Mobile chassis and composite robot

Abstract

The invention belongs to the technical field of robots, and discloses a movable chassis and a composite robot. The mobile chassis comprises a chassis body; the first walking unit is arranged on the first installation side of the chassis body and comprises a first walking wheel and a second walking wheel, and the first walking wheel and the second walking wheel are arranged on the chassis body in the first direction in a spaced mode. The second walking unit is arranged on the second installation side of the chassis body and comprises a swing bridge, a third walking wheel and a fourth walking wheel, the third walking wheel and the fourth walking wheel are arranged at the two ends of the swing bridge respectively, the swing bridge is rotationally connected with the chassis body, and a protruding part is arranged on the side, away from the chassis body, of the swing bridge; the positioning unit comprises a supporting frame and a locking assembly, the supporting frame is arranged on the chassis body, the locking assembly is arranged on the supporting frame, and the locking assembly can clamp or loosen the protruding part. The robot can adapt to complex terrains and can also be prevented from shaking during clamping work, and the grabbing and positioning precision is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a mobile chassis and a composite robot. Background Technology

[0002] With the rapid development and continuous innovation of technology, the application scenarios of robots are expanding at an unprecedented speed and breadth. From traditional industrial manufacturing to many aspects of people's daily lives, such as healthcare, home services, logistics and distribution, and hazardous environment operations, robots, with their advantages of efficiency, precision, and tirelessness, are gradually becoming a key force driving change and progress in various industries. To meet the diverse task requirements in different scenarios, engineers have installed various working modules on the robot's mobile chassis, allowing the robot to quickly "transform" and adapt to different usage scenarios. This modular design concept greatly improves the versatility and adaptability of robots, enabling a single robot to seamlessly switch between multiple tasks, significantly reducing equipment and operating costs. Among them, a composite robot cleverly mounts a powerful robotic arm onto a mobile chassis, achieving a fusion of mobility and operation functions. This composite robot has a unique advantage: it can flexibly and accurately grasp various items through the gripper equipped at the end of the robotic arm. Whether it's quickly sorting goods in a warehouse, carefully moving precision instruments in a laboratory, or grabbing critical materials at a rescue site, the composite robot can play an important role with its excellent performance.

[0003] However, in practical applications, composite robots also face some pressing technical challenges. Currently, standalone robotic arms perform well in terms of positioning accuracy, meeting the requirements of high-precision operations. But when the robotic arm is mounted on a mobile chassis, the situation becomes more complex. Due to the diversity and uncertainty of ground terrain, such as uneven ground, slope variations, or obstacles, as well as the limitations of the chassis's own structure, such as weight distribution and suspension system performance, the chassis is prone to swaying during movement.

[0004] The chassis sway will inevitably be transmitted to the robotic arm, causing it to wobble. Once the robotic arm wobbles, the positioning error of its end effector gripper will increase significantly. The originally precise gripping position may deviate from the target due to this small error, seriously affecting the accuracy of material gripping. In industrial production, this may lead to material gripping failure, affecting the continuity and efficiency of the production line; in the medical field, it may pose a potential threat to patient safety; and in logistics and distribution, it may lead to damage or misplacement of goods. Summary of the Invention

[0005] The purpose of this invention is to provide a mobile chassis and a composite robot that can not only adapt to complex terrain, but also avoid shaking during robot gripping operations, thereby improving gripping and positioning accuracy.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Mobile chassis, including:

[0008] The chassis body has a first mounting side and a second mounting side;

[0009] The first set of walking units is disposed on the first mounting side of the chassis body. The first set of walking units includes a first walking wheel and a second walking wheel, which are spaced apart on the chassis body along a first direction.

[0010] The second set of walking units is located on the second mounting side of the chassis body. The second set of walking units includes a swing bridge and a third walking wheel and a fourth walking wheel respectively located at both ends of the swing bridge. The swing bridge is rotatably connected to the chassis body. A protrusion is provided on the side of the swing bridge away from the chassis body.

[0011] The positioning unit includes a support frame and a locking component. The support frame is disposed on the chassis body, and the locking component is disposed on the support frame. The locking component is capable of clamping or releasing the protrusion.

