Search

CN-121973577-A - Mobile chassis, robot and control method of mobile chassis

CN121973577ACN 121973577 ACN121973577 ACN 121973577ACN-121973577-A

Abstract

The application relates to the technical field of robots, in particular to a mobile chassis, a robot and a control method of the mobile chassis. The movable chassis comprises a chassis frame and a plurality of running units, each running unit comprises a wheel assembly and a suspension assembly, the wheel assembly is connected with the chassis frame through the suspension assembly, the suspension assembly is configured to drive the wheel assembly to move along a first direction relative to the chassis frame so as to adjust the distance between the chassis frame and the ground, and the first direction is obliquely arranged relative to the vertical direction. Therefore, the posture of the chassis frame when the chassis frame is overturned over the obstacle can be adjusted, the gravity center of the chassis frame is prevented from shifting, and the stability of the movable chassis when the movable chassis is overturned over the obstacle is further improved. Meanwhile, the first direction is inclined relative to the vertical direction, so that the impact force from the obstacle can be absorbed better, and the stability of the movable chassis when the movable chassis climbs over the obstacle is further improved. The mobile chassis can also adjust the wheelbase of the wheel assembly, so that the travelling unit can be adapted to different sizes of mobile space.

Inventors

  • LI HOUCUN
  • YAN BIN

Assignees

  • 荣耀终端股份有限公司

Dates

Publication Date
20260505
Application Date
20241025

Claims (17)

