为氮气减震器。所述氮气减震器的一端安装在所述底座上，所述氮气减震器的另一端安装在所述摆臂上，所述摆臂转动连接在所述支架上；所述驱动轮安装在所述摆臂上，且所述驱动轮位于所述第一万向轮和所述第二万向轮之间；由于所述氮气减震器对所述摆臂的压力是恒定的，在所述氮气减震器的行程范围内，所述氮气减震器对所述摆臂和所述驱动轮的压力基本是恒定的；当所述底盘机构位于上坡路段时，所述氮气减震器将使得所述驱动轮紧贴地面，从而增加了所述驱动轮与上坡路面之间的摩擦力，进而提高了该底盘机构的上坡能力。当所述底盘机构位于下坡路段时，所述驱动轮不会进一步压缩氮气减震器，从而所述驱动轮与下坡路面的压力将不会进一步增大，减小了驱动轮与下坡路面之间的摩擦力，提高了该底盘机构的下坡能力。In this embodiment, the first shock absorber is a nitrogen shock absorber. One end of the nitrogen shock absorber is mounted on the base, and the other end of the nitrogen shock absorber is mounted on the swing arm, and the swing arm is rotatably connected to the bracket; the driving wheel is mounted on the swing arm, and the driving wheel is located between the first universal wheel and the second universal wheel; since the pressure of the nitrogen shock absorber on the swing arm is constant, within the travel range of the nitrogen shock absorber, the pressure of the nitrogen shock absorber on the swing arm and the driving wheel is basically constant; when the chassis mechanism is located in an uphill section, the nitrogen shock absorber will make the driving wheel close to the ground, thereby increasing the friction between the driving wheel and the uphill road surface, thereby improving the uphill ability of the chassis mechanism. When the chassis mechanism is located in a downhill section, the driving wheel will not further compress the nitrogen shock absorber, so that the pressure between the driving wheel and the downhill road surface will not increase further, reducing the friction between the driving wheel and the downhill road surface, and improving the downhill ability of the chassis mechanism.
另外，所述氮气减震器的体积较小，且无需安装储能器，从而减小了所述氮气减震器在所述底座上的占用空间。In addition, the nitrogen shock absorber has a small volume and does not need to be installed with an energy storage device, thereby reducing the space occupied by the nitrogen shock absorber on the base.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
下面结合附图和实施例对本实用新型进一步说明。The utility model is further described below in conjunction with the accompanying drawings and embodiments.
图1是本实用新型一实施例提供的底盘机构的结构示意图；FIG1 is a schematic structural diagram of a chassis mechanism provided by an embodiment of the present utility model;
图2是本实用新型一实施例提供的底盘机构的部分结构示意图；FIG2 is a partial structural diagram of a chassis mechanism provided by an embodiment of the utility model;
图3是本实用新型一实施例提供的底盘机构的部分结构示意图；FIG3 is a partial structural diagram of a chassis mechanism provided by an embodiment of the utility model;
图4是本实用新型一实施例提供的配送机器人的结构示意图；FIG4 is a schematic diagram of the structure of a delivery robot provided by an embodiment of the present utility model;
图5是现有技术中无人小车上下坡时的示意图。FIG. 5 is a schematic diagram of an unmanned vehicle in the prior art when going uphill or downhill.
说明书中的附图标记如下：
1、底座；2、第一万向轮；3、第二万向轮；4、第一减震器；5、摆臂；
6、支架；7、驱动轮；8、三角架；9、第二减震器；101、第三减震器；102、防撞条；104、驱动器；105、风扇；106、雷达；107、超声波传感器；108、防跌落传感器；109、控制器；10、底盘机构；20、机箱。The reference numerals in the specification are as follows:
1. Base; 2. First universal wheel; 3. Second universal wheel; 4. First shock absorber; 5. Swing arm;
6. Bracket; 7. Driving wheel; 8. Tripod; 9. Second shock absorber; 101. Third shock absorber; 102. Anti-collision strip; 104. Driver; 105. Fan; 106. Radar; 107. Ultrasonic sensor; 108. Anti-drop sensor; 109. Controller; 10. Chassis mechanism; 20. Chassis.