[0012] As an optional solution for the mobile chassis, the locking assembly includes:

[0013] A clamping support base is connected to the support frame, and the clamping support base has a guide groove;

[0014] The push rod mounting base and two grippers are slidably disposed on the push rod mounting base and can move in a second direction. The push rod mounting base can drive the two grippers to move in a first direction so that the two grippers can slide along the side wall of the guide groove and approach each other to clamp the protrusion.

[0015] As an alternative to the mobile chassis, the opening of the guide groove gradually decreases in the direction away from the push rod mounting seat.

[0016] As an optional solution for the mobile chassis, the sidewall of the guide groove is wedge-shaped, the back of the gripper abuts against the sidewall of the guide groove, and the back of the gripper is provided with a wedge-shaped surface.

[0017] As an optional solution for the mobile chassis, the locking assembly further includes:

[0018] An elastic reset member is located between the two grippers, one end of which is connected to one of the grippers and the other end of which is connected to the other gripper. The elastic reset member always has a tendency to move the two grippers away from each other.

[0019] As an optional solution for the mobile chassis, the swing bridge is symmetrically provided with two protrusions, and the support frame is symmetrically provided with two sets of locking components, with each locking component corresponding to one of the protrusions.

[0020] As an optional solution for the mobile chassis, the locking assembly also includes a drive mechanism with two output ends. The output ends are connected to the corresponding push rod mounting seats in a transmission manner. The drive mechanism is used to simultaneously drive the two push rod mounting seats to move towards each other or away from each other.

[0021] As an optional solution for the mobile chassis, the drive mechanism includes an electric push rod with two telescopic ends, the telescopic ends of which are fixedly connected to the corresponding push rod mounting base.

[0022] As an optional solution for the mobile chassis, the drive mechanism includes a motor, a central connecting rod, a first rotating rod, and a second rotating rod. The central connecting rod is rotatably mounted on the support frame. The output shaft of the motor is connected to the rotating shaft of the central connecting rod. The two ends of the central connecting rod are respectively hinged to the first rotating rod and the second rotating rod. One end of the first rotating rod is hinged to one of the push rod mounting seats, and one end of the second rotating rod is hinged to the other push rod mounting seat.

[0023] A composite robot includes a robotic arm and a mobile chassis as described in any of the preceding claims, wherein the robotic arm is mounted on the mobile chassis.

[0024] The beneficial effects of this invention are:

[0025] The mobile chassis provided by this invention has a first set of walking units mounted on the first mounting side of the chassis body with the first and second walking wheels of the first group of walking units, and a second set of walking units mounted on the second mounting side of the chassis body. The swing bridge of the second group of walking units is rotatably connected to the chassis body. During the forward movement of the chassis body on the ground, the third and fourth walking wheels at both ends of the swing bridge can swing according to the complex terrain, ensuring that the mobile chassis has at least three support points on the ground, improving the stability of the mobile chassis, and enabling it to adapt to complex terrain without tipping over. Once in position, a locking assembly clamps the protrusions on the swing bridge, preventing further rotation of the swing bridge and ensuring that the chassis body does not shake. This allows the robot to perform precise gripping operations, improving gripping and positioning accuracy.

[0026] The composite robot provided by this invention has a robotic arm mounted on a mobile chassis. When the mobile chassis is in a clamping state, the robotic arm can accurately grip and perform tasks, improving the grasping and positioning accuracy of products. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0028] Figure 1 This is an assembly diagram of the mobile chassis in Embodiment 1 of the present invention (the first, second, third, and fourth wheels are not shown).

[0029] Figure 2 This is a schematic diagram of the swing bridge structure in Embodiment 1 of the present invention;

[0030] Figure 3 This is a schematic diagram of the support frame structure in Embodiment 1 of the present invention;

[0031] Figure 4 This is a side view of the mobile chassis in Embodiment 1 of the present invention (the first, second, third, and fourth wheels are not shown).

[0032] Figure 5 This is a schematic diagram of the mobile chassis in an unclamped state in Embodiment 1 of the present invention;

[0033] Figure 6 This is a schematic diagram of the mobile chassis in a clamped state in Embodiment 1 of the present invention;

[0034] Figure 7 This is a structural schematic diagram of the mobile chassis from a first-view perspective in Embodiment 2 of the present invention (the first, second, third, and fourth wheels are not shown).

