A robot chassis and operating a robot

Abstract

A robot chassis and operating robot, the chassis assembly comprises a chassis body and a chassis shell arranged outside the chassis body, the chassis body comprises a frame, a driving wheel, a first wheel set and a second wheel set, the first wheel set comprises a first universal wheel and a first connecting plate, the second wheel set comprises a second universal wheel and a second connecting plate which is movably connected with the first connecting plate, the first universal wheel is rotatably connected with the frame through the first connecting plate, the second universal wheel is rotatably connected with the frame through the second connecting plate, and the first universal wheel and the second universal wheel are respectively located at both ends of the frame, and the driving wheel is located at the middle of the frame; the chassis body further comprises a notch matching piece, and the notch matching piece is connected between the first connecting plate and the second connecting plate.

Description

Technical Field

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

[0002] Autonomous navigation robots include types such as AGVs (Automated Guided Vehicles) and AMRs (Autonomous Mobile Robots). Their chassis typically features one set of drive wheels and two sets of omnidirectional wheels, with the two sets of omnidirectional wheels positioned at the front and rear of the chassis, respectively, while the drive wheels are located between the two sets of omnidirectional wheels. However, this chassis design is not ideal, making it difficult to guarantee the consistency of the robot's forward and backward movement during operation. Summary of the Invention

[0003] This invention provides a robot chassis and an operating robot, which can be movably connected through a slotted joint between a first connecting plate and a second connecting plate. It can automatically adjust the height of the first and second universal wheels according to the robot's movement to ensure the consistency of the robot's forward and backward movement.

[0004] In a first aspect, the present invention provides a robot chassis, including a robotic arm assembly and a chassis assembly disposed below the robotic arm assembly. The chassis assembly includes a chassis body and a chassis shell disposed outside the chassis body. The chassis body includes a frame and a suspension system. The suspension system includes a drive wheel, a first wheel set, and a second wheel set. The first wheel set includes a first omnidirectional wheel and a first connecting plate. The second wheel set includes a second omnidirectional wheel and a second connecting plate movably connected to the first connecting plate. The first omnidirectional wheel is rotatably connected to the frame through the first connecting plate, and the second omnidirectional wheel is rotatably connected to the frame through the second connecting plate. The first omnidirectional wheel and the second omnidirectional wheel are respectively located at both ends of the frame, and the drive wheel is located in the middle of the frame.

[0005] The chassis body further includes a slotted fitting component, wherein one of the first connecting plate and the second connecting plate is fixedly connected to one end of the slotted fitting component, and the other of the first connecting plate and the second connecting plate is rotatably connected to the other end of the slotted fitting component.

[0006] In a robot chassis according to an embodiment of the present invention, the slot fitting component includes a fitting component and a limiting component. One end of the fitting component has a fitting component fixing end, and the other end of the fitting component has a fitting component slot end. The fitting component fixing end is fixed to the end of the first connecting plate, and the second connecting plate is rotatably installed in the fitting component slot end through the limiting component.

[0007] In a robot chassis according to an embodiment of the present invention, the drive wheel includes a drive motor and a wheel. The first connecting plate has a clearance notch at one end near the mating member. The output shaft of the drive motor passes through the clearance notch and connects to the wheel to drive the wheel to rotate.

[0008] In a robot chassis according to one embodiment of the present invention, the first wheel set includes a first rotating shaft fixed to the frame, and a first rotating hole is provided in the middle of the first connecting plate, through which the first connecting plate is rotatably mounted in the first rotating shaft; and / or,

[0009] The second wheelset includes a second rotating shaft fixed on the frame, and a second rotating hole is provided in the middle of the second connecting plate. The second connecting plate is rotatably mounted in the second rotating shaft through the second rotating hole.

[0010] In a robot chassis according to one embodiment of the present invention, the first wheel set includes a first bushing, which is installed in a first rotating hole in the first connecting plate for contacting a first rotating shaft fixed to the frame; and / or,

[0011] The second wheel assembly includes a second axle sleeve, which is installed in a second rotating hole in the second connecting plate for contacting a second rotating shaft fixed to the frame.

[0012] In a robot chassis according to an embodiment of the present invention, a first oil reservoir is provided inside the first bushing of the first wheel assembly; and / or, a second oil reservoir is provided inside the second bushing of the second wheel assembly.

