Robotic chassis and robots

Abstract

The application discloses a robot chassis and a robot, and the robot chassis comprises a vehicle frame, swing arms arranged on opposite sides of the vehicle frame, different-speed rotation between the swing arms, rudders connected with the swing arms, synchronous rotation between the rudders, hub motors connected with the swing arms through the rudders, rotation of the hub motors according to a preset speed ratio, and a connecting rod mechanism arranged on the vehicle frame, connected with the swing arms, and matched with the swing arms to enable the different-speed rotation between the swing arms. The hub motors are connected with the swing arms through the rudders, the rudders of front and rear wheels are synchronously rotated, the front and rear wheels are deflected by a certain angle, the hub motors can rotate according to a certain speed ratio, and the whole machine is driven to turn during movement and turn in place. Meanwhile, the connecting rod mechanism is matched with the different-speed rotation between left and right swing arms, the pitch angle of the chassis is at the middle value of the inclination angles of the left and right swing arms, and the obstacle crossing ability and the anti-rollover ability of the chassis are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of robot manufacturing technology, and more specifically, to a robot chassis and a robot. Background Technology

[0002] The existing robot chassis, lacking finely tuned parameters, cannot maximize the obstacle-crossing capabilities of a six-wheeled chassis, and its adaptability to rough terrain is reduced to varying degrees. Furthermore, the chassis's anti-roll capability is insufficient for rough terrain with uneven left and right sides. Summary of the Invention

[0003] One objective of this invention is to provide a new technological solution for a robot chassis and a robot, which can at least solve the problems of insufficient obstacle-crossing ability and anti-tilt capability of robot chassis in the prior art.

[0004] In a first aspect, the present invention provides a robot chassis, comprising: a frame; rocker arms disposed on opposite sides of the frame, the rocker arms rotating differentially; servo motors connected to the rocker arms, the servo motors rotating synchronously; hub motors connected to the rocker arms via the servo motors, the hub motors rotating at a preset speed ratio to drive the robot to turn while moving or rotate in place; and a linkage mechanism disposed on the frame, the linkage mechanism connected to the rocker arms, the linkage mechanism cooperating with the rocker arms to enable differential rotation between the rocker arms.

[0005] Optionally, the rocker arm includes: a main rocker arm rear arm, a main rocker arm front arm, a secondary rocker arm rear arm, and a secondary rocker arm front arm. The main rocker arm rear arm and the main rocker arm front arm are connected to the linkage mechanism via a main rocker arm four-way connector. The secondary rocker arm front arm, the secondary rocker arm rear arm, and the main rocker arm front arm are connected via a secondary rocker arm three-way connector. The main rocker arm rear arm, the main rocker arm front arm, the secondary rocker arm rear arm, and the secondary rocker arm front arm form a six-wheel rocker arm. The other end of the main rocker arm rear arm, the secondary rocker arm rear arm, and the secondary rocker arm front arm are respectively connected to one of the hub motors.

[0006] Optionally, the frame includes: a wheel mounting plate and a wheel mounting bracket, wherein the hub motor clamps the fixed spindle of the hub motor through the shaft holes of the wheel mounting plate and the wheel mounting bracket, so that the hub motor rotates relative to the fixed spindle after being energized.

[0007] Optionally, the robot chassis further includes a rear steering housing and a front steering housing, wherein the servo motors are respectively provided in the rear steering housing and the front steering housing, and the servo motors in the rear steering housing and the front steering housing are respectively connected to the corresponding wheel fixing frames.

[0008] Optionally, the rear steering housing and the front steering housing are respectively provided with steering module end caps.

[0009] Optionally, the rear boom of the main swing arm is fixed between the rear steering housing and the main swing arm four-way through a shaft hole, the front boom of the auxiliary swing arm is fixed between the auxiliary swing arm three-way and the front steering housing through a shaft hole, and the rear boom of the auxiliary swing arm is connected and fixed between the auxiliary swing arm three-way and the intermediate wheel adapter through a shaft hole.

