Robot chassis and composite robot

Abstract

The invention discloses a mobile robot chassis and a composite robot, the mobile robot chassis comprises a chassis body and a chassis shell arranged on the outer side of the chassis body, the chassis body comprises a frame and a two-section chassis, the two-section chassis comprises a first chassis and a second chassis, and the first chassis and the second chassis are in rotary connection and sliding connection; the first chassis is provided with two fixed differential driving wheels and a first universal wheel set, and the second chassis is provided with a second universal wheel set; a frame top disc of the frame is fixedly connected with four frame legs, the lower tail ends of two frame legs are rotationally connected with the first chassis, and the lower tail ends of the other two frame legs are rotationally connected with the second chassis.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, in particular to a mobile robot chassis and a composite robot. BACKGROUND

[0002] The robot that travels autonomously includes AGV (Automated Guide Vehicle), AMR (Autonomous Mobile Robot), etc. A group of drive wheels and two groups of universal wheels are usually designed on the chassis structure. The two groups of universal wheels are respectively arranged at the front and rear ends of the chassis body, and the drive wheels are arranged between the two groups of universal wheels. Many kinds of chassis have been derived in practice. The two-section chassis structure described in CN202020797990.7 and CN202311661075.X is widely used in logistics transportation scenes. The chassis includes a first chassis and a second chassis, and the rear part of the first chassis is rotationally connected with the front part of the second chassis. In this structure, the two drive wheels are rigidly fixed to the first chassis, which has the advantages of simple structure, strong carrying capacity, high rigidity, and easy control, but also has the disadvantage of asymmetric front and rear movement, such as inconsistent anti-braking overturning performance in two directions. CN202211192167.3 patent gives a structure scheme to solve this shortcoming. In this structure, the two drive wheels are not rigidly connected with the chassis body.

[0003] The application maintains the structural characteristics of the two-section chassis and solves the disadvantage of asymmetric front and rear movement. SUMMARY

[0004] The application provides a robot chassis and a composite robot.

[0005] A robot chassis, characterized by comprising a chassis body and a chassis shell arranged outside the chassis body, the chassis body comprising a vehicle frame and a two-section chassis; the two-section chassis comprising a first chassis and a second chassis, the first chassis and the second chassis being rotationally and slidably connected; the first chassis having two fixed differential drive wheels and a first group of universal wheels; the second chassis having a second group of universal wheels; the vehicle frame being a rigid frame spanning above the first chassis and the second chassis.

[0006] The first chassis and the second chassis have a first connecting plate and a second connecting plate, the first connecting plate being fixedly connected with the first chassis, the first connecting plate and the second connecting plate being rotationally connected, and the second connecting plate being slidably connected with the second chassis.

[0007] The vehicle frame has one vehicle frame top plate and four vehicle frame legs.

[0008] Optionally, the top plate of the frame and the four frame legs are fixedly connected, the lower ends of two frame legs are rotatably connected to the first bottom plate, and the lower ends of the other two frame legs are rotatably connected to the second bottom plate.

[0009] Optionally, the top plate of the frame and the four frame legs are rotatably connected, the lower ends of two frame legs are fixedly connected to the first bottom plate, and the lower ends of the other two frame legs are fixedly connected to the second bottom plate.

[0010] Optionally, the first universal wheel set comprises two universal wheels and a swing balance beam, the two universal wheels are installed at the two ends of the swing balance beam, and the swing balance beam is rotatably connected to the first bottom plate.

[0011] Preferably, the first bottom plate surrounds the second bottom plate, and the second bottom plate is located in the hollowed-out area of the first bottom plate.

[0012] Preferably, there are two laser radars, and the two laser radars are diagonally installed on the first bottom plate; the bottom plate shell is installed on the first bottom plate.

