chassis of the robot and the robot

Abstract

The present disclosure relates to a chassis of a robot and the robot, the chassis comprising a front chassis and a rear chassis hinged to each other; two drive wheel assemblies arranged on the front chassis or the rear chassis and arranged on the left and right sides of the front-rear center line; two elastic link mechanisms respectively arranged on the front chassis and the rear chassis in a rotatable manner, and corresponding to the two drive wheel assemblies, one end of a fixed link of the mechanism being hinged to the rear chassis, the other end being fixedly connected to a tray; one end of a movable link being hinged to the front chassis, the other end being hinged to the tray, and the fixed link and the movable link being arranged on the front and rear sides of the hinged axes of the front chassis and the rear chassis; and an elastic element being arranged elastically between the drive wheel assembly and the tray or between the front chassis and the movable link. The positive pressure of the drive wheel can be increased by the elastic element, so that the acceleration performance and the anti-deviation performance of the vehicle body are improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and particularly to a robot chassis and robot. Background Technology

[0002] AGVs (Automated Guided Vehicles), also known as unmanned transport vehicles, automated guided vehicles, or laser-guided vehicles, are characterized by their unmanned operation. Equipped with an automatic guidance system, these robots can automatically travel along a predetermined route, transporting goods or materials from the starting point to the destination without manual guidance. They are small in size, highly maneuverable, and efficient, making them widely used in automated logistics lines. However, in actual use, uneven ground can cause the drive wheels to fail to make contact with the ground or provide insufficient pressure, leading to slippage and derailment.

[0003] In view of this, those skilled in the art urgently need to improve the structure of robots to solve the problem of insufficient positive pressure on their drive wheels. Summary of the Invention

[0004] This disclosure provides a robot chassis and a robot in order to solve the technical problems existing in the prior art.

[0005] In a first aspect, this disclosure provides a robot chassis, the robot chassis of which includes:

[0006] The front and rear chassis are articulated together.

[0007] Two drive wheel assemblies are mounted on the front or rear chassis and are located on the left and right sides of the front and rear center lines of the robot's chassis, respectively.

[0008] Two sets of auxiliary wheel assemblies are rotatably mounted on the front chassis and the rear chassis, respectively, and are located on the front and rear sides of the hinge axis of the front chassis and the rear chassis; and,

[0009] Two elastic linkage mechanisms are respectively configured corresponding to the two drive wheel assemblies, and the elastic linkage mechanisms include:

[0010] The fixed connecting rod has one end hinged to the rear chassis and the other end fixedly connected to the tray;

[0011] The movable link has one end hinged to the front chassis and the other end hinged to the tray, and the fixed link and the movable link are located on the front and rear sides of the hinge axis of the front chassis and the rear chassis.

[0012] An elastic element is elastically disposed between the drive wheel assembly and the tray, or elastically disposed between the front chassis and the movable link.

[0013] In one embodiment, the elastic element is a compression spring, and each drive wheel assembly includes:

[0014] A drive wheel mounting bracket is fixedly connected to the front chassis or the rear chassis;

[0015] A drive wheel is rotatably mounted on the drive wheel mounting base, and a positioning groove is provided on the drive wheel mounting base, with the end of the compression spring inserted into the positioning groove.

[0016] In one embodiment, the elastic element is a compression spring, and the elastic linkage mechanism further includes a spring mounting seat, which is fixedly disposed on the tray and has a positioning shaft and a stop surface. The compression spring is sleeved on the positioning shaft and pressed against the stop surface by the drive wheel assembly.

[0017] In one embodiment, the elastic element is a tension spring, which is pre-tensioned and disposed between the front chassis and the movable link.

[0018] In one embodiment, the movable link and the tray are hinged by a pin, with one end of the tension spring connected to the pin and the other end connected to the front chassis.

[0019] In one embodiment, one end of the tension spring is directly connected to the movable link, and the other end is connected to the front chassis.

[0020] In one embodiment, the distance between the hinge point between the fixed link and the rear chassis and the hinge points of the front chassis and the rear chassis is equal to the distance between the hinge point between the movable link and the front chassis and the hinge points of the front chassis and the rear chassis.