[0010] Optionally, the linkage mechanism includes: a first rod end joint bearing, a threaded tie rod, a second rod end joint bearing, and a lateral swing rod. The teeth in the first rod end joint bearing and the second rod end joint bearing form positive and negative teeth. The first rod end joint bearing is connected to the main swing arm via a four-way connection. One end of the threaded tie rod is connected to the first rod end joint bearing, and the other end is connected to the second rod end joint bearing. The rod end thread of the second rod end joint bearing is connected to the lateral swing rod. The lateral swing rod is fixed to the frame by a slewing bearing.

[0011] Optionally, the robot chassis further includes: a shock-absorbing shaft and a shock absorber, the shock absorber being disposed between the frame and the shock-absorbing shaft, the main swing arm four-way connecting to the shock-absorbing shaft, and the shock-absorbing shaft and the shock absorber cooperating to form a longitudinal swing arm non-independent suspension damping structure.

[0012] Optionally, the robot chassis further includes a battery and an electronic control box, the battery and the electronic control box being spaced apart on the frame.

[0013] In a second aspect, the present invention provides a robot including the robot chassis described in the above embodiments.

[0014] The robot chassis of this invention features hub motors connected to rocker arms via servo motors. The servo motors of the front and rear wheels rotate synchronously, causing the wheels to deflect at a certain angle. This ensures the hub motors rotate at a specific speed ratio, thereby driving the entire robot to turn while moving and turn on the spot. Simultaneously, through the cooperation of the linkage mechanism and the rocker arms, and via the differential rotation linkage mechanism between the left and right rocker arms, the chassis pitch angle can be kept at the midpoint between the tilt angles of the left and right rocker arms, effectively improving the chassis' obstacle-crossing ability and anti-tilt capability.

[0015] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0017] Figure 1 This is a schematic diagram of the structure of a robot chassis according to an embodiment of the present invention;

[0018] Figure 2 This is a side view of the robot chassis according to an embodiment of the present invention;

[0019] Figure 3 This is a top view of a robot chassis according to an embodiment of the present invention;

[0020] Figure 4 This is another top view of the robot chassis according to an embodiment of the present invention.

[0021] Figure label:

[0022] 1. Hub motor; 2. Rear steering housing; 3. Steering module end cover; 4. Main swing arm rear arm; 5. Battery; 6. Main swing arm four-way connector; 7. First rod end joint bearing; 8. Threaded tie rod; 9. Main swing arm front arm; 10. Electrical control box; 11. Secondary swing arm front arm; 12. Front steering housing; 13. Secondary swing arm rear arm; 14. Middle wheel adapter seat; 15. Under-wheel fixing plate; 16. Wheel fixing bracket; 17. Shock absorber shaft; 18. Shock absorber; 19. Secondary rod end joint bearing; 20. Lateral swing arm; 21. Slewing bearing; 22. Secondary swing arm connecting tee; 23. Secondary swing arm tee; 24. Detailed Implementation

[0023] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0024] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0025] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0026] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly 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 connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] The robot chassis according to an embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] like Figures 1 to 4 As shown, the robot chassis according to an embodiment of the present invention includes a frame 6, a rocker arm, a servo motor, a hub motor 1, and a linkage mechanism.

[0033] Specifically, rocker arms are located on opposite sides of the frame 6, rotating differentially between them. Servo motors are connected to the rocker arms and can rotate synchronously. Hub motors 1 are connected to the rocker arms via servo motors, rotating at a preset speed ratio to drive the entire machine to steer while moving or rotate in place. A linkage mechanism is located on the frame 6 and connected to the rocker arms, cooperating with them to enable differential rotation between the rocker arms.