具体实施方式Detailed ways
为了使本实用新型所解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本实用新型进行进一步的详细说明。应当理解，此处所描述的具体实施例仅用以解释本实用新型，并不用于限定本实用新型。In order to make the technical problems, technical solutions and beneficial effects solved by the utility model more clearly understood, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.
需要理解的是，术语“上”、“下”、“左”、“右”、“前”、“后”、“中部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为本实用新型的限制。It should be understood that the directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", and "middle" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation of the present invention.
如图1至图3所示，本实用新型一实施例提供的一种底盘机构10，包括底座1、第一万向轮2、第二万向轮3、第一减震器4、摆臂5、支架6以及驱动轮7；所述第一万向轮2、所述第二万向轮3以及所述支架6均安装在所述底座1上；所述第一减震器4的一端安装在所述底座1上，所述第一减震器4的另一端安装在所述摆臂5上，所述摆臂5转动连接在所述支架6上；所述驱动轮7安装在所述摆臂5上，且所述驱动轮7位于所述第一万向轮2和所述第二万向轮3之间。可以理解地，所述第一万向轮2、所述第二万向轮3、所述驱动轮7、所述第一减震器4、所述摆臂5以及支架6均设置有两个，两个所述第一万向轮2分别转动连接在所述底座1前端的左右两侧，两个所述第二万向轮3分别转动连接在所述底座1后端的左右两侧，两个所述驱动轮7分别位于所述底座1中部的左右两侧。As shown in Figures 1 to 3, a chassis mechanism 10 provided by an embodiment of the utility model comprises a base 1, a first universal wheel 2, a second universal wheel 3, a first shock absorber 4, a swing arm 5, a bracket 6 and a driving wheel 7; the first universal wheel 2, the second universal wheel 3 and the bracket 6 are all mounted on the base 1; one end of the first shock absorber 4 is mounted on the base 1, and the other end of the first shock absorber 4 is mounted on the swing arm 5, and the swing arm 5 is rotatably connected to the bracket 6; the driving wheel 7 is mounted on the swing arm 5, and the driving wheel 7 is located between the first universal wheel 2 and the second universal wheel 3. It can be understood that the first universal wheel 2, the second universal wheel 3, the driving wheel 7, the first shock absorber 4, the swing arm 5 and the bracket 6 are all provided with two, the two first universal wheels 2 are respectively rotatably connected to the left and right sides of the front end of the base 1, the two second universal wheels 3 are respectively rotatably connected to the left and right sides of the rear end of the base 1, and the two driving wheels 7 are respectively located on the left and right sides of the middle part of the base 1.
其中，所述第一减震器4可以为弹簧减震器、液压阻尼减震器、氮气弹 簧减震器，优选为氮气减震器。The first shock absorber 4 may be a spring shock absorber, a hydraulic damping shock absorber, a nitrogen spring, or a Spring shock absorber, preferably a nitrogen shock absorber.