[0013] In a robot chassis according to an embodiment of the present invention, the drive motor of the active wheel is arranged along the length direction of the first connecting plate and fixed on the first connecting plate, and the drive motor is located between the first rotating hole and the mating part.

[0014] In a robot chassis according to one embodiment of the present invention, a first fixing plate is provided on the first connecting plate, the upper end face of the first fixing plate is provided with a first reinforcing rib and a first limiting member for cooperating with a first limiting plate on the frame, and the first omnidirectional wheel is fixed to the lower end face of the first fixing plate; and / or,

[0015] The second connecting plate is provided with a second fixing plate, the upper end face of the first fixing plate is provided with a second reinforcing rib and a second limiting member for cooperating with the second limiting plate on the frame, and the second universal wheel is fixed to the lower end face of the second fixing plate.

[0016] In a robot chassis according to an embodiment of the present invention, the chassis body includes a shock absorber, one end of which is fixed to the frame and the other end of which is connected to the first connecting plate.

[0017] In a robot chassis according to an embodiment of the present invention, the shock absorber includes a first connecting bracket, a shock absorber spring, and a second connecting bracket. The first connecting bracket is connected to the frame, the second connecting bracket is connected to the first connecting plate, and the shock absorber spring is disposed between the first connecting bracket and the second connecting bracket.

[0018] In a second aspect, the present invention provides an operating robot, including an actuator and a robot chassis as described above, the actuator being disposed above the robot chassis.

[0019] The technical solution provided in this application embodiment may include the following beneficial effects: This application designs a robot chassis, including a robotic arm assembly and a chassis assembly disposed below the robotic arm assembly. The chassis assembly includes a frame, a drive wheel, a first wheel group and a second wheel group. The first wheel group and the second wheel group are respectively disposed at the front and rear ends of the frame. The drive wheel is disposed between the first wheel group and the second wheel group. The drive wheel provides power for the operation of the robot, while the first wheel group and the second wheel group play a supporting and steering role.

[0020] Specifically, the first wheel assembly includes a first omnidirectional wheel and a first connecting plate, and the second wheel assembly includes a second omnidirectional wheel and a second connecting plate. The first omnidirectional wheel is rotatably connected to the frame through the first connecting plate, and the second omnidirectional wheel is rotatably connected to the frame through the second connecting plate. The first connecting plate and the second connecting plate are movably connected, which solves the problem of consistency in the robot's forward and backward movement. It also facilitates the maintenance of the robot. The drive wheel, the first wheel assembly, and the second wheel assembly can be directly removed from the frame for maintenance. The structure is simple and the operation is convenient.

[0021] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an operating robot provided in one embodiment of this application;

[0024] Figure 2 yes Figure 1 An exploded view of the robot in the diagram;

[0025] Figure 3 yes Figure 1 An exploded view of the chassis components;

[0026] Figure 4 yes Figure 3 A schematic diagram of the chassis body in the diagram;

[0027] Figure 5 yes Figure 4 An exploded view of the chassis body;

[0028] Figure 6 yes Figure 4 An exploded view of the second wheel assembly and the slotted mating parts;

[0029] Figure 7 yes Figure 4 An exploded view of the first wheel assembly and the drive motor;

[0030] Figure 8 yes Figure 4 A schematic diagram of the structure of the first rotating shaft in the middle;

[0031] Figure 9 yes Figure 4 An exploded view of the shock absorber components in the diagram;

[0032] Figure 10 yes Figure 4 A structural diagram of the vehicle frame.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100. Chassis components; 101. Chassis body; 102. Chassis shell;

[0035] 10. Frame; 11. First rotating mounting part; 12. Second rotating mounting part; 13. Motor receiving slot; 14. First wheel receiving slot; 16. Second wheel receiving slot; 15. First limiting plate; 17. Second limiting plate;

[0036] 20. First wheel assembly; 21. First connecting plate; 211. First rotating hole; 212. Clearance notch; 213. First fixing plate; 22. First caster wheel; 23. First bushing; 24. First reinforcing rib; 25. First limiting member;