[0013] A composite robot comprises a composite robot upper assembly, a mechanical arm assembly, and the robot bottom plate described above, the composite robot upper assembly and the mechanical arm assembly are arranged above the robot bottom plate; the composite robot upper assembly has an emergency stop switch, the emergency stop switch has two parallel normally closed circuits, one normally closed circuit is connected to the emergency stop of the robot bottom plate, and the other normally closed circuit is connected to the emergency stop of the mechanical arm assembly.

[0014] Further, the composite robot upper assembly has two side obstacle avoidance laser radars; the side obstacle avoidance laser radars are simultaneously connected to the robot bottom plate and the mechanical arm assembly.

[0015] The application has the following beneficial effects: The frame with one top plate and four legs is connected across the two-section bottom plate with a rotary and sliding connection, two drive wheels are fixed on the bottom plate, which ensures the consistency of the robot during forward and backward walking, and at the same time maintains the advantages of simple structure, strong carrying capacity, strong rigidity, and easy control of the two-section bottom plate.

[0016] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0017] The application will be further described below with reference to the drawings.

[0018] Figure 1 is a structural schematic diagram of an operating robot provided by an embodiment of the application; Figure 2 is an exploded view of the robot in Figure 1 Figure 3 is an exploded view of the robot chassis in Figure 1 Figure 4 is a first structural view of the chassis body in Figure 3 Figure 5 is an exploded view of the chassis body in Figure 4 Figure 6 is an exploded view of the chassis front-rear connection in Figure 5 Figure 7 is a second structural view of the chassis body in Figure 3 Figure 8 is an exploded view of the chassis body in Figure 7

[0019] BRIEF DESCRIPTION OF DRAWINGS 100, robot chassis; 101, chassis body; 102, chassis shell 10, vehicle frame; 11, vehicle frame top plate; 12, vehicle frame leg, total of 4 20, first universal wheel assembly 30, two-section chassis; 31, first chassis; 32, second chassis; 33, first connecting plate; 34, second connecting plate; 35, inter-plate rotation shaft assembly, total of 2; 36, inter-plate sliding block assembly, total of 2; 37, lower limit block, total of 2; 38, upper limit block, total of 2 40, drive wheel, total of 2 50, second universal wheel assembly; 51, second universal wheel mounting bracket; 52, second universal wheel 60, charging base 200, composite robot upper assembly; 201, emergency stop switch; 202, side obstacle avoidance laser radar 300, mechanical arm assembly DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0021] ​​​​​​​Some embodiments of the present application will be described in detail with reference to the drawings. The following embodiments and features of the embodiments described below can be combined with each other in the case of no conflict.

[0022] Figures 1-2 A use scenario of the composite robot of the present application is shown, but it is understood that the robot chassis of the present application is not limited to this use scenario. The composite robot comprises from bottom to top a robot chassis 100, a composite robot upper 200, and a mechanical arm assembly 300; the composite robot upper 200 has two front and rear and left and right emergency stop switches 201, and two side obstacle avoidance laser radars 202; the emergency stop switch 201 has two parallel normally closed circuits, one normally closed circuit is connected to the emergency stop of the robot chassis 100, and the other normally closed circuit is connected to the emergency stop of the mechanical arm assembly 300, so that any one emergency stop 201 simultaneously acts on the robot chassis 100 and the mechanical arm assembly 300; further, the composite robot upper 200 has two side obstacle avoidance laser radars 202; the side obstacle avoidance laser radar 202 outputs are connected to the robot chassis 100 and the mechanical arm assembly 300 at the same time, so that any one side obstacle avoidance laser radar 202 simultaneously acts on the robot chassis 100 and the mechanical arm assembly 300.

[0023] Figures 3-6 A robot chassis of the present application is shown, comprising a chassis body 101 and a chassis shell 102. The chassis body 101 comprises a vehicle frame 10, a first universal wheel assembly 20, a two-section chassis 30, two driving wheels 40, a second universal wheel assembly 50, and a charging seat 60.