[0021] In one embodiment, the distance between the hinge point between the fixed link and the rear chassis and the hinge point between one of the auxiliary wheel assemblies and the rear chassis is equal to the distance between the hinge point between the fixed link and the rear chassis and the hinge points between the front chassis and the rear chassis; and / or,

[0022] The distance between the hinge point between the movable link and the front chassis and the hinge point between the other auxiliary wheel assembly and the front chassis is equal to the distance between the hinge point between the movable link and the front chassis and the hinge points between the front chassis and the rear chassis.

[0023] In one embodiment, the front chassis is provided with a rearwardly extending front lug plate, and the front lug plate has a pin hole;

[0024] The rear chassis is provided with two rear ear plates extending forward, and there is a receiving groove between the two rear ear plates to accommodate the front ear plate. Both rear ear plates are also provided with pin holes, and the first pin shaft passes through the pin holes of one front ear plate, the rear ear plate, and the other front ear plate in sequence.

[0025] In one embodiment, the hinge axis connecting the front chassis and the rear chassis is located directly below the rotation axis of the drive wheel assembly; and / or,

[0026] The hinge axis connecting the front chassis and the rear chassis is coaxial with the rotation axis of the drive wheel assembly.

[0027] In one embodiment, the rear chassis is provided with a hinge mounting base, the hinge mounting base having a downwardly recessed rotation groove, and the hinge mounting base also having two hinge grooves.

[0028] The end of the fixed connecting rod is inserted into the rotating groove, and a pin hole is provided on the fixed connecting rod. The second pin is inserted into the pin hole on the fixed connecting rod, and the two ends of the second pin are respectively connected to the two hinge grooves. The second pin is fixedly connected to the hinge mounting base.

[0029] Secondly, this disclosure also provides a robot, which includes a vehicle body and a chassis for driving the vehicle body, wherein the chassis is the chassis described in any of the preceding embodiments.

[0030] One of the beneficial effects of the robot chassis disclosed herein is that, based on the two halves of the chassis, an elastic linkage mechanism is added. When the chassis structure is fixed, that is, when the positive pressure of the drive wheels is determined, the positive pressure of the drive wheels can be further increased by applying the elastic element, thereby obtaining greater acceleration performance of the vehicle body and anti-deviation performance. Attached Figure Description

[0031] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0032] Figure 1 This is a three-dimensional structural diagram of the chassis disclosed in the first embodiment;

[0033] Figure 2 yes Figure 1 A schematic diagram of the exploded structure of the chassis shown.

[0034] Figure 3 yes Figure 1A partial sectional view of the chassis shown.

[0035] Figure 4 yes Figure 1 A schematic diagram of the front cross-sectional structure of the chassis shown.

[0036] Figure 5 yes Figure 1 The diagram shows the structural principle of the chassis before deformation under stress.

[0037] Figure 6 yes Figure 1 The diagram shows the structural principle of the chassis before deformation under stress.

[0038] Figure 7 This is a three-dimensional structural diagram of the chassis disclosed in the second embodiment;

[0039] Figure 8 yes Figure 7 A partial three-dimensional structural diagram of the chassis shown.

[0040] Figures 1 to 8 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0041] 10 Front chassis, 100 Front ear plate, 11 Rear chassis, 110 Rear ear plate, 12 First pin, 13 Hinge mounting base, 20 Drive wheel, 21 Drive motor, 22 Mounting base, 220 Fixing plate, 221 Gearbox, 2210 Positioning groove, 30 Front auxiliary bracket, 31 Rear auxiliary bracket, 32 Auxiliary wheel, 4 Tray, 50 Fixed connecting rod, 51 Movable connecting rod, 52 Compression spring, 53 Spring mounting base, 530 Positioning shaft, 531 Stop surface, 54 Second pin, 55 Tension spring, 56 Third pin, 57 Spring mounting plate. Detailed Implementation

[0042] Various exemplary embodiments of the present disclosure 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 present disclosure.

[0043] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] In addition, this article uses ordinal numbers such as "first" and "second" to distinguish components or regions with the same name. These ordinal numbers do not limit the importance or existing order of these components or regions.

[0048] To address the problem of insufficient positive pressure on the drive wheels of existing robots, this disclosure provides a robot chassis.