[0037] 30. Second wheel assembly; 31. Second connecting plate; 311. Second rotating hole; 312. Rotating hole for mating part; 313. Second fixing plate; 314. Buffer part; 32. Second universal wheel; 33. Second bushing; 34. Second reinforcing rib; 35. Second limiting part;

[0038] 40. Drive wheel; 41. Drive motor; 411. Output shaft; 42. Wheel;

[0039] 50. Shock absorber; 51. First connecting bracket; 511. Extension rod; 52. Second connecting bracket; 53. Shock absorber spring; 54. Bearing component;

[0040] 60. Groove fitting; 61. Fitting part; 611. Groove end of fitting part; 612. Fixed end of fitting part; 62. Limiting part;

[0041] 70. First rotating shaft; 71. Fixing part; 72. Rotating shaft part; 73. Positioning part;

[0042] 80. Second rotating shaft;

[0043] 200. Robotic arm components. Detailed Implementation

[0044] 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, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] It should also be understood that the terminology used in this specification is merely for describing specific realities within the context of this application. It is important to understand that terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0047] Figures 1-2The illustration shows one application scenario of the robot chassis of this application, but it is understood that the robot chassis of this application is not limited to this application scenario.

[0048] like Figures 1 to 10 As shown, this application provides a robot chassis, including a chassis assembly 100. The chassis assembly 100 includes a chassis body 101 and a chassis shell 102 disposed outside the chassis body 101. The chassis body 101 includes a frame 10 and a suspension system disposed on both sides of the frame 10. In this embodiment, the suspension system includes a drive wheel 40, a first wheel set 20, and a second wheel set 30. The first wheel set 20 includes a first omnidirectional wheel 22 and a first connecting plate 21. The second wheel set 30 includes a second omnidirectional wheel 32 and a second connecting plate 31. The first omnidirectional wheel 22 is rotatably connected to the frame 10 through the first connecting plate 21, and the second omnidirectional wheel 32 is rotatably connected to the frame 10 through the second connecting plate 31. The two ends of the first connecting plate 21 and the second connecting plate 31 are movably connected. The first omnidirectional wheel 22 and the second omnidirectional wheel 32 are located at the front and rear ends of the frame 10, respectively. The drive wheel 40 is located in the middle of the frame 10. The drive wheel 40 is mainly used to provide power for the robot's operation, while the first wheel set 20 and the second wheel set 30 provide support and steering. With this technical solution, since the first omnidirectional wheel 22 and the second omnidirectional wheel 32 are located at the front and rear ends of the frame 10, and are linked together by the first connecting plate 21 and the second connecting plate 31, the first omnidirectional wheel 22 is mounted on one end of the first connecting plate 21, the second omnidirectional wheel 32 is mounted on one end of the second connecting plate 31, the other end of the first connecting plate 21 is movably connected to the other end of the second connecting plate 31, and the middle of the first connecting plate 21 and the second connecting plate 31 is hinged to the frame 10. This allows the robot to have consistent forward and backward movement performance during its movement.

[0049] For example, when the drive wheel 40 drives the robot forward, the first omnidirectional wheel 22 can make fine adjustments to its height according to the contact surface with the robot, ensuring that the robot's drive wheel 40 and the first omnidirectional wheel 22 can maintain contact with the contact surface, reducing the risk of the first omnidirectional wheel 22 being suspended due to unevenness of the contact surface; similarly, when the drive wheel 40 drives the robot backward, the second omnidirectional wheel 32 can make fine adjustments to its height according to the contact surface with the robot, ensuring that the robot's drive wheel 40 and the second omnidirectional wheel 32 can maintain contact with the contact surface, reducing the risk of the second omnidirectional wheel 32 being suspended due to unevenness of the contact surface, so that the robot's forward and backward movement performance can remain consistent.

[0050] In one alternative implementation, refer to Figure 6The chassis body 101 also includes a slotted fitting component 60, which is connected to the opposite ends of the first connecting plate 21 and the second connecting plate 31. A drive wheel 40 is disposed on one side of the slotted fitting component 60 to facilitate its assembly and disassembly. In this embodiment, one of the first connecting plate 21 and the second connecting plate 31 is fixedly connected to one end of the slotted fitting component 60, and the other of the first connecting plate 21 and the second connecting plate 31 is rotatably connected to the other end of the slotted fitting component 60. This allows the first connecting plate 21 to be movably connected to the second connecting plate 31, thereby limiting the swing amplitude of the first universal wheel 22 and the second universal wheel 32 when the robot moves forward, thus providing linkage and limiting functions.