本实施例中，所述第一减震器4为氮气减震器。所述第一减震器4的一端安装在所述底座1上，所述第一减震器4的另一端安装在所述摆臂5上，所述摆臂5转动连接在所述支架6上；所述驱动轮7安装在所述摆臂5上，且所述驱动轮7位于所述第一万向轮2和所述第二万向轮3之间；由于所述第一减震器4对所述摆臂5的压力是恒定的，在所述第一减震器4的行程范围内，所述第一减震器4对所述摆臂5和所述驱动轮7的压力基本是恒定的；当所述底盘机构10位于上坡路段时，所述第一减震器4将使得所述驱动轮7紧贴地面，从而增加了所述驱动轮7与上坡路面之间的摩擦力，进而提高了该底盘机构10的上坡能力。当所述底盘机构10位于下坡路段时，所述驱动轮7不会进一步压缩第一减震器4，从而所述驱动轮7与下坡路面的压力将不会进一步增大，减小了驱动轮7与下坡路面之间的摩擦力，提高了该底盘机构10的下坡能力。In this embodiment, the first shock absorber 4 is a nitrogen shock absorber. One end of the first shock absorber 4 is mounted on the base 1, and the other end of the first shock absorber 4 is mounted on the swing arm 5, and the swing arm 5 is rotatably connected to the bracket 6; the driving wheel 7 is mounted on the swing arm 5, and the driving wheel 7 is located between the first universal wheel 2 and the second universal wheel 3; since the pressure of the first shock absorber 4 on the swing arm 5 is constant, within the travel range of the first shock absorber 4, the pressure of the first shock absorber 4 on the swing arm 5 and the driving wheel 7 is basically constant; when the chassis mechanism 10 is located on an uphill section, the first shock absorber 4 will make the driving wheel 7 close to the ground, thereby increasing the friction between the driving wheel 7 and the uphill road surface, thereby improving the uphill ability of the chassis mechanism 10. When the chassis mechanism 10 is located on a downhill section, the driving wheel 7 will not further compress the first shock absorber 4, so that the pressure between the driving wheel 7 and the downhill road surface will not increase further, thereby reducing the friction between the driving wheel 7 and the downhill road surface and improving the downhill ability of the chassis mechanism 10.
另外，所述第一减震器4的体积较小，且无需安装储能器，从而减小了所述第一减震器4在所述底座1上的占用空间。In addition, the first shock absorber 4 has a small volume and does not need to be installed with an energy storage device, thereby reducing the space occupied by the first shock absorber 4 on the base 1.
在一实施例中，如图2所示，所述底盘机构10还包括安装在所述底座1上的三角架8，所述第一减震器4远离所述摆臂5的一端转动连接在所述三角架8上。可以理解地，所述三角架8为直角三角架，所述三角架8安装在所述底座1的上方，从而所述第一减震器4远离所述摆臂5的一端可以穿过所述底座1并向上伸出较长的距离后连接所述三角架8，从而提高了该底盘机构10的紧凑性。In one embodiment, as shown in FIG2 , the chassis mechanism 10 further includes a tripod 8 mounted on the base 1, and one end of the first shock absorber 4 away from the swing arm 5 is rotatably connected to the tripod 8. It can be understood that the tripod 8 is a right-angle tripod, and the tripod 8 is mounted above the base 1, so that one end of the first shock absorber 4 away from the swing arm 5 can pass through the base 1 and extend upward for a long distance before being connected to the tripod 8, thereby improving the compactness of the chassis mechanism 10.
具体地，所述三角架8上设有安装槽，所述安装槽的内壁上设有第一安装孔，所述第一减震器4远离所述摆臂5的一端设有第二安装孔，所述第一减震器4通过***所述第一安装孔和所述第二安装孔的定位销转动连接在所述三角架8上。Specifically, a mounting groove is provided on the tripod 8, a first mounting hole is provided on the inner wall of the mounting groove, a second mounting hole is provided at one end of the first shock absorber 4 away from the swing arm 5, and the first shock absorber 4 is rotatably connected to the tripod 8 by inserting positioning pins into the first mounting hole and the second mounting hole.
在一实施例中，如图2所示，所述底盘机构10还包括第二减震器9和第 三减震器101，所述第一万向轮2通过所述第二减震器9安装在所述底座1上，所述第二万向轮3通过所述第三减震器101安装在所述底座1上。可以理解地，所述第二减震器9和所述第三减震器101均包括但不限于弹簧减震器等，优选为非氮气减震器，可节约成本。所述第一万向轮2通过所述第二减震器9转动连接在所述底座1上，所述第二万向轮3通过所述第三减震器101转动连接在所述底座1上，所述第一万向轮2和所述第二万向轮3均可以在所述底座1上进行上下伸缩，进一步提高了该底盘机构10的越过凹坑、凸起等障碍的能力。In one embodiment, as shown in FIG. 2 , the chassis mechanism 10 further includes a second shock absorber 9 and a first Three shock absorbers 101, the first universal wheel 2 is installed on the base 1 through the second shock absorber 9, and the second universal wheel 3 is installed on the base 1 through the third shock absorber 101. It can be understood that the second shock absorber 9 and the third shock absorber 101 both include but are not limited to spring shock absorbers, etc., preferably non-nitrogen shock absorbers, which can save costs. The first universal wheel 2 is rotatably connected to the base 1 through the second shock absorber 9, and the second universal wheel 3 is rotatably connected to the base 1 through the third shock absorber 101. The first universal wheel 2 and the second universal wheel 3 can be extended and retracted up and down on the base 1, further improving the ability of the chassis mechanism 10 to cross obstacles such as pits and protrusions.