[0034] In other words, such as Figures 1 to 4 As shown, the robot chassis according to an embodiment of the present invention mainly consists of a frame 6, a rocker arm, a servo motor, a hub motor 1, and a linkage mechanism. Wherein, as... Figures 1 to 3As shown, rocker arms are mounted on opposite sides of the frame 6, and the rocker arms on the left and right sides of the frame 6 can rotate differentially. Servo motors are connected to the rocker arms, and the servo motors can rotate synchronously, causing the front and rear wheels to deflect at a certain angle. Hub motors 1 are connected to the rocker arms via servo motors, and hub motors 1 can rotate according to a preset speed ratio, driving the entire machine to steer while moving or rotate in place. A linkage mechanism is mounted on the frame 6 and connected to the rocker arms. The linkage mechanism cooperates with the rocker arms to enable differential rotation between the rocker arms. Through the cooperation of the linkage mechanism and the rocker arms, and through the differential rotation linkage mechanism between the left and right rocker arms, the chassis pitch angle can be kept at the midpoint of the left and right rocker arm tilt angles, effectively improving the chassis' obstacle-crossing ability and anti-roll capability.

[0035] When the chassis encounters a raised section of road, the raised side causes one rocker arm to tilt backward, at which point the linkage mechanism rotates accordingly. This eliminates the need for the other rocker arm to rotate, and the frame 6 only needs to rotate half an angle. Compared to traditional four-wheel chassis, this significantly reduces the roll angle of the frame 6 and ensures that no tires are suspended in the air, improving grip on rough roads.

[0036] Therefore, in the robot chassis according to this embodiment of the invention, the hub motor 1 is connected to the rocker arm via a servo motor. The servo motors of the front and rear wheels rotate synchronously, causing the front and rear wheels to deflect at a certain angle, ensuring that the hub motor 1 can rotate at a certain speed ratio, thereby driving the entire machine to turn while moving and turn on the spot. At the same time, through the cooperation of the linkage mechanism and the rocker arm, and through the differential rotation linkage mechanism between the left and right rocker arms, the chassis pitch angle can be kept at the midpoint of the tilt angle of the left and right rocker arms, effectively improving the chassis' obstacle-crossing ability and anti-tilt capability.

[0037] According to one embodiment of the present invention, the rocker arm includes: a main rocker arm rear arm 4, a main rocker arm front arm 10, a secondary rocker arm rear arm 14, and a secondary rocker arm front arm 12. The main rocker arm rear arm 4 and the main rocker arm front arm 10 are connected to a linkage mechanism via a main rocker arm four-way connector 7. The secondary rocker arm front arm 12, the secondary rocker arm rear arm 14, and the main rocker arm front arm 10 are connected via a secondary rocker arm three-way connector 24. The main rocker arm rear arm 4, the main rocker arm front arm 10, the secondary rocker arm rear arm 14, and the secondary rocker arm front arm 12 form a six-wheel rocker arm. The other ends of the main rocker arm rear arm 4, the secondary rocker arm rear arm 14, and the secondary rocker arm front arm 12 are respectively connected to a hub motor 1.

[0038] In other words, such as Figures 1 to 3As shown, the rocker arm mainly consists of a main swing arm rear arm 4, a main swing arm front arm 10, a secondary swing arm rear arm 14, and a secondary swing arm front arm 12. The main swing arm rear arm 4 is fixed by a locating pin and connected to the main swing arm front arm 10 via a main swing arm four-way connector 7 and a linkage mechanism. The secondary swing arm front arm 12 is fixed by a locating pin and connected to the secondary swing arm rear arm 14 and the main swing arm front arm 10 via a secondary swing arm connecting three-way connector 23 and a secondary swing arm three-way connector 24. The secondary swing arm connecting three-way connector 23 is connected to the secondary swing arm three-way connector 24 via a bushing and a shaft-use elastic retaining ring, and can rotate freely relative to each other around a central axis. The main swing arm rear arm 4, main swing arm front arm 10, secondary swing arm rear arm 14, and secondary swing arm front arm 12 form a six-wheel rocker arm. Optimizing the dimensional parameters of the rocker arm relative to the wheel diameter maximizes the obstacle-crossing capability of the current-sized six-wheel chassis. The other ends of the main swing arm rear boom 4, the auxiliary swing arm rear boom 14, and the auxiliary swing arm front boom 12 are respectively connected to a hub motor 1.