[0051] It should be noted that the drive wheel 40, the first wheel set 20, and the second wheel set 30 are arranged on both sides of the frame 10. This application describes one side of the frame 10. The drive wheel 40, the first wheel set 20, and the second wheel set 30 on the other side of the frame 10 are symmetrically arranged with respect to the central axis of the frame 10, and will not be described in detail here. Arranging the drive wheel 40, the first wheel set 20, and the second wheel set 30 on both sides of the frame 10 facilitates the maintenance of the chassis body 101. Maintenance of the drive wheel 40, the first wheel set 20, and the second wheel set 30 can be performed simply by removing the chassis shell 102 on the outer side of the chassis body 101, or by removing the drive wheel 40, the first wheel set 20, and the second wheel set 30 from the frame 10 accordingly. This design has advantages such as simple structure, easy operation, and good working performance.

[0052] In an optional embodiment, the slotted fitting 60 includes a fitting 61 and a limiting member 62. One end of the fitting 61 has a fixed end, and the other end has a slotted end. The fixed end of the fitting 61 is fixed to the end of the first connecting plate 21. The second connecting plate 31 is rotatably mounted in the slotted end of the fitting 61 through the limiting member 62, so that the second connecting plate 31 can rotate relative to the first connecting plate 21. The limiting member 62 mainly restricts the radial position of the second connecting plate 31 in the slotted end of the fitting 61.

[0053] The second connecting plate 31 is provided with a rotating hole 312 for the mating part 61 and a buffer part 314. The rotating hole 312 is strip-shaped, and its length direction is consistent with the length direction of the second connecting plate 31. The buffer part 314 is located at the end of the second connecting plate 31. The second connecting plate 31 is movably connected to the limiting member 62 through the rotating hole 312. The buffer part 314 mates with the end face of the groove end of the mating part 61 to provide a buffering effect and avoid direct collision between the second connecting plate 31 and the groove end of the mating part 61.

[0054] In an optional embodiment, the buffer portion 314 is selected from a flexible material and is a strip-shaped buffer block disposed at the end of the second connecting plate 31.

[0055] In one alternative implementation, refer to Figure 5 The drive wheel 40 includes a drive motor 41 and a wheel 42. The first connecting plate 21 has a clearance notch 212 at one end near the mating part 61. The output shaft 411 of the drive motor 41 passes through the clearance notch 212 and connects to the wheel 42 to drive the wheel 42 to rotate, so that the robot can move under the drive of the drive motor 41.

[0056] The drive motor 41 is arranged along the length of the first connecting plate 21 and fixed on the first connecting plate 21. The drive motor 41 is located between the first rotating hole 211 and the mating part 61, so that the drive wheel 40 can form a complete modular structure with the first wheel set 20. This facilitates subsequent maintenance of the robot, meaning that maintenance of the first wheel set 20 and the drive wheel 40 can be performed simply by removing the first wheel set 20 from the frame 10. At the same time, installing the drive motor 41 on the first connecting plate 21 and between the first rotating hole 211 and the mating part 61 ensures the balance of the drive wheel 40, the first wheel set 20, and the second wheel set 30. That is, when the drive wheel 40 drives the robot forward, Since the drive wheel 40 and the first omnidirectional wheel 22 can swing relative to the middle of the first connecting plate 21, the positions of the drive wheel 40 and the first omnidirectional wheel 22 can be adjusted during the movement. The second omnidirectional wheel 32 can also restrict the positions of the drive wheel 40 and the first omnidirectional wheel 22. Similarly, when the drive wheel 40 drives the robot to move backward, since the drive wheel 40 and the second omnidirectional wheel 32 can swing relative to the middle of the second connecting plate 31, the positions of the drive wheel 40 and the second omnidirectional wheel 32 can be adjusted during the movement. The first omnidirectional wheel 22 can also restrict the positions of the drive wheel 40 and the second omnidirectional wheel 32, ensuring the consistency of the robot's forward and backward movement.