在一实施例中，如图1所示，所述底盘机构10还包括安装在所述底座1外壁上的防撞条102。可以理解地，所述防撞条102可以由硅胶等材料制成，且所述底座1的四周外壁上均安装有所述防撞条102。当该底盘机构10移动的过程中撞击到外部物体时，所述防撞条102可以起到缓冲的作用，从而避免了所述底座1及其上部的部件发生撞坏的事故，进而延长了该底盘机构10的使用寿命。In one embodiment, as shown in FIG1 , the chassis mechanism 10 further includes an anti-collision strip 102 installed on the outer wall of the base 1. It can be understood that the anti-collision strip 102 can be made of materials such as silica gel, and the anti-collision strip 102 is installed on the outer walls of the base 1. When the chassis mechanism 10 collides with an external object during movement, the anti-collision strip 102 can play a buffering role, thereby avoiding the accident of the base 1 and its upper parts being damaged, thereby extending the service life of the chassis mechanism 10.
在一实施例中，如图1所示，所述防撞条102和所述底座1的外壁之间形成有容纳空间(图中未示出)，所述底盘机构10还包括安装在所述容纳空间中的急停传感器(图中未示出)；所述急停传感器用于在所述防撞条102发生撞击时，控制所述驱动轮7停止转动。可以理解地，所述急停传感器包括但不限于接触式传感器，且所述急停传感器位于所述防撞条102和所述底座1的外壁之间，从而避免了外界环境对所述急停传感器的伤害，延长了所述急停传感器的使用寿命。具体地，当该底盘机构10移动的过程中，所述防撞条102碰撞到外部物体时，所述防撞条102将触发所述急停传感器，所述急停传感器将发送急停信号给控制器109，控制器109将控制所述驱动轮7停止转动，从而保证了该底座1机构碰撞到外部物体时，还继续保持移动所造成的损害，进而提高了该底盘机构10的安全性。In one embodiment, as shown in FIG1 , a receiving space (not shown in the figure) is formed between the anti-collision strip 102 and the outer wall of the base 1, and the chassis mechanism 10 further includes an emergency stop sensor (not shown in the figure) installed in the receiving space; the emergency stop sensor is used to control the driving wheel 7 to stop rotating when the anti-collision strip 102 collides. It can be understood that the emergency stop sensor includes but is not limited to a contact sensor, and the emergency stop sensor is located between the anti-collision strip 102 and the outer wall of the base 1, thereby avoiding damage to the emergency stop sensor by the external environment and extending the service life of the emergency stop sensor. Specifically, when the chassis mechanism 10 moves, when the anti-collision strip 102 collides with an external object, the anti-collision strip 102 will trigger the emergency stop sensor, and the emergency stop sensor will send an emergency stop signal to the controller 109, and the controller 109 will control the driving wheel 7 to stop rotating, thereby ensuring that the damage caused by the base 1 mechanism continues to be maintained when it collides with an external object, thereby improving the safety of the chassis mechanism 10.