[0039] This invention optimizes the rocker arm parameters of a six-wheeled chassis, achieving a balance in obstacle-crossing performance across the front, middle, and rear wheels, thus maximizing the chassis's obstacle-crossing capabilities. It fully utilizes the six-wheeled rocker arm structure of Mars and lunar rovers, preserving the chassis's adaptability to rough terrain to the greatest extent possible. Furthermore, through a newly added linkage mechanism, it enhances the differential rotation function of the left and right rocker arms, reducing the chassis's roll angle on uneven surfaces and improving its anti-roll capability.

[0040] According to one embodiment of the present invention, the frame 6 includes: a wheel fixing plate 16 and a wheel fixing bracket 17. The hub motor 1 clamps the fixed spindle of the hub motor 1 through the shaft holes of the wheel fixing plate 16 and the wheel fixing bracket 17, so that the hub motor 1 rotates relative to the fixed spindle after being energized.

[0041] In other words, such as Figure 1 and Figure 4 As shown, the frame 6 includes a wheel fixing plate 16 and a wheel fixing bracket 17. The hub motor 1 is clamped by the shaft holes of the wheel fixing plate 16 and the wheel fixing bracket 17. After the external wheel surface is energized, it can rotate relative to the fixed spindle as needed.

[0042] In some specific embodiments of the present invention, the robot chassis further includes: a rear steering housing 2 and a front steering housing 13, each containing a servo motor, which is connected to a corresponding wheel mounting bracket 17. Steering module end caps 3 are respectively provided on the rear steering housing 2 and the front steering housing 13.

[0043] In other words, such as Figure 1 and Figure 2As shown, the robot chassis also includes a rear steering housing 2 and a front steering housing 13. Servo motors are respectively installed inside the rear steering housing 2 and the front steering housing 13, and these servo motors are connected to corresponding wheel mounting brackets 17. The servo motor rotor flange of the rear steering housing 2 (containing the servo motor) is connected to the wheel mounting bracket 17 of the rear wheel by screws, and the servo motor housing is fixed to the rear steering housing 2 by screws. After power is applied, the servo motor rotor can rotate relative to the servo motor housing as needed. The servo motor rotor flange of the front steering housing 13 (containing the servo motor) is connected to the wheel mounting bracket 17 of the front wheel by screws, and the servo motor housing is fixed to the front steering housing 13 by screws. After power is applied, the servo motor rotor can rotate in a controlled manner relative to the servo motor housing. Steering module end caps 3 are respectively provided on the rear steering housing 2 and the front steering housing 13. The steering module end caps 3 are fixed to the rear steering housing 2 (containing the servo motor) or the front steering housing 13 (containing the servo motor) by flat-end hexagonal set screws.

[0044] According to one embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the rear boom 4 of the main control arm is fixed by a locating pin and is fixed between the rear steering housing 2 and the main control arm four-way connector 7 through a shaft hole. The front boom 12 of the auxiliary control arm is fixed by a locating pin and is fixed between the auxiliary control arm three-way connector 24 and the front steering housing 13 through a shaft hole. The rear boom 14 of the auxiliary control arm is fixed by a locating pin and is connected and fixed between the auxiliary control arm three-way connector 24 and the intermediate wheel adapter 15 through a shaft hole. The intermediate wheel adapter 15 is fixed to the wheel fixing bracket 17 of the intermediate wheel by screws. The under-wheel fixing plate 16 is connected and fixed to the wheel fixing bracket 17 by screws.

[0045] According to one embodiment of the present invention, the linkage mechanism includes: a first rod end joint bearing 8, a threaded tie rod 9, a second rod end joint bearing 20, and a lateral swing rod 21. The teeth in the first rod end joint bearing 8 and the second rod end joint bearing 20 form positive and negative teeth. The first rod end joint bearing 8 is connected to the main swing arm four-way 7. One end of the threaded tie rod 9 is connected to the first rod end joint bearing 8, and the other end is connected to the second rod end joint bearing 20. The rod end thread of the second rod end joint bearing 20 is connected to the lateral swing rod 21. The lateral swing rod 21 is fixed to the frame 6 by a slewing bearing 22.