[0057] In an optional embodiment, the first wheel set 20 includes a first rotating shaft 70 fixed on the frame 10, and a first rotating hole 211 is provided in the middle of the first connecting plate 21. The first connecting plate 21 is rotatably mounted in the first rotating shaft 70 through the first rotating hole 211. The cooperation between the first rotating hole 211 and the first rotating shaft 70 is used to limit the radial position of the first connecting plate 21 at the first rotating hole 211 and bear the radial force at that location.

[0058] In an optional embodiment, the second wheelset 30 includes a second rotating shaft 80 fixed to the frame 10. A second rotating hole 311 is provided in the middle of the second connecting plate 31. The second connecting plate 31 is rotatably mounted in the second rotating shaft 80 through the second rotating hole 311. The cooperation between the second rotating hole 311 and the second rotating shaft 80 restricts the radial position of the second connecting plate 31 at the second rotating hole 311 and bears the radial force at that location. In an optional embodiment, refer to... Figure 7 The first wheel assembly 20 includes a first bushing 23, which is installed in the first rotating hole 211 of the first connecting plate 21 for contacting the first rotating shaft 70 fixed on the frame 10 to ensure the smooth rotation of the first connecting plate 21 relative to the first rotating shaft 70.

[0059] In an optional embodiment, the second wheelset 30 includes a second bushing 33, which is installed in a second rotation hole 311 of the second connecting plate 31 for contacting a second rotation shaft 80 fixed on the frame 10 to ensure smooth rotation of the second connecting plate 31 relative to the second rotation shaft 80.

[0060] In an optional embodiment, the first bushing 23 is provided with a first oil reservoir for storing lubricating oil so that the lubricating oil can flow in the first bushing 23, reducing direct contact between the first rotating shaft 70 and the first bushing 23 and improving the smoothness of rotation.

[0061] In one optional embodiment, the distance between the first rotating shaft 70 and the slotted fitting 60 is greater than the distance between the second rotating shaft 80 and the slotted fitting 60, so as to make the robot more stable when moving forward. In another optional embodiment, the second bushing 33 is provided with a second oil reservoir inside, which is used to store lubricating oil to facilitate the flow of lubricating oil in the second bushing 33, reduce direct contact between the second rotating shaft 80 and the second bushing 33, and improve the smoothness of rotation.

[0062] The first oil storage tank is arranged in a crisscross pattern on the inner wall of the first bushing 23, and the second oil storage tank is arranged in a crisscross pattern on the inner wall of the second bushing 33.

[0063] In an optional embodiment, the first oil reservoir includes two annular grooves spaced apart along the inner wall of the first bushing 23, and an oil delivery channel connecting the two annular grooves, so that the lubricating oil is more evenly distributed in the first bushing 23 and the smoothness of rotation is improved.

[0064] In an optional embodiment, the second oil reservoir includes two annular grooves spaced apart along the inner wall of the second bushing 33, and an oil delivery channel connecting the two annular grooves, so as to facilitate a more uniform distribution of lubricating oil in the second bushing 33 and improve the smoothness of rotation. In an optional embodiment, refer to... Figure 7 The first connecting plate 21 is provided with a first fixing plate 213. The upper end surface of the first fixing plate 213 is provided with a first reinforcing rib 24 and a first limiting member 25. The first limiting member 25 is used to cooperate with the first limiting plate 15 on the frame 10 to play a limiting role. In this embodiment, the first universal wheel 22 is fixed to the lower end surface of the first fixing plate 213. The extension direction of the first reinforcing rib 24 is perpendicular to the extension direction of the first connecting plate 21, which plays a role in strengthening the strength of the first fixing plate 213. At the same time, the first reinforcing rib 24 and the first limiting member 25 are arranged on opposite sides of the first connecting plate 21, which can more reasonably arrange the spatial structure of the first fixing plate 213, not only ensuring the strength of the first fixing plate 213, but also limiting the swing amplitude of the first fixing plate 213.