[0049] The chassis of the robot disclosed herein includes a front chassis, a rear chassis, two drive wheel assemblies, two auxiliary wheel assemblies, and two elastic linkage mechanisms. The front and rear chassis are hinged together. The two drive wheel assemblies are mounted on either the front or rear chassis, positioned on the left and right sides of the front and rear center lines of the chassis, respectively. Two sets of auxiliary wheel assemblies are rotatably mounted on the front and rear chassis, respectively, and located on the front and rear sides of the hinge axis of the front and rear chassis. The two elastic linkage mechanisms are respectively configured corresponding to the two drive wheel assemblies, and each elastic linkage mechanism includes a fixed link, a movable link, and an elastic element. One end of the fixed link is hinged to the rear chassis, and the other end is fixedly connected to a tray. One end of the movable link is hinged to the front chassis, and the other end is hinged to the tray. The fixed link and the movable link are located on the front and rear sides of the hinge axis of the front and rear chassis. The elastic element is elastically disposed between the drive wheel assembly and the tray, or elastically disposed between the front chassis and the movable link.

[0050] The chassis of the robot disclosed herein is based on a two-half chassis, with the addition of an elastic linkage mechanism. When the chassis structure is fixed, i.e. the positive pressure of the drive wheels is determined, the positive pressure of the drive wheels can be further increased by applying the elastic element, thereby obtaining greater acceleration performance and anti-deviation performance of the vehicle body.

[0051] For ease of understanding, please refer to the following: Figures 1 to 8 The specific structure and working principle of the robot chassis disclosed herein will be described in detail with reference to two embodiments.

[0052] It should be noted that the directional terms "front, rear, left, right" used in this article when describing the specific structure of the robot's chassis are based on the robot's direction of travel. The side facing the direction of travel is called front, the side away from the direction of travel is called rear, the side to the right of the direction of travel is called right, and the side to the left of the direction of travel is called left.

[0053] Example 1

[0054] See Figure 1 and Figure 2 In this embodiment, the chassis of the robot disclosed herein includes a front chassis 10 and a rear chassis 11 that are hinged to each other.

[0055] For details, see Figure 2 The front chassis 10 includes two support beams extending in the front-rear direction and at least two crossbeams extending in the left-right direction, with adjacent crossbeams fixedly connected by reinforcing beams. The support beams, crossbeams, and reinforcing beams are all rectangular profiles to ensure high overall structural strength and light weight for the robot's chassis.

[0056] See also Figure 2 The structure of the rear chassis 11 is basically the same as that of the front chassis 10. Those skilled in the art can understand this based on... Figure 2 The description of the front chassis 10 above is understandable and will not be repeated here.

[0057] The rear ends of the two support beams of the front chassis 10 are provided with rearwardly extending front ear plates 100, and the front ear plates 100 are provided with pin holes. Correspondingly, the front ends of the two support beams of the rear chassis 11 are provided with two forwardly extending rear ear plates 110, and there is a receiving groove between the two rear ear plates 110 that can accommodate the front ear plates 100 of the front chassis 10. The two rear ear plates 110 of the rear chassis 11 are also provided with pin holes.

[0058] When assembling the front chassis 10 and the rear chassis 11: First, insert the front lug 100 on the front chassis 10 into the receiving groove between the two rear lugs 110 on the rear chassis 11, and align the pin holes of the front lugs 100 and the rear lugs 110; finally, insert the first pin 12 sequentially into the pin holes on one front lug 100, the rear lug 110, and the other front lug 110, so that the front chassis 10 and the rear chassis 11 are hinged by the two first pins 12, and when subjected to external force, the front chassis 10 and the rear chassis 11 rotate relative to each other around the first pins 12.

[0059] See also Figure 1 and Figure 2 The chassis of the robot disclosed herein also includes two drive wheel assemblies, which are respectively located on the left and right sides of the front and rear center lines of the robot chassis. In order to better maintain the stability of the robot chassis, the two drive wheel assemblies are symmetrically arranged with respect to the front and rear center lines of the robot chassis.

[0060] In detail, the drive wheel assembly includes a drive wheel 20, a drive motor 21, and a drive wheel mounting base 22. The drive wheel mounting base 22 is fixedly connected to the front chassis 10, and the drive wheel 20 is rotatably mounted on the drive wheel mounting base 22 via a rotating bearing. The drive motor 21 is fixedly connected to the drive wheel mounting base 22, and the power output shaft of the drive motor 21 drives the drive wheel 20 to rotate through a transmission mechanism such as a reduction gearbox.