[0035] Figure 8 This is a structural schematic diagram of the mobile chassis from a second perspective in Embodiment 2 of the present invention (the first, second, third, and fourth wheels are not shown).

[0036] Figure label:

[0037] 1. Chassis body; 101. Mounting part; 2. Swing bridge; 201. Protrusion; 3. Support frame; 4. Clamping support seat; 401. Guide groove; 5. Push rod mounting seat; 6. Gripper; 7. Elastic reset component; 8. Electric push rod; 9. Central connecting rod; 10. First rotating rod; 11. Second rotating rod. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0042] With the development of technology, the application scenarios for robots are becoming increasingly widespread. By installing different working modules on the robot's mobile chassis, various usage scenarios can be met. One type of composite robot mounts a robotic arm to a mobile chassis, which can grasp objects using a gripper at the end of the robotic arm.

[0043] Currently, robotic arms have high positioning accuracy when positioned individually. However, when the robotic arm is mounted on a mobile chassis, the terrain and chassis structure can cause the chassis to shake, which in turn causes the robotic arm to shake. This increases the positioning error of the gripper at the end of the robotic arm, affecting the accuracy of material gripping.

[0044] To adapt to complex terrain and prevent the robot from shaking during gripping operations, thereby improving gripping and positioning accuracy, this embodiment provides a mobile chassis and a composite robot, which are described below in conjunction with... Figures 1 to 8 The specific content of this embodiment will be described in detail. It should be noted that the first direction mentioned in this embodiment is... Figure 1 The X direction in this embodiment, and the second direction mentioned in this embodiment are... Figure 1 in the Y direction.

[0045] like Figures 1 to 6 As shown, the mobile chassis provided in this embodiment includes a chassis body 1, a first set of traveling units, a second set of traveling units, and a positioning unit. These four key parts work together to provide strong support for the stable operation and precise work of the mobile chassis in complex environments. The chassis body 1, as the basic architecture of the entire mobile chassis, has two important mounting sides: a first mounting side and a second mounting side, providing precise positions for the subsequent installation of different traveling units. The first set of traveling units is located on the first mounting side of the chassis body 1. The first set of traveling units includes a first traveling wheel and a second traveling wheel, which are spaced apart along a first direction on the chassis body 1. The first set of traveling units provides stable and balanced support for the chassis body 1, ensuring the chassis remains relatively stable during movement and reducing instability caused by single-point support. The second set of traveling units is located on the second mounting side of the chassis body 1. The second set of traveling units includes a swing bridge 2 and third and fourth traveling wheels respectively located at both ends of the swing bridge 2. The swing bridge 2 is rotatably connected to the mounting portion 101 of the chassis body 1. A protrusion 201 is provided on the side of the swing bridge 2 facing away from the chassis body 1. The positioning unit includes a support frame 3 and a locking assembly. The support frame 3 is mounted on the chassis body 1, providing a reliable mounting platform for the locking assembly. The locking assembly is mounted on the support frame 3 and can clamp or release the protrusion 201 on the swing bridge 2 according to actual needs, thereby achieving effective control over the rotational state of the swing bridge 2.

[0046] In short, during the movement of the mobile chassis provided in this embodiment, when the ground conditions are complex and varied, with unevenness and undulating slopes, the swing bridge 2 of the second set of walking units plays a crucial role. Since the swing bridge 2 is rotatably connected to the chassis body 1, the third and fourth walking wheels at both ends of the swing bridge 2 can swing freely with changes in terrain. This flexible swing mechanism ensures that the mobile chassis always maintains at least three support points when in contact with the ground. The three support points form a stable triangular structure, which, based on the principle of triangle stability, greatly improves the stability of the mobile chassis on complex terrain. Even when facing extremely complex terrain, such as uneven fields or sloping ramps, the mobile chassis can cope with ease, effectively avoiding overturning accidents caused by unsuitable terrain, providing a solid guarantee for the safe movement of the robot. Once the mobile chassis has accurately moved into position according to the predetermined route, the locking component of the positioning unit begins to play a key role. At this time, the locking component quickly clamps the protrusion 201 on the swing bridge 2, preventing further rotation of the swing bridge 2 through a strong clamping force. This operation keeps the swing bridge 2 and its third and fourth wheels fixed relative to the chassis body 1, thus eliminating the impact of any minor swaying caused by the swing bridge 2 on the overall stability of the chassis body 1. With the chassis body 1 no longer swaying, a stable working platform is provided for other robot components mounted on the chassis, especially those performing precision operations such as the robotic arm. In this stable environment, the robot can more precisely control the robotic arm's movements, achieving precise gripping and other tasks, greatly improving grasping and positioning accuracy, and ensuring the accuracy and efficiency of the operation.

