Robot chassis and robot

Abstract

The embodiment of the invention discloses a robot chassis and a robot. A specific embodiment of the robot chassis comprises a framework, wherein two driving wheel modules and two driven wheel modules are arranged at the bottom of the framework; four wheels of the two driving wheel modules and the two driven wheel modules are respectively positioned at a corresponding vertex of a diamond; the two driving wheel module are symmetrically arranged at the left and right parts of the bottom of the framework; and the two driven wheel module which use swivel casters are symmetrically arranged at the front and rear parts of the bottom of the framework. This embodiment ensures that the contact point between the wheels of the robot chassis and the ground has a larger projection area so that the robot chassis has higher static / dynamic stability, and at the same time, the entire robot chassis has a smaller turning radius and is easier to control.

Description

technical field [0001] The present application relates to the technical field of mobile robots, in particular to the technical field of wheeled mobile robots, especially to a robot chassis and a robot. Background technique [0002] A mobile robot, corresponding to a robot whose base is fixed during the working process such as an industrial manipulator, refers to a robot in which the whole robot moves in three-dimensional space during the working process. Compared with other mobile methods of mobile robots, wheeled mobile has become the preferred mobile implementation method for mobile robots because of its high motion efficiency, simple control, and low implementation cost. [0003] The chassis of existing wheeled mobile robots is usually a three-wheel chassis or a four-wheel chassis. Among them, the three-wheel chassis includes two driving wheels and one passive wheel, which are respectively placed at the three vertices of an equilateral triangle; the four-wheel chassis in...

AI Technical Summary

Problems solved by technology

[0004] However, for a mobile robot with a three-wheel chassis, the center of mass of the robot is likely to fall outside the projected triangle formed by the contact points between the wheels and the ground, resulting in static or dynamic imbalance, which can easily cause the robot to roll. Smaller robots; for a mobile robot with a four-wheel chassis, if two driving wheels and two passive wheels are used, the turning radius of the chassis will be too large. If four driving wheels are used, the turning radius can be reduced, but the chassis will be increased. The cost and difficulty of controlling

Moreover, in the existing wheeled mobile robots, all or part of the wheels (especially the driven wheels) and the chassis are generally rigidly connected, which has poor adaptability to uneven terrain and can only walk on flat and smooth ground. Very limited use cases

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