[0024] The vehicle frame 10 comprises a vehicle frame top disc 11 and four vehicle frame legs 12.

[0025] The two-section chassis 30 comprises a first chassis 31, a second chassis 32, a first connecting plate 33, a second connecting plate 34, two inter-plate shaft assemblies 35, two inter-plate slider assemblies 36, two lower limit blocks 37, and two upper limit blocks 38.

[0026] The second universal wheel assembly 50 comprises a second universal wheel mounting bracket 51 and a second universal wheel 52.

[0027] The specific interconnection relationship is as follows: The chassis assembly comprises a chassis body 101 and a chassis shell 102 arranged outside the chassis body, the chassis body 101 comprises a frame 10 and a two-section chassis 30; the two-section chassis 30 comprises a first chassis 31 and a second chassis 32, the first chassis 31 and the second chassis 32 are rotationally and slidably connected, the first chassis is provided with two rigidly fixed differential drive wheels 40 and a first universal wheel set 20, and the second chassis 32 is provided with a second universal wheel set 50; the frame 10 is a rigid frame, which is arranged above the first chassis 31 and the second chassis 32.

[0028] The first chassis 31 and the second chassis 32 are provided with a first connecting plate 33 and a second connecting plate 34, the first connecting plate 33 is fixedly connected with the first chassis 31; the first connecting plate 33 and the second connecting plate 34 are rotationally connected, which is realized by a two-plate rotation shaft assembly 35, the two-plate rotation shaft assembly 35 is a rotation shaft and a copper sleeve structure; the second connecting plate 34 is slidably connected with the second chassis 32, which is realized by a two-plate sliding block assembly 36, the two-plate sliding block assembly 36 is a guide rail and sliding block structure. In the actual product, if the mold is unified, the first connecting plate 33 can also be part of the first chassis 31, and no longer be a separate part; before the mold is opened, the first connecting plate 33 is an independent element, which can greatly reduce the total machining cost.

[0029] The frame 10 is provided with a frame top disc 11 and four frame legs 12, the frame top disc 11 and the four frame legs 12 are fixedly connected, the lower ends of two of the four frame legs 12 are rotationally connected with the first chassis 31, and the lower ends of the other two frame legs 12 are rotationally connected with the second chassis 32.

[0030] Optionally, the first universal wheel set 20 comprises two universal wheels and a swing balance beam, the two universal wheels are installed at two ends of the swing balance beam, and the swing balance beam is rotationally connected with the first chassis 31.

[0031] Preferably, the rear half of the first chassis 31 is hollowed out to surround the second chassis 32, and the second chassis 32 is located in the hollowed-out area of the first chassis 31.

[0032] Preferably, two laser radars are provided, the two laser radars are diagonally installed on the first chassis 31, and the chassis shell 102 is installed on the outer edge of the first chassis 31. The two diagonally installed laser radars and the chassis shell are in a fixed connection relationship with the first chassis 31 surrounding the second chassis 32, and no relative movement occurs when the chassis passes through uneven ground.

[0033] When the robot passes through uneven ground, the first chassis 31 and the second chassis 32 will rotate and slightly slide relative to each other. Two lower limit blocks 37 and two upper limit blocks 38 are used to limit the range of relative rotation. The limit blocks are L-shaped, with one end fixed and the other end hanging. The two lower limit blocks 37 are fixed on the second chassis 32, and the hanging end forms a limiting relationship with the first chassis 31. The two upper limit blocks 38 are fixed on the first chassis 31, and the hanging end forms a limiting relationship with the second chassis 32.

[0034] Figures 7-8 Another robot chassis of the application is shown, which is basically the same as the one shown in Figures 4-5 The robot chassis shown is basically the same, except that the four frame legs 12 are upside down. The four frame legs 12 are rotatably connected to the frame top plate 11, and the four frame legs 12 are fixedly connected to the first chassis 31 and the second chassis 32.