[0047] Furthermore, the locking assembly includes a clamping support 4, a push rod mounting base 5, and two grippers 6. These components work together to precisely lock the swing bridge 2, providing a solid guarantee for the stable operation of the mobile chassis in complex environments. The clamping support 4, as the basic connecting component of the locking assembly, is connected to the support frame 3. The clamping support 4 has a guide groove 401, which not only provides precise guidance for the movement of the grippers 6 but also significantly influences the movement trajectory and clamping force of the grippers 6 through its special shape and size. The two grippers 6 are slidably mounted on the push rod mounting base 5 and can move along a second direction. The push rod mounting base 5 is slidably connected to the clamping support 4 along a first direction. The push rod mounting base 5 can drive the two grippers 6 to move along the first direction, allowing them to slide along the sidewall of the guide groove 401 and approach each other to clamp the protrusion 201. This ingenious design of bidirectional motion allows the gripper 6 to be precisely positioned according to actual needs, thereby effectively clamping the protrusion 201 on the swing bridge 2.

[0048] When locking the swing bridge 2 is required, the operator can activate the corresponding push rod mounting seat 5, causing it to slowly move along the first direction on the clamping support seat 4. During this movement, the two grippers 6 slide along the side wall of the guide groove 401. Due to the special design of the guide groove 401, the side wall of the groove exerts a guiding and restraining force on the grippers 6, guiding the two grippers 6 to approach each other along the second direction. As the push rod mounting seat 5 continues to move, the two grippers 6 gradually approach the protrusion 201 on the swing bridge 2, ultimately achieving a stable clamping of the protrusion 201 and reliably locking the swing bridge 2.

[0049] Furthermore, the opening of the guide groove 401 gradually decreases in size along the direction away from the push rod mounting base 5. This gradually decreasing opening design forms a funnel-like structure, allowing the two grippers 6 to naturally and gradually approach each other under the constraint of the guide groove 401, much like an object guided by a funnel. For example, the guide groove 401 has a conical structure. This conical structure is not only simple and effective but also ensures that the grippers 6 maintain a stable movement trajectory during sliding, avoiding problems of insecure clamping due to movement deviations.

[0050] Furthermore, the sidewall of the guide groove 401 is wedge-shaped, and the back of the gripper 6 abuts against the sidewall of the guide groove 401. The back of the gripper 6 is provided with a wedge-shaped surface. This wedge-shaped structure design cleverly utilizes the principles of mechanics to transform the movement of the push rod mounting seat 5 along the first direction (i.e., lateral movement) into the movement of the two grippers 6 along the second direction (i.e., longitudinal movement). When the push rod mounting seat 5 moves along the first direction, the wedge-shaped groove sidewall applies an oblique component force to the wedge-shaped surface on the back of the gripper 6. This component force can be decomposed into a force along the second direction, causing the two grippers 6 to gradually approach each other under the guidance of the guide groove 401. The distance between the two grippers 6 continuously decreases, eventually tightly clamping the protrusion 201 on the swing bridge 2, thus achieving the purpose of fixing the swing bridge 2. During the clamping process, the guide groove 401 and the wedge structure work together to ensure that the two grippers 6 clamp the protrusion 201 with uniform and stable force, avoiding the problem of unstable fixation of the swing bridge 2 due to uneven clamping force, and greatly improving the reliability and stability of locking. Secondly, this design makes the movement of the grippers 6 more precise and controllable, and can accurately adjust the clamping force and position according to different usage scenarios and needs, thereby adapting to various complex working environments. For example, when facing the protrusion 201 of the swing bridge 2 of different sizes and shapes, the protrusion 201 can be effectively clamped by adjusting the moving distance and speed of the push rod mounting seat 5. In addition, the locking assembly has a compact structural design, occupies little space, and will not have an excessive impact on the overall structure of the mobile chassis, which is conducive to improving the integration and space utilization of the mobile chassis.