  1. 1. A mobile chassis, comprising: A chassis frame (310); a plurality of travel units (320), each of the travel units (320) comprising a wheel assembly (330) and a suspension assembly (340); the wheel assembly (330) is connected to the chassis frame (310) by the suspension assembly (340); the suspension assembly (340) is configured to move the wheel assembly (330) relative to the chassis frame (310) in a first direction to adjust a distance of the chassis frame (310) from the ground; Wherein the first direction is arranged obliquely with respect to the vertical direction.
  2. 2. The mobile chassis of claim 1, wherein the mobile chassis is configured to move, The suspension assembly (340) comprises a guide portion (342) and a sliding portion (343); the guide part (342) is arranged on the chassis frame (310); The sliding part (343) is slidably connected with the guiding part (342) and is connected with the wheel assembly (330); The sliding portion (343) is configured to slide the wheel assembly (330) on the guide portion (342) to move the wheel assembly (330) relative to the chassis frame (310) in the first direction.
  3. 3. The mobile chassis of claim 2, wherein the mobile chassis is configured to move, The sliding part (343) comprises a sliding structure (343 a) and a power structure (343 b); The sliding structure (343 a) is slidably connected with the guide part (342) and is connected with the wheel assembly (330); the power structure (343 b) is arranged on the chassis frame (310) and is connected with the sliding structure (343 a); The power structure (343 b) is configured to drive the sliding structure (343 a) to slide on the guide (342) to drive the wheel assembly (330) to move in the first direction relative to the chassis frame (310).
  4. 4. The mobile chassis of claim 3, wherein the mobile chassis is configured to move, The power structure (343 b) comprises a driving wheel (3431), a driven wheel (3432), a transmission belt (3433) and a first driving piece (3434); The driving wheel (3431) and the driven wheel (3432) are arranged at intervals along the first direction; The transmission belt (3433) is connected to the driving wheel (3431) and the driven wheel (3432) and is connected with the sliding structure (343 a); the first driving piece (3434) is connected with the driving wheel (3431); the first driving piece (3434) is configured to drive the driving wheel (3431) to rotate, and drives the driven wheel (3432) to rotate through the driving belt (3433), so that the driving belt (3433) drives the sliding structure (343 a) to slide on the guide part (342).
  5. 5. The mobile chassis of claim 4, wherein the mobile chassis is configured to move, The guide part (342) comprises a guide rail (3421); the guide rail (3421) extends along the first direction and is arranged on the chassis frame (310); the sliding structure (343 a) comprises a slider (3435); The sliding block (3435) is slidably connected to the guide rail (3421); The slider (3435) is connected with the driving belt (3433) and is connected with the wheel assembly (330); The slider (3435) is configured to drive the wheel assembly (330) to slide on the guide rail (3421) under the drive of the transmission belt (3433).
  6. 6. The mobile chassis of claim 5, wherein the mobile chassis is configured to move, The suspension assembly (340) further comprises a connecting member (344) and a hold-down member (345); the connecting piece (344) is positioned between the driving belt (3433) and the sliding block (3435) and is connected with the sliding block (3435); The pressing piece (345) is positioned on one side of the driving belt (3433) away from the connecting piece (344) and is connected with the connecting piece (344) so as to press the driving belt (3433) between the connecting piece (344) and the pressing piece (345).
  7. 7. The mobile chassis of claim 5, wherein the mobile chassis is configured to move, Along the first direction, baffles (346) are arranged at two ends of the guide rail (3421); The suspension assembly (340) further comprises a support (347); the support part (347) is provided between the slider (3435) and the baffle (346); The support portion (347) is configured to support the slider (3435) maintaining a relatively stationary state between the slider (3435) and the guide rail (3421).
  8. 8. The mobile chassis of claim 7, wherein the mobile chassis is configured to move, The supporting part (347) is an elastic piece; The elastic member is elastically deformable in the first direction.
  9. 9. The mobile chassis of claim 5, wherein the mobile chassis is configured to move, The guide rail (3421) comprises a first guide rail (3421-1) and a second guide rail (3421-2); The first guide rail (3421-1) and the second guide rail (3421-2) both extend along the first direction and are arranged on the chassis frame (310); The first guide rail (3421-1) and the second guide rail (3421-2) are respectively positioned at two opposite sides of the driving wheel (3431); the slider (3435) includes a first slider (3435-1) and a second slider (3435-2); The first slider (3435-1) is slidably connected with the first guide rail (3421-1) and is connected with the wheel assembly (330); the second slider (3435-2) is slidably connected with the second guide rail (3421-2) and is connected with the wheel assembly (330); Either one of the first slider (3435-1) and the second slider (3435-2) is connected to the belt (3433).
  10. 10. The mobile chassis of any of claims 4-9, wherein, Along a second direction, a first running unit (320-1) and a second running unit (320-2) are arranged on two opposite sides of the chassis frame (310), and the second direction is the axial direction of the driving wheel (3431); In the second direction, the first drive (3434) of the first travel unit (320-1) and the first drive (3434) of the second travel unit (320-2) are offset.
  11. 11. The mobile chassis of claim 10, wherein the mobile chassis is configured to move, In the second direction, the driving wheel (3431) of the first travel unit (320-1) corresponds to the driven wheel (3432) of the second travel unit (320-2), and the driven wheel (3432) of the first travel unit (320-1) corresponds to the driving wheel (3431) of the second travel unit (320-2).
  12. 12. The mobile chassis of any of claims 1-11, wherein, The chassis frame (310) comprises a bottom plate (311) and side plates (312); the bottom plate (311) is positioned on at least one side of the side plate (312) along the vertical direction, and the bottom plate (311) and the side plate (312) form a containing cavity (313); the suspension assembly (340) is arranged on the side plate (312) and is positioned in the accommodating cavity (313); The side plate (312) is provided with an opening (312 a) extending in the first direction; the mobile chassis further comprises a first connection (360); the first connecting piece (360) is embedded in the opening (312 a) and is connected with the wheel assembly (330) and the suspension assembly (340).
  13. 13. The mobile chassis of claim 12, further comprising: -a steering assembly (350), the steering assembly (350) being connected with the first connection (360) and the wheel assembly (330) for adjusting the direction of travel of the wheel assembly (330).
  14. 14. The mobile chassis of claim 13, wherein the mobile chassis is configured to move, The steering assembly (350) comprises a second drive member (352) and a second link member (351); one end of the second connecting piece (351) is connected with the first connecting piece (360), and the other end of the second connecting piece is connected with the wheel assembly (330); The second driving piece (352) is arranged on the first connecting piece (360); the second drive member (352) is configured to drive the second link member (351) to move to adjust the direction of travel of the wheel assembly (330).
  15. 15. A robot comprising a mobile chassis according to any one of claims 1-14.
  16. 16. A method of controlling a mobile chassis, applied to a mobile chassis according to any one of claims 1 to 14, the method comprising: Detecting the attitude of the chassis frame; In the case where the chassis frame is detected to be inclined, the suspension assembly of at least one of the traveling units is driven based on the inclined posture of the chassis frame to reduce the inclination angle of the chassis frame.
  17. 17. The method for controlling a mobile chassis according to claim 16, it is characterized in that the method comprises the steps of, The driving of the suspension assembly of at least one of the travel units based on the tilting attitude of the chassis frame to reduce the tilting angle of the chassis frame includes: Under the condition that the chassis frame is inclined along the travelling direction of the movable chassis, correspondingly driving one suspension assembly in two groups of travelling units along the travelling direction to reduce the inclination angle of the chassis frame; And/or the number of the groups of groups, In the case where the chassis frame is inclined in the axial direction of the driving wheel assembly, one of the suspension assemblies of the two sets of running units disposed opposite in the axial direction is correspondingly driven to reduce the inclination angle of the chassis frame.