[0061] More specifically, the drive wheel mounting base 22 includes a fixing plate 220 and a reduction gearbox 221. The fixing plate 220 is fixedly connected to the rear end of the front chassis 10 and extends rearward. The reduction gearbox 221 is fixedly connected to the fixing plate 220 and located on the outside of the front chassis 10. The drive wheel 20 is mounted on the reduction gearbox 221 through a rotating bearing, and the overall structure of the robot's chassis is at a preset height above the driving ground.

[0062] After the drive motors 21 of the two drive wheel assemblies are started, they drive their respective drive wheels 20 to move the front chassis 10 and the rear chassis 11 along the preset driving direction.

[0063] See Figure 1 In this embodiment, the hinge axis connecting the front chassis 10 and the rear chassis 11 is located directly below the rotation axis of the drive wheel 20. That is, the line connecting the hinge axis of the front chassis 10 and the rear chassis 11 and the rotation axis of the drive wheel 20 extends vertically. Of course, in other embodiments, the hinge axis connecting the front chassis 10 and the rear chassis 11 is coaxial with the rotation axis of the drive wheel 20.

[0064] See also Figure 1 and Figure 2 In this embodiment, the chassis of the robot disclosed herein includes two auxiliary wheel assemblies. The two auxiliary wheel assemblies are respectively disposed on the front chassis 10 and the rear chassis 11, and are located on the front and rear sides of the two drive wheel assemblies, so as to cooperate with the two drive wheel assemblies to support the robot chassis off the ground.

[0065] For details, see Figure 2 An auxiliary wheel assembly includes a front auxiliary bracket 30 and two auxiliary wheels 32. The front auxiliary bracket 30 extends in a left-right direction and has a mounting hole in its middle. Correspondingly, a mounting shaft is provided on the crossbeam at the foremost end of the front chassis 10. The front auxiliary bracket 30 and the front chassis 10 are fixedly connected by matching mounting holes and mounting shafts. The two auxiliary wheels 32 are symmetrically arranged with respect to the front and rear center lines of the robot's chassis.

[0066] In this embodiment, the auxiliary wheel 32 is a swivel wheel, so that the overall chassis structure of the robot can turn freely with the drive wheel 20.

[0067] Continue to combine Figure 1 and Figure 2 The auxiliary wheel assembly includes a rear auxiliary bracket 31 and two auxiliary wheels 32. The rear auxiliary bracket 31 is fixedly connected to the rear chassis 11, and the connection method between the two is the same as that between the front auxiliary bracket 30 and the front chassis 10 described above. Those skilled in the art can understand this based on... Figure 1 and Figure 2 As mentioned above, this is entirely feasible, so it will not be repeated here.

[0068] See also Figure 1 and Figure 2 In this embodiment, the robot's chassis also includes two elastic link assemblies that are respectively arranged corresponding to the two drive wheel assemblies. That is, the two elastic link assemblies are arranged symmetrically with respect to the front and rear center lines of the robot's chassis.

[0069] In detail, the elastic link assembly includes a fixed link 50, a movable link 51, and an elastic element.

[0070] The fixed link 50 extends vertically, with one end connected to the tray 4 and the other end hinged to the rear chassis 11. Similarly, the movable link 51 also extends vertically and has the same length as the fixed link 50. One end of the movable link 51 is hinged to the tray 4, and the other end is hinged to the front chassis 10, so that the two fixed links 50 and the two movable links 51 of the two elastic link assemblies are arranged in a rectangular shape, supporting the tray 4 and keeping it in a horizontal position to carry items for handling or transportation.

[0071] For details, see Figure 2 The rear chassis 11 is provided with a hinge mounting base 13, which has a downwardly recessed rotation groove and two hinge slots. The end of the fixed connecting rod 50 is inserted into the rotation groove, and a pin hole is opened on the fixed connecting rod 50. The second pin 54 passes through the pin hole on the fixed connecting rod 50, and its two ends overlap in the two hinge slots. The overlapping part of the second pin 54 is fixedly connected to the hinge mounting base 13 by a positioning pin.

[0072] When the tray 4 is subjected to an external force, it causes the fixed connecting rod 50 to rotate around the second pin 54 in the rotating groove. The other end of the fixed connecting rod 50 is fixedly connected to the tray 4 by welding, bonding or fasteners.