[0046] In other words, such as Figure 1 and Figure 3As shown, the linkage mechanism mainly consists of a first rod end spherical bearing 8, a threaded tie rod 9, a second rod end spherical bearing 20, and a lateral swing rod 21. The teeth in the first rod end spherical bearing 8 and the second rod end spherical bearing 20 form a positive and negative thread pattern. The first rod end spherical bearing 8 is fixed to the fixing hole of the main swing arm four-way 7 via its own threaded rod and a nut. One end of the threaded tie rod 9 has a positive thread connected to the first rod end spherical bearing 8 and is secured with a nut. The other end of the threaded tie rod 9 has a negative thread connected to the second rod end spherical bearing 20 and is secured with a nut. The rod end thread of the second rod end spherical bearing 20 is fixed to the corresponding shaft hole of the lateral swing rod 21 by a nut. The lateral swing rod 21 is fixed to the inner ring of the slewing bearing 22 by screws. The outer ring of the slewing bearing 22 is fixed to the frame 6 by screws, and its inner ring can rotate freely around the central axis relative to the outer ring.

[0047] According to one embodiment of the present invention, the robot chassis further includes: a shock-absorbing shaft 18 and a shock absorber 19, the shock absorber 19 being disposed between the frame 6 and the shock-absorbing shaft 18, the main swing arm four-way 7 being connected to the shock-absorbing shaft 18, and the shock-absorbing shaft 18 and the shock absorber 19 cooperating to form a longitudinal swing arm non-independent suspension damping structure.

[0048] In other words, such as Figure 3 As shown, the robot chassis also includes a shock-absorbing shaft 18 and a shock absorber 19. The shock absorber 19 is installed between the frame 6 and the shock-absorbing shaft 18. The main swing arm four-way connector 7 is connected to the shock-absorbing shaft 18 via a bushing and a retaining ring, and can rotate relative to the shock-absorbing shaft 18. The shock-absorbing shaft 18 is connected to the frame 6 via a buffer sleeve and axle shoulder screws, and can rotate relative to the hinge point. The shock absorber 19 is fixed between the frame 6 and the shock-absorbing shaft 18 via bolts and nuts. The shock-absorbing shaft 18 and the shock absorber 19 together form a longitudinal swing arm non-independent suspension damping structure.

[0049] In this invention, six hub motors 1 rotate in the same direction, driving the entire machine to move in a straight line. The front and rear wheel servos rotate synchronously, causing the front and rear wheels to deflect at a certain angle. At this time, the six hub motors 1 rotate at a certain speed ratio, which can drive the entire machine to turn while moving or rotate in place. The shock-absorbing shaft 18 cooperates with the shock absorber 19 to form a longitudinal swing arm non-independent suspension shock absorption structure, providing shock absorption capability for the entire machine.

[0050] When the chassis encounters a raised section of road, the raised section causes one rocker arm to tilt backward. At this time, the linkage mechanism consisting of the first rod end spherical bearing 8, the threaded tie rod 9, the second rod end spherical bearing 20 (reverse thread), and the lateral swing rod 21 rotates accordingly. This eliminates the need for the other rocker arm to rotate, and the frame 6 only needs to rotate by half an angle. Compared to traditional four-wheel chassis, this significantly reduces the roll angle of the frame 6 and ensures that no tires are suspended in the air, improving grip on rough roads.

[0051] Based on the six-wheel rocker arm structure, this invention adds a new shock absorption system without significantly increasing cost or structural space, ensuring the overall machine's shock absorption performance. Simultaneously, the shock absorption system and the differential rotating linkage structure form a parallelogram structure, ensuring that the operation of the shock absorption system and the differential rotating linkage mechanism does not interfere with each other and does not introduce additional disturbances.

[0052] According to one embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the robot chassis also includes a battery 5 and an electronic control box 11, which are spaced apart and mounted on the frame 6. Specifically, the battery 5 is fixed to the frame 6 with screws, and the electronic control box 11 is fixed to the frame 6 with shock-absorbing columns.