Description

Mobile chassis, robot and control method of mobile chassis Technical Field The application relates to the technical field of robots, in particular to a mobile chassis, a robot and a control method of the mobile chassis. Background In the prior art, robots are widely applied to application scenes such as warehouse, logistics, market guidance and home service by virtue of higher working efficiency, lower noise and the like. In the working process of the robot, the robot needs to move in the application scene so as to complete corresponding working contents. At present, the robot can normally move in a flat road environment. However, in the above application scenario (such as home service), obstacles such as grooves and wires may exist on the moving path of the robot. When the robot turns over an obstacle, the robot may shake or even turn over due to unstable center of gravity. Disclosure of Invention In order to solve the problems, the application provides a mobile chassis, a robot and a control method of the mobile chassis, which can improve obstacle surmounting stability in the moving process and can also improve adaptability to movable spaces with different sizes. In order to achieve the above object, according to a first aspect, an embodiment of the present application provides a mobile chassis, including a chassis frame, a plurality of traveling units, each traveling unit including a wheel assembly and a suspension assembly, the wheel assembly being connected to the chassis frame by the suspension assembly, the suspension assembly being configured to drive the wheel assembly to move relative to the chassis frame in a first direction to adjust a distance between the chassis frame and a ground, wherein the first direction is disposed obliquely with respect to a vertical direction. In the mobile chassis provided by the embodiment of the application, when the suspension assembly drives the wheel assembly to move along the first direction relative to the chassis frame, the distance between the chassis frame and the ground can be adjusted. Therefore, the posture of the chassis frame when the chassis frame is overturned over the obstacle can be adjusted, so that the chassis frame can keep a horizontal posture when the chassis frame is overturned over the obstacle, the gravity center of the chassis frame is prevented from shifting, and the stability of the movable chassis when the movable chassis is overturned over the obstacle is improved. Meanwhile, the first direction is inclined relative to the vertical direction, so that the impact force from the obstacle can be absorbed better, and the stability of the movable chassis when the movable chassis climbs over the obstacle can be further improved. In addition, when the suspension assembly drives the wheel assembly to move along the first direction relative to the chassis frame, besides the distance between the chassis frame and the ground can be adjusted, the wheelbase of the wheel assembly can also be adjusted, and therefore the running unit can be enabled to adapt to moving spaces of different sizes. In an alternative implementation, the suspension assembly includes a guide portion and a slider portion, the guide portion is disposed on the chassis frame, the slider portion is slidably coupled to the guide portion and coupled to the wheel assembly, and the slider portion is configured to drive the wheel assembly to slide over the guide portion to move the wheel assembly relative to the chassis frame in a first direction. In this way, it can be facilitated to implement that the suspension assembly drives the wheel assembly to move in a first direction relative to the chassis frame. In an alternative implementation, the sliding part comprises a sliding structure and a power structure, the sliding structure is slidably connected with the guide part and is connected with the wheel assembly, the power structure is arranged on the chassis frame and is connected with the sliding structure, and the power structure is configured to drive the sliding structure to slide on the guide part so as to drive the wheel assembly to move along a first direction relative to the chassis frame. In this way, by arranging the power structure in the suspension assembly, the running unit can have active suspension, so that the running stability of the mobile chassis can be improved. In an alternative implementation mode, the power structure comprises a driving wheel, a driven wheel, a transmission belt and a first driving piece, wherein the driving wheel and the driven wheel are arranged at intervals along a first direction, the transmission belt is connected with the driving wheel and the driven wheel and is connected with the sliding structure, the first driving piece is connected with the driving wheel and is configured to drive the driving wheel to rotate, and the transmission belt drives the driven wheel to rotate, so that the transmission belt drives the sliding structure to slide