[0073] One end of the movable link 51 is also hinged to the rear chassis 11 via the second pin 54 in the same manner. Its other end extends upward to form two lugs, and a receiving groove is formed between the two lugs. The lower surface of the tray 4 has downwardly extending lugs.

[0074] When assembling the movable link 51 and the tray 4, first insert the ear plate on the tray 1 into the receiving groove between the two ear plates on the movable link 51, and align the pin holes on the three ear plates. Finally, insert the pin into the pin holes of the three ear plates in sequence. At this point, the movable link 51 and the tray 4 are hinged together by the pin.

[0075] The elastic element is elastically disposed between the gearbox 221 and the tray 4. In this embodiment, the elastic element is pre-compressed between the gearbox 221 and the tray 4. The elastic element is specifically a compression spring 52.

[0076] Combination Figure 2 and Figure 3 The gearbox 221 has a positioning groove 2210, and the robot chassis also includes a spring mounting seat 53. The spring mounting seat 53 is fixedly connected to the tray 4 by matching internal and external threads, or it can be fixedly connected to the tray 4 by welding, bonding, riveting or other methods.

[0077] The spring mounting base 53 has a positioning shaft 530 and a stop surface 531. The compression spring 52 is sleeved on the positioning shaft 530, and one end of it is inserted into the positioning groove 2210 and pressed by the reduction gearbox 221 until its other end abuts against the stop surface 531.

[0078] With this configuration, the positioning groove 2210 and the spring mounting seat 53 form a double limit on the compression spring 52 along its radial direction, preventing the compression spring 52 from jumping out from between the gearbox 221 and the tray 4 and failing when subjected to external force, thereby ensuring the stability of the robot's chassis structure.

[0079] Based on the aforementioned structure of the robot's chassis, combined with Figures 4 to 6 Detailed stress analysis is provided, including: Figure 4 yes Figure 1 The diagram shows a front sectional view of the robot's chassis. Figure 5 yes Figure 1 The diagram shows the structural principle of the robot's chassis before deformation under stress. Figure 6 yes Figure 1 The diagram shows the structural principle of the robot's chassis before deformation under stress.

[0080] See Figure 4 The compression spring 52 applies an upward force F to the tray 4. The tray 4 then applies this force F to the fixed link 50 and the movable link 51. The fixed link 50 applies the force F to the auxiliary wheel 32 at the rear end via the rear chassis 11, while the movable link 51 applies the force F to the auxiliary wheel 32 at the front end via the front chassis 10. The magnitude of the force is related to the distance between the hinge point of the hinge axis of the front chassis 10 and the rear chassis 11 and the hinge points of other components.

[0081] For details, see Figure 5 The hinge point between the front chassis 10 and the rear chassis 11 is designated as the first hinge point 5a, the hinge point between the fixed link 50 and the rear chassis 11 is designated as the second hinge point 5b, the hinge point between the movable link 51 and the front chassis 10 is designated as the third hinge point 5c, the hinge point between the auxiliary wheel at the rear end and the rear chassis 11 is designated as the fourth hinge point 5d, and the hinge point between the auxiliary wheel at the front end and the front chassis 10 is designated as the fifth hinge point 5e.

[0082] Combination Figure 4 and Figure 5 In order to distribute the force F applied by the compression spring 52 to the tray 4 in a more balanced manner to the front chassis 10 and the rear chassis 11, in this embodiment, the second distance L2 between the first hinge point 5a and the second hinge point 5b is equal to the first distance L1 between the first hinge point 5a and the third hinge point 5c, the second distance L2 between the first hinge point 5a and the second hinge point 5b is equal to the fourth distance L4 between the second hinge point 5b and the fourth hinge point 5d, and the first distance L1 between the first hinge point 5a and the third hinge point 5c is equal to the third distance L3 between the third hinge point 5c and the fifth hinge point 5e.

[0083] Based on this, the movable link 51 experiences an upward force F1 equal to F / 2 from the tray 4, the fixed link 50 experiences an upward force F2 equal to F / 2 from the tray 4, the front auxiliary wheel 32 experiences an upward force F3 equal to F / 4, and the rear auxiliary wheel 32 experiences a force F4 equal to F / 4. In other words, considering the front or rear chassis as a simply supported beam, since the fixed link 50 and the movable link 51 each experience an upward force of F / 2, one set of auxiliary wheel assemblies receives an upward force of F / 4, thus reducing the downward normal force of F / 4. The two sets of auxiliary wheel assemblies together reduce the downward normal force by F / 2. Since the total force is constant, the drive wheel 20 receives a normal force of F / 2.