[0051] Furthermore, the locking assembly also includes an elastic reset member 7, located between the two grippers 6. One end of the elastic reset member 7 is connected to one of the grippers 6, and the other end is connected to the other gripper 6. The elastic reset member 7 always tends to keep the two grippers 6 away from each other. When locking the swing bridge 2 is required, the push rod mounting seat 5 moves along the first direction under power drive, causing the two grippers 6 to slide along the side wall of the guide groove 401 and move closer to each other, thereby clamping the protrusion 201 on the swing bridge 2. During this process, the elastic reset member 7 is gradually compressed. As the two grippers 6 move closer to the protrusion 201, the pressure on the elastic reset member 7 increases, and the elastic potential energy stored inside it also increases. After completing the locking task of the swing bridge 2, when it is necessary to unlock and restore the mobility of the mobile chassis, the elastic potential energy stored in the elastic reset member 7 begins to play a key role. Because it always tends to keep the two grippers 6 away from each other, once the external force driving the push rod mounting base 5 is released, the elastic reset component 7 will quickly release the accumulated elastic potential energy, rapidly pushing the two grippers 6 apart so that they slide in opposite directions along the sidewall of the guide groove 401, automatically returning to their initial separated state. This process requires no additional complex operations or power input, greatly simplifying the unlocking process and improving operational efficiency. Compared to designs without the elastic reset component 7, operators do not need to manually and laboriously separate the two grippers 6, saving time and labor costs, and also reducing the risk of equipment damage due to improper human operation.

[0052] During clamping, although the elastic reset member 7 is in a compressed state, it still plays a role in stabilizing the clamping force. When the two jaws 6 clamp the protrusion 201, the reverse force generated by the elastic reset member 7 balances the clamping force to a certain extent, preventing damage to the protrusion 201 or the jaws 6 themselves due to excessive clamping force. At the same time, this reverse force also makes the contact between the jaws 6 and the protrusion 201 tighter and more uniform, ensuring the stability of the clamping. Even if the mobile chassis is subjected to some minor vibrations or external force interference during operation, the elasticity of the elastic reset member 7 can also play a buffering and adjusting role, ensuring that the two jaws 6 always maintain effective clamping of the protrusion 201, preventing the swing bridge 2 from shaking due to loosening, thereby ensuring the overall stability and reliability of the mobile chassis.

[0053] Furthermore, the swing bridge 2 has two symmetrically arranged protrusions 201, and the support frame 3 has two symmetrically arranged locking components, with each locking component corresponding to one of the protrusions 201. When the mobile chassis needs to be stopped and fixed, both sets of locking components start working simultaneously. The push rod mounting seat 5 moves along the first direction under power drive, causing the gripper 6 to slide along the side wall of the guide groove 401 and move closer to each other, finally clamping the corresponding protrusion 201. Because the two sets of locking components act symmetrically, the clamping force they generate forms a balanced force system on the swing bridge 2. This balanced force system can effectively prevent the swing bridge 2 from shifting or shaking due to excessive force on one side during the locking process, ensuring that the swing bridge 2 can be firmly fixed on the support frame 3. Even when subjected to large external impacts or vibrations, the two symmetrical locking components can evenly distribute the force, maintain the stability of the locked state, and provide a stable working platform for other equipment on the mobile chassis.

[0054] The advantages of the symmetrical design are equally evident during the unlocking process. When it is necessary to release the lock on the swing bridge 2, the elastic reset members 7 in both sets of locking assemblies function simultaneously. Since the elastic reset members 7 always tend to push the two grippers 6 away from each other, after the external force is released, the grippers 6 in both sets of locking assemblies slide in opposite directions simultaneously, allowing the swing bridge 2 to quickly return to its free state. This synchronous unlocking process avoids the tilting or jamming of the swing bridge 2 caused by unlocking too quickly or too slowly on one side, improving unlocking efficiency and reliability. Simultaneously, the two symmetrical locking assemblies also make the reset process smoother, ensuring that the locking assemblies can quickly and accurately return to their initial state, preparing for the next locking operation. The use of two sets of symmetrical locking assemblies also provides redundancy for the entire locking system. In extreme cases, if one set of locking assemblies fails or is damaged, the other set can still perform a certain locking task, ensuring that the swing bridge 2 does not completely lose its fixation. This redundancy design greatly improves the reliability and safety of the system, reducing the risk of equipment failure due to the failure of a single component. In practical applications, this redundant design can provide additional protection for the stable operation of the mobile chassis in complex environments, ensuring the smooth progress of the mission.