在一实施例中，如图2和图3所示，所述底盘机构10还包括驱动器104 以及风扇105，所述驱动器104和所述风扇105均安装在所述底座1上，且所述驱动器104与所述驱动轮7电连接，所述风扇105用于给所述驱动器104散热。可以理解地，所述驱动轮7上集成有轮毂电机，所述驱动器14与所述轮毂电机电连接所述驱动器104可以控制所述驱动轮7的转速、启停以及转动方向等，所述风扇105不仅可以对所述驱动器104进行降温，还可以对所述底座1上的其他发热的电器件进行降温。In one embodiment, as shown in FIG. 2 and FIG. 3 , the chassis mechanism 10 further includes a driver 104 and a fan 105, the driver 104 and the fan 105 are both mounted on the base 1, and the driver 104 is electrically connected to the drive wheel 7, and the fan 105 is used to dissipate heat from the driver 104. It can be understood that a hub motor is integrated on the drive wheel 7, the driver 14 is electrically connected to the hub motor, and the driver 104 can control the speed, start and stop, and rotation direction of the drive wheel 7, and the fan 105 can not only cool the driver 104, but also cool other heating electrical components on the base 1.
在一实施例中，如图1所示，所述底盘机构10还包括安装在所述底座1上的雷达106和超声波传感器107，所述雷达106和所述超声波传感器107均用于检测所述底座1周围的环境。可以理解地，所述雷达106可以扫描所述底座1周围的环境，并且识别所述底座1周围是否具有障碍物；所述超声波传感器107可以检测所述雷达106扫描不到的盲区，以及所述超声波传感器107可以检测所述雷达106扫描不到的透明物体。本实施例中，所述雷达106和所述超声波传感器107的设计，使得该底盘机构10可以自动识别其周围的环境，从而该底盘机构10可以实现自动驾驶。In one embodiment, as shown in FIG1 , the chassis mechanism 10 further includes a radar 106 and an ultrasonic sensor 107 mounted on the base 1, and the radar 106 and the ultrasonic sensor 107 are both used to detect the environment around the base 1. It can be understood that the radar 106 can scan the environment around the base 1 and identify whether there are obstacles around the base 1; the ultrasonic sensor 107 can detect blind spots that the radar 106 cannot scan, and the ultrasonic sensor 107 can detect transparent objects that the radar 106 cannot scan. In this embodiment, the design of the radar 106 and the ultrasonic sensor 107 enables the chassis mechanism 10 to automatically identify the environment around it, so that the chassis mechanism 10 can achieve automatic driving.
在一实施例中，如图4所示，所述底盘机构10还包括安装在所述底座1的底部的防跌落传感器108，所述防跌落传感器108用于在检测到障碍物时，控制所述驱动轮7停止转动。可以理解地，所述防跌落传感器108包括但不限于相机、激光传感器，所述防跌落传感器108可以检测地面的异物、凹坑、凸起等障碍物，并且通过控制器109识别该底盘机构10不能越过该障碍物时，控制器109控制所述驱动轮7停止转动，避免了该底盘机构10发生跌倒的事故。In one embodiment, as shown in FIG4 , the chassis mechanism 10 further includes an anti-drop sensor 108 installed at the bottom of the base 1, and the anti-drop sensor 108 is used to control the driving wheel 7 to stop rotating when an obstacle is detected. It can be understood that the anti-drop sensor 108 includes but is not limited to a camera and a laser sensor, and the anti-drop sensor 108 can detect obstacles such as foreign objects, pits, and protrusions on the ground, and when the controller 109 identifies that the chassis mechanism 10 cannot cross the obstacle, the controller 109 controls the driving wheel 7 to stop rotating, thereby avoiding the accident of the chassis mechanism 10 falling.
在一实施例中，如图1和图2所示，所述底盘机构10还包括安装在所述底座1上的控制器109和电池(图中未示出)，所述电池、所述驱动轮7均与所述控制器109电连接。可以理解地，所述控制器109还与所述急停传感器、所述驱动器104、所述风扇105、所述雷达106、所述超声波传感器107以及所述防跌落传感器108电连接；所述风扇105、所述控制器109、所述电 池均安装在所述底座1的内部，所述雷达106、所述超声波传感器107以及所述防跌落传感器108均安装在所述底座1的外部，本实施例中，配送机器人的多数部件集成在所述底座1上，保证了该底盘机构10的稳定性。In one embodiment, as shown in FIG. 1 and FIG. 2 , the chassis mechanism 10 further includes a controller 109 and a battery (not shown in the figure) mounted on the base 1, and the battery and the driving wheel 7 are electrically connected to the controller 109. It can be understood that the controller 109 is also electrically connected to the emergency stop sensor, the driver 104, the fan 105, the radar 106, the ultrasonic sensor 107, and the anti-fall sensor 108; the fan 105, the controller 109, the battery 109, the driving wheel 7 ... The pool is installed inside the base 1, and the radar 106, the ultrasonic sensor 107 and the anti-fall sensor 108 are installed outside the base 1. In this embodiment, most of the components of the delivery robot are integrated on the base 1, which ensures the stability of the chassis mechanism 10.
