Chassis and industrial robot

Abstract

The embodiment of the utility model discloses a chassis and an industrial robot. The chassis comprises a mounting frame, a driving mechanism and a lifting mechanism, the lifting mechanism comprises a lifting plate and a clamping plate, the lifting plate is movably connected to the mounting frame in the first direction, and the driving mechanism is arranged on the lifting mechanism and can drive the lifting plate to move in the first direction relative to the mounting frame. The middle of the clamping plate is rotationally connected to the lifting plate, a rotating shaft of the clamping plate is perpendicular to the first direction, and driving wheels capable of outputting driving force are arranged at the two ends of the clamping plate. The lifting plate and the clamping plate are arranged, and the middle position of the clamping plate is rotationally connected to the lifting plate, so that in the operation process of the chassis, the angle of the clamping plate can be automatically adjusted, the two ends of the clamping plate can adapt to the unevenness of the contact surface, and the driving wheels at the two ends of the clamping plate can abut against the contact surface all the time; and the situation of insufficient power is avoided, so that the chassis can adapt to more road conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a chassis and an industrial robot. Background Art

[0002] Existing industrial robots generally include a main body and a chassis arranged at the bottom of the main body. The chassis is not only used to support the main body, but also to provide driving force for the main body. The chassis of existing industrial robots mainly includes a chassis frame and rollers arranged on the chassis frame. In the related art, the chassis uses four steering wheels, two steering wheels + two universal wheels or four Mecanum wheels. In order to save manpower, these chassis are often provided with a plurality of self-rotating drive wheels, and the automatic movement function of the industrial robot is realized through these self-rotating drive wheels.

[0003] However, in the related technology, the chassis of the industrial robot does not have the ability to adapt to various road conditions. When walking on an uneven road surface, the driving wheels used for driving can easily cause part of the driving wheels to be suspended in the air due to the uneven road surface. In this way, part of the driving wheels cannot provide power for the robot's walking, making the robot prone to insufficient power. Utility Model Content

[0004] Based on this, it is necessary to propose a chassis and industrial robot that can adapt to more road conditions to address the above problems.

[0005] The present invention provides a chassis that can be applied to an industrial robot, including:

[0006] A mounting frame, wherein a plurality of rollers are mounted on the mounting frame;

[0007] Driving mechanism;

[0008] and a lifting mechanism, the lifting mechanism comprising a lifting plate and a clamping plate, the lifting plate being movably connected to the installation frame along a first direction, the driving mechanism being arranged on the lifting mechanism, and the driving mechanism being capable of driving the lifting plate to move relative to the installation frame in the first direction;

[0009] The middle part of the clamping plate is rotatably connected to the lifting plate, the rotating shaft of the clamping plate is perpendicular to the first direction, and both ends of the clamping plate are provided with driving wheels capable of outputting driving force.

[0010] In some embodiments, the lifting mechanism includes two lifting plates spaced apart, the two lifting plates are fixedly connected, the clamping plate is located between the two lifting plates, and the two ends of the clamping plate relative to the two lifting plates are rotatably connected to the corresponding lifting plates.

[0011] In some embodiments, a fixed seat is provided at a position of the lifting plate near the clamping plate, a rotating shaft is provided on the fixed seat, a first bearing seat is provided at a position of the clamping plate opposite to the fixed seat, and the rotating shaft can be rotatably connected to the first bearing seat.

[0012] In some embodiments, a support member is further provided at one end surface of the lifting plate, and the support member has a support end, a support rod is provided at one end of the splint on the same side as the support member, and a support plate is provided at the end of the support rod, a partial structure of the support plate is arranged opposite to the support end, and the partial structure has a support portion, and an elastic member is connected between the support end and the support portion.

[0013] In some embodiments, an upper fixing member and a lower fixing member are respectively provided at opposite ends of the lifting plate, the two ends of the upper fixing member are respectively fixedly connected to one end surface of the two lifting plates on the same side, the two ends of the lower fixing member are respectively connected to the other end surface of the two lifting plates on the same side, and the upper fixing member and the lower fixing member are both provided with a clearance groove at the position opposite to the clamping plate.

[0014] In some embodiments, a sliding sleeve is provided on the lifting plate, a top plate is provided on the mounting frame, a partial structure of the top plate is provided opposite to the sliding sleeve, and a guide shaft is provided on the partial structure, and the guide shaft passes through the sliding sleeve.

[0015] In some embodiments, the driving mechanism includes a driving member, a driving shaft and a reduction member, and the output end of the driving member transmits motion to the driving shaft through the reduction member to drive the driving shaft to move. The lifting mechanism also includes a lifting assembly, and the lifting assembly includes two components that can move relative to each other in the first direction, one of which is connected to the driving shaft, and the other is fixedly connected to the top plate. When the driving shaft moves, it can drive the component connected to it to move back and forth in the first direction relative to the other component.