[0084] Therefore, the chassis of the robot disclosed herein adds an elastic linkage mechanism to the two halves of the chassis. When the chassis structure is fixed, that is, when the positive pressure of the drive wheel is determined, the positive pressure of the drive wheel can be further increased by applying the elastic element, so as to obtain greater acceleration performance of the vehicle body and anti-deviation performance.

[0085] Of course, while satisfying the function of using the elastic force of the elastic element to increase the positive pressure of the drive wheel, the first distance L1, the second distance L2, the third distance L3, and the fourth distance L4 can be selected with different lengths, and the four can be the same. Those skilled in the art can adjust them based on the actual size and structural adaptability of the robot car.

[0086] Example 2

[0087] Compared to Embodiment 1, the main difference in Embodiment 2 lies in the specific type of the elastic element and its placement. To keep the text concise, please refer to the following... Figure 7 and Figure 8 The specific type and location of the elastic element in Embodiment 2 are described in detail. The parts that are the same as those in Embodiment 1 can be fully implemented and understood by those skilled in the art based on the foregoing description, and will not be repeated here.

[0088] See Figure 7 and Figure 8 In this embodiment, the two movable links 51 of the two elastic linkage mechanisms are connected by a third pin 56, and the tray 4 is hinged to both movable links 51 by the third pin 56.

[0089] The elastic element is a tension spring 55, and the two ends of the tension spring form hooks that are bent into arcs. After the tension spring 55 is pre-stretched, the hook at one end is hooked on the third pin 56, and the hook at the other end is hooked on the protruding positioning shaft of the spring mounting plate 57.

[0090] This connection method allows for easy disassembly or replacement of the tension spring 55. Of course, after the tension spring 55 is pre-stretched, its two ends can be fixedly connected to the third pin 56 and the spring mounting plate 57 by welding, bonding or riveting.

[0091] See Figure 7 The force F applied by the tension spring 55 to the movable link 51 is decomposed into a first component force F1 perpendicular to the front chassis 10 and a second component force F2 extending along the driving direction. The first component force F1 will be applied to the drive wheel 20 to increase the positive pressure of the drive wheel, thereby obtaining greater acceleration performance of the vehicle body and anti-deviation performance.

[0092] As mentioned above, in this embodiment, both tension springs 55 are connected to the two movable links 51 via the third pin 57. This arrangement allows the elastic force of the two tension springs 55 to act more evenly on the two movable links 51, resulting in balanced force distribution on the overall chassis structure and stable driving.

[0093] Of course, the two movable links 51 can be two independent pins, and the tension spring 55 and its corresponding pins can achieve the connection relationship with the corresponding movable links 51.

[0094] In another embodiment, the tension spring 55 can be directly fixed to the movable link 51 by welding, bonding or riveting without the need for the third pin 57, or a boss can be provided on the movable link 51 so that the hook of the tension spring 55 can be hooked onto the boss.

[0095] Furthermore, this disclosure also provides a robot, which includes a vehicle body and a chassis that drives the vehicle body. The vehicle body can be a platform, an open-top box, or a closed box, as long as it fulfills the function of transporting goods; its specific structure is not limited herein. The robot chassis can be any of the structures described in the two embodiments above, and the robot possesses all the technical effects of the chassis described above; further details are omitted here.