如图4所示，本实用新型另一实施例还提供了一种配送机器人包括机箱20以及上述的底盘机构10，所述机箱20安装在所述底座1上。可以理解地，所述机箱20内可以设置用于储存快递、包裹、餐盘等物品的储物空间，所述底盘机构10可以带动所述机箱20移动。As shown in Fig. 4, another embodiment of the utility model further provides a delivery robot including a chassis 20 and the above-mentioned chassis mechanism 10, wherein the chassis 20 is mounted on the base 1. It can be understood that a storage space for storing express, parcels, plates and other items can be provided in the chassis 20, and the chassis mechanism 10 can drive the chassis 20 to move.
以上仅为本实用新型的底盘机构和配送机器人的实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本实用新型的保护范围之内。 The above are merely embodiments of the chassis mechanism and delivery robot of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (11)

  1. 一种底盘机构，其特征在于，包括底座、第一万向轮、第二万向轮、第一减震器、摆臂、支架以及驱动轮；所述第一万向轮、所述第二万向轮以及所述支架均安装在所述底座上；所述第一减震器的一端安装在所述底座上，所述第一减震器的另一端安装在所述摆臂上，所述摆臂转动连接在所述支架上；所述驱动轮安装在所述摆臂上，且所述驱动轮位于所述第一万向轮和所述第二万向轮之间。A chassis mechanism, characterized in that it includes a base, a first universal wheel, a second universal wheel, a first shock absorber, a swing arm, a bracket and a driving wheel; the first universal wheel, the second universal wheel and the bracket are all installed on the base; one end of the first shock absorber is installed on the base, and the other end of the first shock absorber is installed on the swing arm, and the swing arm is rotatably connected to the bracket; the driving wheel is installed on the swing arm, and the driving wheel is located between the first universal wheel and the second universal wheel.
  2. 根据权利要求1所述的底盘机构，其特征在于，所述第一减震器为氮气减震器。The chassis structure according to claim 1, characterized in that the first shock absorber is a nitrogen shock absorber.
  3. 根据权利要求1所述的底盘机构，其特征在于，所述底盘机构还包括安装在所述底座上的三角架，所述第一减震器远离所述摆臂的一端转动连接在所述三角架上。The chassis mechanism according to claim 1 is characterized in that the chassis mechanism also includes a tripod installed on the base, and one end of the first shock absorber away from the swing arm is rotatably connected to the tripod.
  4. 根据权利要求1所述的底盘机构，其特征在于，所述底盘机构还包括第二减震器和第三减震器，所述第一万向轮通过所述第二减震器安装在所述底座上，所述第二万向轮通过所述第三减震器安装在所述底座上。The chassis mechanism according to claim 1 is characterized in that the chassis mechanism further includes a second shock absorber and a third shock absorber, the first universal wheel is installed on the base through the second shock absorber, and the second universal wheel is installed on the base through the third shock absorber.
  5. 根据权利要求1所述的底盘机构，其特征在于，所述底盘机构还包括安装在所述底座外壁上的防撞条。The chassis mechanism according to claim 1 is characterized in that the chassis mechanism also includes an anti-collision strip installed on the outer wall of the base.