[0055] Furthermore, the locking assembly also includes a drive mechanism with two output ends, which are connected to corresponding push rod mounting seats 5 for transmission. The drive mechanism is used to simultaneously drive the two push rod mounting seats 5 to move towards each other or away from each other. Specifically, the drive mechanism has two key movement modes: moving towards each other and moving away from each other. When the drive mechanism is activated and performs the moving towards each other operation, the two push rod mounting seats 5 move smoothly in a direction that brings them closer together. When the drive mechanism drives the two push rod mounting seats 5 to move away from each other, the two push rod mounting seats 5 move in a direction that moves them away from each other.

[0056] Furthermore, the drive mechanism includes an electric push rod 8 with two telescopic ends, the telescopic ends of which are fixedly connected to corresponding push rod mounting seats 5. In this embodiment, this fixed connection ensures that the power generated by the electric push rod 8 during extension and retraction is transmitted to the push rod mounting seats 5 without loss, thereby achieving precise control over the movement of the push rod mounting seats 5. Particularly noteworthy is the unique working characteristic of the electric push rod 8 in this embodiment: its two telescopic ends can extend or retract simultaneously. When both telescopic ends extend simultaneously, they push the two connected push rod mounting seats 5 to move in opposite directions, clamping the gripper 6 onto the protrusion 201 on the swing bridge 2; conversely, when both telescopic ends retract simultaneously, they pull the two push rod mounting seats 5 to move towards each other, releasing the gripper 6 from the protrusion 201 on the swing bridge 2. This flexible working mode allows the drive mechanism to adapt to various working scenarios and needs, greatly improving the versatility and practicality of the locking assembly. With precise control of the electric push rod 8, the moving distance and speed of the push rod mounting base 5 can be accurately adjusted, thereby meeting the operational tasks with different precision requirements and providing a strong guarantee for the stable operation and efficient work of the entire mechanical system.

[0057] This embodiment also provides a composite robot, which includes a robotic arm and the aforementioned mobile chassis, with the robotic arm mounted on the mobile chassis. When the mobile chassis is in a clamping state, the robotic arm can precisely grip and perform tasks, improving the accuracy of product grasping and positioning.

[0058] Example 2

[0059] This embodiment provides a mobile chassis. Compared with Embodiment 1, the basic structure of the mobile chassis provided in this embodiment is the same as that in Embodiment 1, except that the setting of the drive mechanism is different. This embodiment will not describe the structure that is the same as that in Embodiment 1 again.

[0060] like Figure 7 Combination Figure 8As shown, in this embodiment, the drive mechanism includes a motor, a central connecting rod 9, a first rotating rod 10, and a second rotating rod 11. The central connecting rod 9 is rotatably mounted on a support frame 3. The support frame 3 serves as a stable base for the entire drive mechanism, providing a reliable installation and support environment for other components and ensuring the stability and accuracy of the central connecting rod 9 during rotation. The output shaft of the motor is connected to the rotating shaft of the central connecting rod 9, ensuring that the rotational power generated by the motor is efficiently and accurately transmitted to the central connecting rod 9, allowing it to rotate at a predetermined speed and direction. Both ends of the central connecting rod 9 are hinged to the first rotating rod 10 and the second rotating rod 11, respectively. This hinged connection provides the first and second rotating rods 10 and 11 with a certain degree of rotational freedom relative to the central connecting rod 9, allowing them to move flexibly under the drive of the central connecting rod 9. One end of the first rotating rod 10 is hinged to one of the push rod mounting seats 5, and one end of the second rotating rod 11 is hinged to the other push rod mounting seat 5. This hinged design allows the movement of the rotating rods to be directly converted into the displacement of the push rod mounting seats 5. Of particular note is that the first rotating rod 10 and the second rotating rod 11 are of the same length, and the central connecting rod 9, the first rotating rod 10, and the second rotating rod 11 together form a Z-shaped combined mechanism. When the motor starts to rotate, the central connecting rod 9 rotates accordingly, thereby driving the first rotating rod 10 and the second rotating rod 11 to perform synchronized swinging motion. Because the first rotating rod 10 and the second rotating rod 11 are of the same length and have a symmetrical structure, their swing amplitude and speed can remain highly consistent, achieving synchronized action of the two grippers 6 located on both sides of the swing bridge 2, thereby achieving stable clamping of the protrusions 201 on both sides. In addition, this Z-shaped combined mechanism also has the advantages of compact structure and small space occupation. Within the limited equipment space, it can efficiently complete the driving task without occupying too much valuable space resources due to structural complexity.