[0065] In one alternative implementation, refer to Figure 6 The second connecting plate 31 is provided with a second fixing plate 313. The upper end face of the first fixing plate 213 is provided with a second reinforcing rib 34 and a second limiting member 35. The second limiting member 35 is used to cooperate with the second limiting plate 17 on the frame 10 to play a limiting role. In this embodiment, the second universal wheel 32 is fixed to the lower end face of the second fixing plate 313. The extension direction of the second reinforcing rib 34 is perpendicular to the extension direction of the second connecting plate 31, which plays a role in strengthening the strength of the second fixing plate 313. At the same time, the second reinforcing rib 34 and the second limiting member 35 are arranged on opposite sides of the second connecting plate 31, which can more reasonably arrange the spatial structure of the second fixing plate 313, not only ensuring the strength of the second fixing plate 313, but also limiting the swing amplitude of the second fixing plate 313.

[0066] In one alternative implementation, refer to Figure 10 The frame 10 has a motor receiving slot 13, a first wheel receiving slot 14, and a second wheel receiving slot 16. The motor receiving slot 13 is located directly between the first wheel receiving slot 14 and the second wheel receiving slot 16. When the drive wheel 40, the first wheel set 20, and the second wheel set 30 are mounted on the frame 10, the drive motor 41 can be received in the motor receiving slot 13, the first swivel wheel 22 can be received in the first wheel receiving slot 14, and the second swivel wheel 32 can be received in the second wheel receiving slot 16. A first limiting plate 15 is located above the first wheel receiving slot 14, and a second limiting plate 17 is located above the second wheel receiving slot 16.

[0067] For example, refer to Figure 8 , Figure 10 The frame 10 has a first rotating mounting portion 11 and a second rotating mounting portion 12. A first rotating shaft 70 is fixed to the first rotating mounting portion 11, and a second rotating shaft 80 is fixed to the second rotating mounting portion 12. In this embodiment, the first rotating shaft 70 includes a fixing portion 71, a rotating shaft portion 72, and a positioning portion 73. The first rotating shaft 70 is installed in the positioning hole of the first rotating mounting portion 11 through the positioning portion 73, and then the fixing portion 71 is fixed to the first rotating mounting portion 11. The first connecting plate 21 is rotatably mounted on the rotating shaft portion 72. The structure and installation direction of the second rotating shaft 80 are the same as those of the first rotating shaft 70.

[0068] In an optional embodiment, end caps are detachably mounted on the exterior of the first rotating shaft 70 and the second rotating shaft 80 to prevent external dust from entering and affecting the working condition of the rotating shafts. When maintenance is required on the first wheel set 20 and the second wheel set 30, the end caps are removed, and then the first rotating shaft 70 and the second rotating shaft 80 can be disassembled.

[0069] In one alternative implementation, refer to Figure 5 The first connecting plate 21 and / or the second connecting plate 31 are connected to a shock absorber 50. One end of the shock absorber 50 is fixed to the frame 10, and the other end is connected to the side of the first connecting plate 21 and / or the second connecting plate 31 away from the frame 10. It can not only limit the lateral movement of the first connecting plate 21 and / or the second connecting plate 31, but also play a buffering role.

[0070] In an optional embodiment, one end of the shock absorber 50 is fixed to the frame 10, and the other end is connected to the side of the first connecting plate 21 away from the frame 10. The shock absorber 50 and the slotted mating part 60 are respectively arranged on both sides of the drive wheel 40 to better achieve the shock absorption effect.

[0071] For example, refer to Figure 9 The shock absorber 50 includes a first connecting bracket 51, a shock absorber spring 53, and a second connecting bracket 52. The first connecting bracket 51 is connected to the frame 10, the second connecting bracket 52 is connected to the first connecting plate 21, and the shock absorber spring 53 is disposed between the first connecting bracket 51 and the second connecting bracket 52.

[0072] In this embodiment, the shock absorber 50 includes a mounting base 54, an extension rod 511 on a first connecting bracket 51, the extension rod 511 passing through the mounting base 54, the mounting base 54 being disposed on a second connecting bracket 52, and a shock-absorbing spring 53 disposed on the outer side of the extension rod 511. The mounting base 54 can be a bearing to reduce friction between it and the extension rod 511; the extension rod 511, disposed on the outer side of the first connecting plate 21 and / or the second connecting plate 31, provides radial limiting for the limiting plate.

[0073] Furthermore, this application provides an operating robot, including an actuator and a robot chassis as described in the above embodiments.