  6. 根据权利要求5所述的底盘机构，其特征在于，所述防撞条和所述底座的外壁之间形成有容纳空间，所述底盘机构还包括安装在所述容纳空间中的急停传感器；所述急停传感器用于在所述防撞条发生撞击时，控制所述驱动轮停止转动。 The chassis mechanism according to claim 5 is characterized in that a accommodating space is formed between the anti-collision bar and the outer wall of the base, and the chassis mechanism also includes an emergency stop sensor installed in the accommodating space; the emergency stop sensor is used to control the driving wheel to stop rotating when the anti-collision bar collides.
  7. 根据权利要求1所述的底盘机构，其特征在于，所述底盘机构还包括驱动器以及风扇，所述驱动器和所述风扇均安装在所述底座上，且所述驱动器与所述驱动轮电连接，所述风扇用于给所述驱动器散热。The chassis mechanism according to claim 1 is characterized in that the chassis mechanism also includes a driver and a fan, the driver and the fan are both mounted on the base, the driver is electrically connected to the driving wheel, and the fan is used to dissipate heat from the driver.
  8. 根据权利要求1所述的底盘机构，其特征在于，所述底盘机构还包括安装在所述底座上的雷达和超声波传感器，所述雷达和所述超声波传感器均用于检测所述底座周围的环境。The chassis mechanism according to claim 1 is characterized in that the chassis mechanism also includes a radar and an ultrasonic sensor installed on the base, and the radar and the ultrasonic sensor are both used to detect the environment around the base.
  9. 根据权利要求1所述的底盘机构，其特征在于，所述底盘机构还包括安装在所述底座的底部的防跌落传感器，所述防跌落传感器用于在检测到障碍物时，控制所述驱动轮停止转动。The chassis mechanism according to claim 1 is characterized in that the chassis mechanism also includes an anti-fall sensor installed at the bottom of the base, and the anti-fall sensor is used to control the driving wheel to stop rotating when an obstacle is detected.
  10. 根据权利要求1所述的底盘机构，其特征在于，所述底盘机构还包括安装在所述底座上的控制器和电池，所述电池、所述驱动轮均与所述控制器电连接。The chassis mechanism according to claim 1 is characterized in that the chassis mechanism also includes a controller and a battery installed on the base, and the battery and the driving wheel are electrically connected to the controller.
  11. 一种配送机器人，其特征在于，包括机箱以及如权利要求1至10任意一项所述的底盘机构，所述机箱安装在所述底座上。 A delivery robot, characterized in that it comprises a chassis and a chassis mechanism as described in any one of claims 1 to 10, wherein the chassis is mounted on the base.
PCT/CN2023/128028 2022-12-13 2023-10-31 Chassis mechanism and delivery robot WO2024125121A1 (en)

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CN218967014U (en) * 2022-12-13 2023-05-05 丰巢网络技术有限公司 Chassis mechanism and distribution robot

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WO2022041666A1 (en) * 2020-08-30 2022-03-03 深圳市普渡科技有限公司 Chassis having independent swing arm suspension, and robot
WO2022041665A1 (en) * 2020-08-30 2022-03-03 深圳市普渡科技有限公司 Chassis having reversing transmission suspension, and robot
CN115195372A (en) * 2022-07-28 2022-10-18 杭州申昊科技股份有限公司 Wheeled chassis with strong trafficability characteristic and robot thereof
CN218967014U (en) * 2022-12-13 2023-05-05 丰巢网络技术有限公司 Chassis mechanism and distribution robot

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WO2022041666A1 (en) * 2020-08-30 2022-03-03 深圳市普渡科技有限公司 Chassis having independent swing arm suspension, and robot
WO2022041665A1 (en) * 2020-08-30 2022-03-03 深圳市普渡科技有限公司 Chassis having reversing transmission suspension, and robot
CN215149032U (en) * 2021-01-29 2021-12-14 深圳市普渡科技有限公司 Suspension system and robot
CN115195372A (en) * 2022-07-28 2022-10-18 杭州申昊科技股份有限公司 Wheeled chassis with strong trafficability characteristic and robot thereof
CN218967014U (en) * 2022-12-13 2023-05-05 丰巢网络技术有限公司 Chassis mechanism and distribution robot

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