[0053] The robot chassis according to embodiments of the present invention, such as Figures 1 to 4 As shown, the hub motor 1 holds and fixes the spindle through the shaft hole of the wheel fixing plate 16 and the wheel fixing bracket 17. After the external wheel surface is energized, it can rotate relative to the spindle as needed. The servo rotor flange of the rear steering housing 2 (containing the servo motor) is fixed to the wheel fixing bracket 17 of the rear wheel with screws. The servo housing and the rear steering housing 2 are connected and fixed with screws. After being energized, the servo rotor can rotate relative to the servo housing as needed. The steering module end cover 3 is fixed to the rear steering housing 2 (containing the servo motor) or the front steering housing 13 (containing the servo motor) with flat-end hexagonal set screws. The rear arm 4 of the main swing arm is fixed with a locating pin and fixed between the rear steering housing 2 (containing the servo motor) and the main swing arm four-way connector 7 through a shaft hole. The battery 5 is fixed to the frame 6 with screws. The main swing arm four-way connector 7 is connected to the shock absorber shaft 18 through a bushing and a shaft elastic retaining ring, and can rotate relative to the shock absorber shaft 18. The first rod end spherical bearing 8 is fixed to the fixing hole of the main swing arm four-way 7 by its own threaded rod and nut. One end of the threaded tie rod 9 is connected to the first rod end spherical bearing 8 with a positive thread and is secured with a nut. The other end of the threaded tie rod 9 is connected to the second rod end spherical bearing 20 (reverse thread) with a negative thread and is secured with a nut.

[0054] The main control arm front arm 10 is fixed by a locating pin and through a shaft hole between the secondary control arm connecting tee 23 and the main control arm four-way connector 7. The electrical control box 11 is fixed to the frame 6 by a shock absorber column. The secondary control arm front arm 12 is fixed by a locating pin and through a shaft hole between the secondary control arm tee 24 and the front steering housing 13 (containing a servo motor). The servo motor rotor flange of the front steering housing 13 (containing a servo motor) is connected and fixed to the front wheel mounting bracket 17 by screws, and the servo motor housing is fixed to the front steering housing 13 by screws. After power is applied, the servo motor rotor can rotate in a controlled manner relative to the servo motor housing. The secondary control arm rear arm 14 is fixed by a locating pin and through a shaft hole, connecting and fixing between the secondary control arm tee 24 and the intermediate wheel adapter 15.

[0055] The intermediate wheel adapter 15 is fixed to the intermediate wheel's wheel mounting bracket 17 with screws. The under-wheel mounting plate 16 is connected and fixed to the wheel mounting bracket 17 with screws. The shock absorber shaft 18 is connected to the frame 6 via a buffer sleeve and axle shoulder screws, and can rotate relative to the hinge point. The shock absorber 19 is fixed between the frame 6 and the shock absorber shaft 18 via bolts and nuts. The rod end thread of the second rod end spherical bearing 20 (reverse thread) is fixed to the corresponding shaft hole of the lateral swing arm 21 with a nut. The lateral swing arm 21 is fixed to the inner ring of the slewing bearing 22 with screws. The outer ring of the slewing bearing 22 is fixed to the frame 6 with screws, and its inner ring can rotate freely relative to the outer ring around the central axis. The auxiliary swing arm connecting tee 23 is connected to the auxiliary swing arm tee 24 via a bushing and a shaft elastic retaining ring, and can rotate freely relative to the central axis.

[0056] In summary, this invention optimizes the dimensions and parameters of the six-wheeled chassis rocker arms, achieving a balance in obstacle-crossing performance across the front, middle, and rear wheels, thus maximizing the chassis's obstacle-crossing capabilities. It fully utilizes the six-wheeled rocker arm structure of Mars and lunar rovers, preserving the chassis's adaptability to rough terrain to the greatest extent possible. Based on the complete six-wheeled rocker arm structure, this invention adds a shock absorption system, increasing chassis stability and reducing the strength requirements for mounted accessories. Furthermore, through the newly added linkage mechanism, it enhances the differential rotation function of the left and right rocker arms, reducing the chassis's roll angle on uneven surfaces, improving its anti-roll capability, and effectively resolving the mutual interference between the shock absorption system and the differential rotation mechanism, ensuring that the shock absorption system does not introduce additional disturbances to the differential rotation mechanism during operation.