[0035] It can be understood that according to different execution mechanisms above the robot chassis, the composite robot of the application can realize various functions. For example, when the execution mechanism includes a mechanical arm, the operating robot can be a feeding and discharging operating robot, a grabbing robot, etc.; when the execution mechanism includes an image acquisition device, the composite robot can be a patrol robot; when the execution mechanism includes a lifting mechanism, the operating robot can be a lifting robot, etc.

[0036] It should also be understood that, unless otherwise explicitly specified and limited, the terms "first", "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0037] In the description of the application, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. It can be mechanical connection, or electrical connection. It can be directly connected, or indirectly connected through an intermediate medium. It can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned term in the application can be understood according to the specific circumstances.

[0038] In the present application, unless otherwise explicitly specified and limited, the "upper", "lower", "front", "rear" of the first feature relative to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them.

[0039] The foregoing disclosure provides many different embodiments or examples for implementing different structures of the present application. For simplicity of disclosure, the foregoing description of a particular embodiment or example has sometimes been referred to as comprising a certain feature itself. Of course, that feature is only an example, and other embodiments or examples can exist that do not include that particular feature. In other instances, methodologies were described in terms of other examples and embodiments.

Claims

1. A robot chassis, characterized in that, It includes a chassis body and a chassis shell disposed on the outside of the chassis body, wherein the chassis body includes a frame and a two-section chassis; The two-section chassis includes a first chassis and a second chassis. The first chassis and the second chassis plate are connected by a rotating connection and a sliding connection. The first chassis has two fixed differential drive wheels and a first set of universal wheels, and the second chassis has a second set of universal wheels. The vehicle frame is a rigid frame that spans the top of the first chassis and the second chassis.

2. The robot chassis according to claim 1, characterized in that: The first chassis and the second chassis are connected by a first connecting plate and a second connecting plate. The first connecting plate is fixedly connected to the first chassis, the first connecting plate and the second connecting plate are rotatably connected, and the second connecting plate is slidably connected to the second chassis.

3. The robot chassis according to any one of claims 1 to 2, characterized in that: The frame has one frame top plate and four frame legs.

4. The robot chassis according to claim 3, characterized in that: The top plate of the frame and the four frame legs are fixedly connected, with the lower ends of two frame legs being rotatably connected to the first chassis and the lower ends of the other two frame legs being rotatably connected to the second chassis.

5. The robot chassis according to claim 3, characterized in that: The top plate of the frame and the four frame legs are rotatably connected, with the lower ends of two frame legs being fixedly connected to the first chassis and the lower ends of the other two frame legs being fixedly connected to the second chassis.

6. The robot chassis according to any one of claims 1 to 5, characterized in that: The first omnidirectional wheel assembly includes two omnidirectional wheels and a swing balance beam. The two omnidirectional wheels are mounted at both ends of the swing balance beam, and the swing balance beam is rotatably connected to the first chassis.

7. The robot chassis according to any one of claims 1 to 6, characterized in that: A section of the first chassis was hollowed out, and the second chassis was located in the area hollowed out by the first chassis.

8. The robot chassis according to claim 7, characterized in that: It has two lidars, which are diagonally mounted on the first chassis; the chassis shell is mounted on the first chassis.

9. A composite robot, characterized in that, The robot includes a composite robot superstructure, a robotic arm assembly, and a robot chassis as described in any one of claims 1-8, wherein the composite robot superstructure and the robotic arm assembly are disposed above the robot chassis; The composite robot is equipped with an emergency stop switch, which has two parallel normally closed circuits. One normally closed circuit is connected to the emergency stop of the robot chassis, and the other normally closed circuit is connected to the emergency stop of the robotic arm assembly.

10. The composite robot according to claim 9, characterized in that, The composite robot is equipped with two side obstacle avoidance lidars; the outputs of the side obstacle avoidance lidars are simultaneously connected to the robot chassis and the robotic arm assembly.

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