[0016] In some embodiments, a second bearing seat is also provided on the lifting plate, the drive shaft is rotatably connected to the second bearing seat, the reduction member includes a housing and a reduction gear arranged in the housing, the drive shaft is coaxially and fixedly connected to the reduction gear, the output end of the drive member is coaxially connected to the drive gear, and the drive gear is meshed with the reduction gear.

[0017] In some embodiments, the lifting assembly includes a mounting shell, the mounting shell is fixedly connected to the top plate, a lifting rack is fixedly connected inside the mounting shell, and the lifting assembly also includes a lifting gear capable of engaging with the lifting rack, and the lifting gear is coaxially fixedly connected to the drive shaft.

[0018] An embodiment of the utility model further provides an industrial robot, comprising the above-mentioned chassis.

[0019] The following beneficial effects are achieved by using the embodiments of the present invention:

[0020] According to the chassis and industrial robot in the above embodiments, by setting a lifting mechanism, the driving mechanism can be used to drive the lifting mechanism to rise and fall, and then drive the driving wheel to rise and fall, so as to achieve the contact and separation of the driving wheel and the robot walking plane. When the driving wheel is in contact with the walking plane, controlling the driving wheel to rotate can drive the chassis to move, and then drive the entire robot to move. When the driving wheel is separated from the walking plane, the robot can move using the rollers under external force. In this way, through the cooperation between the lifting mechanism and the driving mechanism, it is more convenient to switch the chassis between automatic walking and manual walking.

[0021] In addition, by setting a lifting plate and a clamping plate, the lifting plate is responsible for the lifting function, and the clamping plate can be lifted and lowered with the lifting plate to realize the lifting and lowering of the driving wheel. At the same time, the middle position of the clamping plate is also rotatably connected to the lifting plate. In this way, during the operation of the chassis, if the contact surface heights of the driving wheels at both ends of the clamping plate are inconsistent (that is, encountering an uneven contact surface), the clamping plate can be rotatable relative to the lifting plate to adjust the angle of the clamping plate by itself, so that the two ends of the clamping plate can adapt to the uneven contact surface, so that the driving wheels at both ends of the clamping plate can always abut against the contact surface, ensuring that the driving wheels at both ends of the clamping plate can provide driving force to the chassis, avoiding the occurrence of insufficient power, and allowing the chassis to adapt to more road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] in:

[0024] Figure 1 A schematic structural diagram of a chassis provided according to the utility model is shown;

[0025] Figure 2 Another structural schematic diagram of a chassis provided according to the utility model is shown;

[0026] Figure 3 An exploded view of the installation structure of the lifting mechanism and the driving mechanism provided by the utility model is shown;

[0027] Figure 4Another exploded view of the installation structure of the lifting mechanism and the driving mechanism provided by the utility model is shown;

[0028] Figure 5 Another exploded view of the installation structure of the lifting mechanism and the driving mechanism provided by the utility model is shown;

[0029] Figure 6 The schematic diagram of the structure of the installation frame provided by the utility model is shown.

[0030] Description of main component symbols:

[0031] 1. Mounting frame; 11. Roller; 12. Stopper; 121. Connecting plate; 122. Intermediate plate; 123. Stopper; 13. Top plate; 131. Abutment block; 132. Guide shaft; 2. Lifting mechanism; 21. Lifting plate; 211. Fixed seat; 212. Rotating shaft; 213. Support member; 2131. Support end; 214. Sliding sleeve; 215. Second bearing seat; 22. Clamping plate; 221. First bearing seat; 22 2. Support rod; 223. Support plate; 2231. Support part; 23. Lifting assembly; 231. Lifting gear; 232. Mounting shell; 233. Lifting rack; 24. Elastic member; 25. Upper fixing member; 251. Give way groove; 26. Lower fixing member; 27. Driving wheel; 3. Driving mechanism; 31. Driving member; 311. Driving gear; 32. Driving shaft; 33. Speed ​​reduction member; 331. Housing; 332. Speed ​​reduction gear. DETAILED DESCRIPTION

[0032] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively with reference to the accompanying drawings. The accompanying drawings provide preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0033] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0035] On the one hand, the utility model provides a chassis that can be applied to an industrial robot and installed on the industrial robot to serve as a moving part of the industrial robot.

[0036] In one embodiment, see Figure 1 and Figure 2 The chassis includes a mounting frame 1, a driving mechanism 3 and a lifting mechanism 2. The mounting frame 1 is the supporting body of the entire chassis, and a plurality of rollers 11 are mounted on the mounting frame 1. These rollers 11 are preferably universal wheels, and the number of rollers 11 is not limited. In this embodiment, four rollers 11 are preferably arranged on the mounting frame 1.