[0057] Of course, those skilled in the art can understand and implement other structures and working principles of the robot chassis, and will not elaborate on them in this invention.

[0058] According to a second aspect of the present invention, a robot is provided, including the robot chassis described in the above embodiments. Since the robot chassis according to the embodiments of the present invention has the aforementioned technical effects, the robot according to the embodiments of the present invention should also have corresponding technical effects; that is, the robot of the present invention, using this robot chassis, can effectively improve the robot's obstacle-crossing ability and anti-tilt capability.

[0059] Of course, other structures and working principles of the robot are understandable and achievable by those skilled in the art, and will not be described in detail in this invention.

[0060] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A robot chassis, characterized in that, include: Frame; Rocker arms, which are located on opposite sides of the vehicle frame and rotate at a differential speed between them; A servo motor, which is connected to the rocker arm, and the servos can rotate synchronously. The hub motor is connected to the rocker arm via the servo motor. The hub motor rotates at a preset speed ratio to drive the whole machine to turn while moving or rotate in place. A linkage mechanism is mounted on the vehicle frame and connected to the rocker arm. The linkage mechanism and the rocker arm cooperate to enable differential rotation between the rocker arms. The rocker arm includes: a main rocker arm rear arm, a main rocker arm front arm, a secondary rocker arm rear arm, and a secondary rocker arm front arm. The main rocker arm rear arm and the main rocker arm front arm are connected to the linkage mechanism via a main rocker arm four-way connector. The secondary rocker arm front arm, the secondary rocker arm rear arm, and the main rocker arm front arm are connected via a secondary rocker arm three-way connector. The main rocker arm rear arm, the main rocker arm front arm, the secondary rocker arm rear arm, and the secondary rocker arm front arm form a six-wheel rocker arm. The other end of the main rocker arm rear arm, the secondary rocker arm rear arm, and the secondary rocker arm front arm are respectively connected to one of the hub motors. The linkage mechanism includes: a first rod end spherical bearing, a threaded tie rod, a second rod end spherical bearing, and a lateral swing rod. The teeth in the first rod end spherical bearing and the second rod end spherical bearing form positive and negative teeth. The first rod end spherical bearing is connected to the main swing arm via a four-way connection. One end of the threaded tie rod is connected to the first rod end spherical bearing, and the other end is connected to the second rod end spherical bearing. The rod end thread of the second rod end spherical bearing is connected to the lateral swing rod. The lateral swing rod is fixed to the frame by a slewing bearing. It also includes: a shock absorber shaft and a shock absorber, wherein the shock absorber is located between the vehicle frame and the shock absorber shaft, the main swing arm four-way is connected to the shock absorber shaft, and the shock absorber shaft and the shock absorber cooperate to form a longitudinal swing arm non-independent suspension damping structure.

2. The robot chassis according to claim 1, characterized in that, The frame includes a wheel mounting plate and a wheel mounting bracket. The hub motor clamps the fixed spindle of the hub motor through the shaft holes of the wheel mounting plate and the wheel mounting bracket, so that the hub motor rotates relative to the fixed spindle after being energized.

3. The robot chassis according to claim 2, characterized in that, Also includes: The rear steering housing and the front steering housing are respectively provided with the servo motors, and the servo motors in the rear steering housing and the front steering housing are respectively connected to the corresponding wheel mounting brackets.

4. The robot chassis according to claim 3, characterized in that, Steering module end caps are respectively provided on the rear steering housing and the front steering housing.

5. The robot chassis according to claim 3, characterized in that, The rear boom of the main swing arm is fixed between the rear steering housing and the main swing arm four-way through a shaft hole. The front boom of the auxiliary swing arm is fixed between the auxiliary swing arm three-way and the front steering housing through a shaft hole. The rear boom of the auxiliary swing arm is connected and fixed between the auxiliary swing arm three-way and the intermediate wheel adapter through a shaft hole.

6. The robot chassis according to claim 1, characterized in that, Also includes: The battery and the electronic control box are spaced apart on the vehicle frame.

7. A robot, characterized in that, The robot chassis includes any one of claims 1-6.

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