[0074] Understandably, depending on the actuator, the robot of this application can perform a variety of functions. For example, when the actuator includes a robotic arm, the operating robot can be a projection operating robot, a grasping robot, etc.; when the actuator includes an image acquisition device, the operating robot can be an inspection robot; when the actuator includes a lifting mechanism, the operating robot can be a lifting robot, etc.

[0075] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0076] In this application, 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.

[0077] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0078] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A robot chassis, characterized in that, The robot chassis includes a chassis assembly, which includes a chassis body and a chassis shell disposed on the outside of the chassis body. The chassis body includes a frame and a suspension system disposed on both sides of the frame. The suspension system includes a drive wheel, a first wheel set, and a second wheel set. The first wheel set includes a first omnidirectional wheel and a first connecting plate. The second wheel set includes a second omnidirectional wheel and a second connecting plate movably connected to the first connecting plate. The first omnidirectional wheel is rotatably connected to the frame through the first connecting plate, and the second omnidirectional wheel is rotatably connected to the frame through the second connecting plate. The first omnidirectional wheel and the second omnidirectional wheel are respectively located at both ends of the frame, and the drive wheel is located in the middle of the frame. The chassis body also includes a slotted fitting component, which includes a fitting component and a limiting component. One end of the fitting component has a fitting component fixing end, and the other end of the fitting component has a fitting component slot end. The fitting component fixing end is fixed to the end of the first connecting plate, and the second connecting plate is rotatably installed in the fitting component slot end through the limiting component, so that the first connecting plate and the second connecting plate are linked. The drive wheel includes a drive motor and a wheel. The drive motor is arranged along the length direction of the first connecting plate and fixed on the first connecting plate, and is located between the first rotating hole of the first connecting plate and the slot mating part. The first connecting plate and / or the second connecting plate are connected to a shock absorber. One end of the shock absorber is fixed to the frame, and the other end is connected to the side of the first connecting plate and / or the second connecting plate away from the frame. The shock absorber and the slotted mating part are respectively disposed on both sides of the drive wheel.

2. The robot chassis according to claim 1, characterized in that, The first connecting plate has a clearance notch at one end near the mating part. The output shaft of the drive motor passes through the clearance notch and connects to the wheel to drive the wheel to rotate.

3. The robot chassis according to claim 1, characterized in that, The first wheelset includes a first rotating shaft fixed on the frame, and a first rotating hole is provided in the middle of the first connecting plate. The first connecting plate is rotatably mounted in the first rotating shaft through the first rotating hole. And / or, The second wheelset includes a second rotating shaft fixed on the frame, and a second rotating hole is provided in the middle of the second connecting plate. The second connecting plate is rotatably mounted in the second rotating shaft through the second rotating hole.

4. The robot chassis according to claim 3, characterized in that, The first wheelset includes a first axle sleeve, which is mounted in a first rotating hole in the first connecting plate for contacting a first rotating shaft fixed to the frame; and / or, The second wheel assembly includes a second axle sleeve, which is installed in a second rotating hole in the second connecting plate for contacting a second rotating shaft fixed to the frame.

5. The robot chassis according to claim 4, characterized in that, The first bushing of the first wheel assembly has a first oil reservoir inside; and / or, the second bushing of the second wheel assembly has a second oil reservoir inside.

6. The robot chassis according to claim 1, characterized in that, The first connecting plate is provided with a first fixing plate, the upper end face of the first fixing plate is provided with a first reinforcing rib and a first limiting member for cooperating with the first limiting plate on the frame, and the first universal wheel is fixed to the lower end face of the first fixing plate. And / or, The second connecting plate is provided with a second fixing plate. The upper end face of the second fixing plate is provided with a second reinforcing rib and a second limiting member for cooperating with the second limiting plate on the frame. The second universal wheel is fixed to the lower end face of the second fixing plate.

7. The robot chassis according to claim 1, characterized in that, The shock absorber includes a first connecting bracket, a shock absorber spring, and a second connecting bracket. The first connecting bracket is connected to the vehicle frame, and the second connecting bracket is connected to the first connecting plate and / or the second connecting plate. The shock absorber spring is disposed between the first connecting bracket and the second connecting bracket.

8. An operating robot, characterized in that, It includes an actuator and a robot chassis as described in any one of claims 1-7, wherein the actuator is disposed above the robot chassis.

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