[0037] The lifting mechanism 2 includes a lifting plate 21 and a clamping plate 22. The lifting plate 21 can be movably connected to the installation frame 1 along a first direction. The driving structure is connected to the lifting mechanism 2. The driving mechanism 3 can drive the lifting plate 21 to move relative to the installation frame 1 in the first direction.

[0038] The middle part of the clamping plate 22 is rotatably connected to the lifting plate 21, and the rotating shaft 212 of the clamping plate 22 is perpendicular to the first direction. Both ends of the clamping plate 22 are provided with driving wheels 27 capable of outputting driving force. It is worth mentioning that the driving wheel 27 is preferably a servo motor wheel set, which can rotate clockwise or counterclockwise by itself after power is turned on. Of course, the driving wheel 27 is not limited to the servo motor wheel set, and any wheel set that can control the speed and rotation direction can be used. The driving wheels 27 on both ends of the clamping plate 22 can be symmetrical relative to the rotating shaft 212 of the clamping plate 22.

[0039] It should be noted that Figure 1 The direction of the Z axis is the first direction, and the direction of the X axis is the direction parallel to the rotation axis of the clamping plate 22. It can be understood that when the driving mechanism 3 drives the lifting plate 21 to move in this direction, it can drive the clamping plate 22 to move, and when moving in this direction, it can drive the driving wheel 27 to abut or detach from the walking plane. When the driving wheel 27 abuts on the walking plane, it abuts on the plane together with the roller 11. At this time, the rotation of the driving wheel 27 can drive the entire chassis to move, realizing the automatic walking function of the robot; when the driving wheel 27 is lifted and detached from the walking plane, the external force pushes the robot to use the roller 11 to realize the human-powered walking function.

[0040] By setting the lifting mechanism 2, the driving mechanism 3 can be used to drive the lifting mechanism 2 to rise and fall, and then drive the driving wheel 27 to rise and fall, so as to achieve the contact and separation of the driving wheel 27 with the robot walking plane. When the driving wheel 27 is in contact with the walking plane, controlling the driving wheel 27 to rotate can drive the chassis to move, and then drive the entire robot to move. When the driving wheel 27 is separated from the walking plane, the robot can move using the roller 11 under external force. In this way, through the cooperation between the lifting mechanism 2 and the driving mechanism 3, it is more convenient to switch the chassis between automatic walking and manual walking.

[0041] In addition, by setting the lifting plate 21 and the clamping plate 22, the lifting plate 21 is responsible for the lifting function, and the clamping plate 22 can be lifted and lowered with the lifting plate 21 to realize the lifting and lowering of the driving wheel 27. At the same time, the middle position of the clamping plate 22 is also rotatably connected to the lifting plate 21. In this way, during the operation of the chassis, if the contact surface heights of the driving wheels 27 at both ends of the clamping plate 22 are inconsistent (that is, encountering an uneven contact surface), the clamping plate 22 can be rotatable relative to the lifting plate 21 to automatically adjust the angle of the clamping plate 22 so that the two ends of the clamping plate 22 can adapt to the uneven contact surface, so that the driving wheels 27 at both ends of the clamping plate 22 can always abut against the contact surface, ensuring that the driving wheels 27 at both ends of the clamping plate 22 can provide driving force to the chassis, avoiding the occurrence of insufficient power, and allowing the chassis to adapt to more road conditions.

[0042] In one embodiment, see Figures 1 to 5 The lifting mechanism 2 includes two lifting plates 21 that are spaced apart and fixedly connected to each other. A clamping plate 22 is located between the two lifting plates 21 . Two ends of the clamping plate 22 relative to the two lifting plates 21 are rotatably connected to the corresponding lifting plates 21 .

[0043] In order to ensure that the clamping plate 22 can rotate smoothly, the interval between the two lifting plates 21 needs to be slightly larger than the size of the clamping plate 22 between the lifting plates 21 .

[0044] In a specific embodiment, the two lifting plates 21 are both provided with a fixed seat 211 near the clamping plate 22, and a rotating shaft 212 is provided on the fixed seat 211. The rotating shafts 212 on the two lifting plates 21 are arranged opposite to each other. A first bearing seat 221 is provided at the position of the clamping plate 22 facing the fixed seat 211, and the rotating shaft 212 can be rotatably connected to the first bearing seat 221. The fixed seat 211 and the driving mechanism 3 are arranged on different sides of the lifting plate 21, and the fixed seat 211 and the first bearing seat 221 are located on the same side.

[0045] The shape of the rotating shaft 212 is not limited. In this embodiment, the rotating shaft 212 is preferably circular, and the two rotating shafts 212 are coaxially arranged. The two rotating shafts 212 are coaxially connected to the corresponding first bearing seats 221, and the axes of the first bearing seat 221 and the rotating shaft 212 are perpendicular to the first direction.