[0096] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A chassis for a robot, characterized in that, include: The front chassis (10) and rear chassis (11) are hinged together. Two drive wheel assemblies are mounted on the front chassis (10) or the rear chassis (11), and are located on the left and right sides of the front and rear center lines of the robot's chassis, respectively. Two sets of auxiliary wheel assemblies are rotatably mounted on the front chassis (10) and the rear chassis (11), respectively, and are located on the front and rear sides of the hinge axis of the front chassis (10) and the rear chassis (11); as well as, Two elastic linkage mechanisms are respectively configured corresponding to the two drive wheel assemblies, and the elastic linkage mechanisms include: The fixed connecting rod (50) has one end hinged to the rear chassis (11) and the other end fixedly connected to the tray (4); The movable link (51) has one end hinged to the front chassis (10) and the other end hinged to the tray (4), and the fixed link (50) and the movable link (51) are located on the front and rear sides of the hinge axis of the front chassis (10) and the rear chassis (11). An elastic element is elastically disposed between the drive wheel assembly and the tray (4), or elastically disposed between the front chassis (10) and the movable link (51); The distance between the hinge point between the fixed link (50) and the rear chassis (11) and the hinge point between the front chassis (10) and the rear chassis (11) is equal to the distance between the hinge point between the movable link (51) and the front chassis (10) and the hinge point between the front chassis (10) and the rear chassis (11).

2. The chassis according to claim 1, characterized in that, The elastic element is a compression spring (52), and each drive wheel assembly includes: The drive wheel mounting bracket (22) is fixedly connected to the front chassis (10) or the rear chassis (11). The drive wheel (20) is rotatably mounted on the drive wheel mounting base (22), and the drive wheel mounting base (22) is provided with a positioning groove (2210), and the end of the compression spring (52) is inserted into the positioning groove (2210).

3. The chassis according to claim 1, characterized in that, The elastic element is a compression spring (52). The elastic linkage mechanism also includes a spring mounting seat (53). The spring mounting seat (53) is fixedly mounted on the tray (4) and has a positioning shaft (530) and a stop surface (531). The compression spring (52) is sleeved on the positioning shaft (530) and pressed onto the stop surface (531) by the drive wheel assembly.

4. The chassis according to claim 1, characterized in that, The elastic element is a tension spring (55), which is pre-tensioned and positioned between the front chassis (10) and the movable connecting rod (51).

5. The chassis according to claim 4, characterized in that, The movable link (51) and the tray (4) are hinged by a pin, and one end of the tension spring (55) is connected to the pin and the other end is connected to the front chassis (10).

6. The chassis according to claim 4, characterized in that, One end of the tension spring (55) is directly connected to the movable link (51), and the other end is connected to the front chassis (10).

7. The chassis according to any one of claims 1 to 6, characterized in that, The distance between the hinge point between the fixed link (50) and the rear chassis (11) and the hinge point between one of the auxiliary wheel assemblies and the rear chassis (11) is equal to the distance between the hinge point between the fixed link (50) and the rear chassis (11) and the hinge points between the front chassis (10) and the rear chassis (11); and / or, The distance between the hinge point between the movable link (51) and the front chassis (10) and the hinge point between the other auxiliary wheel assembly and the front chassis (10) is equal to the distance between the hinge point between the movable link (51) and the front chassis (10) and the hinge points between the front chassis (10) and the rear chassis (11).

8. The chassis according to any one of claims 1 to 6, characterized in that, The front chassis (10) is provided with a rearwardly extending front lug plate (100), and a pin hole is provided on the front lug plate (100); The rear chassis (11) is provided with two rear ear plates (110) extending forward, and there is a receiving groove between the two rear ear plates (110) to accommodate the front ear plate (100). The two rear ear plates (110) are also provided with pin holes, and the first pin (12) passes through the pin holes on one front ear plate (100), the rear ear plate (110), and the other front ear plate (100) in sequence.

9. The chassis according to any one of claims 1 to 6, characterized in that, The hinge axis connecting the front chassis (10) and the rear chassis (11) is located directly below the rotation axis of the drive wheel assembly; and / or, The hinge axis connecting the front chassis (10) and the rear chassis (11) is coaxial with the rotation axis of the drive wheel assembly.

10. The chassis according to any one of claims 1 to 6, characterized in that, The rear chassis (11) is provided with a hinge mounting seat (13), the hinge mounting seat (13) has a downwardly recessed rotation groove, and the hinge mounting seat (13) also has two hinge grooves. The end of the fixed connecting rod (50) is inserted into the rotating groove, and a pin hole is provided on the fixed connecting rod (50). The second pin (54) passes through the pin hole on the fixed connecting rod (50), and the two ends of the second pin (54) are respectively connected to the two hinge grooves. The second pin (54) is fixedly connected to the hinge mounting base (13).

11. A robot, comprising a vehicle body and a chassis for driving the vehicle body, characterized in that, The chassis is the chassis described in any one of claims 1 to 10.

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