[0061] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A mobile chassis, characterized in that, include: The chassis body (1) has a first mounting side and a second mounting side; The first set of walking units is disposed on the first mounting side of the chassis body (1). The first set of walking units includes a first walking wheel and a second walking wheel. The first walking wheel and the second walking wheel are disposed at intervals along a first direction on the chassis body (1). The second set of walking units is set on the second mounting side of the chassis body (1). The second set of walking units includes a swing bridge (2) and a third walking wheel and a fourth walking wheel respectively set at both ends of the swing bridge (2). The swing bridge (2) is rotatably connected to the chassis body (1). A protrusion (201) is provided on the side of the swing bridge (2) away from the chassis body (1). The positioning unit includes a support frame (3) and a locking component. The support frame (3) is disposed on the chassis body (1), and the locking component is disposed on the support frame (3). The locking component is capable of clamping or releasing the protrusion (201).

2. The mobile chassis according to claim 1, characterized in that, The locking component includes: A clamping support (4) is connected to the support frame (3), and the clamping support (4) has a guide groove (401); The push rod mounting base (5) and two grippers (6) are slidably disposed on the push rod mounting base (5) and can move in a second direction. The push rod mounting base (5) can drive the two grippers (6) to move in a first direction so that the two grippers (6) can slide along the side wall of the guide groove (401) and approach each other to clamp the protrusion (201).

3. The mobile chassis according to claim 2, characterized in that, The opening of the guide groove (401) gradually decreases in size along the direction away from the push rod mounting seat (5).

4. The mobile chassis according to claim 3, characterized in that, The guide groove (401) has a wedge-shaped sidewall, and the back of the gripper (6) abuts against the sidewall of the guide groove (401). The back of the gripper (6) is provided with a wedge-shaped surface.

5. The mobile chassis according to claim 2, characterized in that, The locking component further includes: An elastic reset member (7) is located between two grippers (6). One end of the elastic reset member (7) is connected to one of the grippers (6), and the other end of the elastic reset member (7) is connected to the other gripper (6). The elastic reset member (7) always has a tendency to make the two grippers (6) move away from each other.

6. The mobile chassis according to any one of claims 2-5, characterized in that, The swing bridge (2) has two symmetrical protrusions (201), and the support frame (3) has two sets of locking components symmetrically arranged. The locking components are arranged one-to-one with the protrusions (201).

7. The mobile chassis according to claim 6, characterized in that, The locking assembly also includes a drive mechanism, which has two output ends. The output ends are connected to the corresponding push rod mounting base (5) in a transmission manner. The drive mechanism is used to simultaneously drive the two push rod mounting bases (5) to move towards each other or away from each other.

8. The mobile chassis according to claim 7, characterized in that, The drive mechanism includes an electric push rod (8) with two telescopic ends, the telescopic ends of which are fixedly connected to the corresponding push rod mounting base (5).

9. The mobile chassis according to claim 7, characterized in that, The drive mechanism includes a motor, a central connecting rod (9), a first rotating rod (10), and a second rotating rod (11). The central connecting rod (9) is rotatably mounted on the support frame (3). The output shaft of the motor is connected to the rotating shaft of the central connecting rod (9). The two ends of the central connecting rod (9) are respectively hinged to the first rotating rod (10) and the second rotating rod (11). One end of the first rotating rod (10) is hinged to one of the push rod mounting seats (5), and one end of the second rotating rod (11) is hinged to the other push rod mounting seat (5).

10. A composite robot, characterized in that, It includes a robotic arm and a mobile chassis as described in any one of claims 1-9, wherein the robotic arm is mounted on the mobile chassis.

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