[0046] It is worth mentioning that, in a preferred embodiment, the overall shape of the mounting frame 1 is rectangular or circular. In this embodiment, the overall shape of the mounting frame 1 is rectangular, and the four rollers 11 are respectively arranged at the four corners of the mounting frame 1. The lifting plate 21 and the clamping plate 22 are also rectangular, wherein the two lifting plates 21 are completely identical, and the sizes of the lifting plate 21 and the clamping plate 22 can be the same or different.

[0047] When setting the lifting plate 21 and the clamping plate 22, it is necessary to make the center of the clamping plate 22 coincide with the center of the installation frame 1, and make the length direction of the clamping plate 22 parallel to the length direction of the installation frame 1 (if the installation frame 1 is a square, the length direction of the clamping plate 22 is parallel to one side of the installation frame 1). The two lifting plates 21 are located on both sides of the clamping plate 22, the length direction of the lifting plate 21 is parallel to the length direction of the clamping plate 22, and the centers of the two lifting plates 21 and the center of the clamping plate 22 are located on a straight line, and the straight line is parallel to the rotation axis 212 of the clamping plate 22. Preferably, the line connecting the center of the lifting plate 21 and the center of the clamping plate 22 is coaxially arranged with the rotation axis 212 of the clamping plate 22. The rotation axis 212 of the clamping plate 22 is perpendicular to the length direction of the clamping plate 22 and passes through the center of the clamping plate 22.

[0048] It should be noted that, in the present embodiment, two driving wheels 27 are provided. The two driving wheels 27 are respectively provided at two ends of the clamping plate 22 and are symmetrical about the rotating shaft 212 of the clamping plate 22 .

[0049] It can be understood that the arrangement of the two driving wheels 27 and the four rollers 11 is relatively regular. During normal walking, the lifting plate 21 moves down so that the driving wheels 27 abut against the running plane, and the four rollers 11 and the two driving wheels 27 touch the ground at the same time. The two driving wheels 27 rotate clockwise at the same time for retreat, and rotate counterclockwise at the same time for advancement. When the right driving wheel 27 rotates clockwise and the left driving wheel 27 rotates counterclockwise, the chassis turns clockwise around its center. When the right driving wheel 27 rotates counterclockwise and the left driving wheel 27 rotates clockwise, the chassis turns counterclockwise around its center. Among them, clockwise rotation and counterclockwise rotation are two opposite rotation directions, not specifically referring to a certain rotation direction, and forward and backward are also two opposite running states, not specifically referring to a certain running direction.

[0050] Through the above-mentioned layout, the installation frame 1, the lifting plate 21 and the clamping plate 22 are set to be rectangular, and the centers of the three are set on a straight line, so that the chassis can rotate around its center. This layout structure can optimize the size of the installation frame 1 to control the length and width within 550mm×550mm, so that the size of the entire chassis is smaller, and the rotation radius of the entire chassis is also relatively small, so that it can move in all directions even in a small space.

[0051] In one embodiment, see Figure 4 A support member 213 is also provided on one end surface of the lifting plate 21. The support member 213 is provided close to the clamping plate 22. The end of the support member 213 facing away from the lifting plate 21 has a support end 2131. A support rod 222 is convexly provided on one end surface of the clamping plate 22 on the same side as the support member 213. A support plate 223 is provided on the end of the support rod 222 facing away from the clamping plate 22. The support plate 223 is provided parallel to the clamping plate 22 and the lifting plate 21. The end of the support plate 223 away from the support rod 222 is directly opposite to the support end 2131. The end of the support plate 223 has a support portion 2231, and the support portion 2231 faces the support end 2131. An elastic member 24 is connected between the support end 2131 and the support portion 2231. By arranging the elastic member 24 between the support plate 223 and the support end 2131, a buffering effect can be provided when the clamping plate 22 rotates, buffering the pressure of the driving wheel 27 on the ground, and also buffering the reaction force of the ground on the clamping plate 22. It should be noted that the elastic member 24 is preferably a spring, and the two ends of the spring can be fixedly connected to the support end 2131 and the support portion 2231 respectively.

[0052] In one embodiment, see Figure 1 , Figure 2 and Figure 5 , the two lifting plates 21 are fixedly connected. Specifically, the lifting plate 21 is provided with an upper fixing member 25 and a lower fixing member 26 at one end where the fixing seat 211 is provided and at an end face opposite to the end, respectively. The two ends of the upper fixing member 25 are respectively fixedly connected to one end face of the two lifting plates 21 on the same side. The end face can be the end face of the lifting plate 21 for providing the fixing seat 211, or can be an opposite end face. In this embodiment, the upper fixing member 25 is provided on the end face opposite to the end face where the fixing seat 211 is provided on the lifting plate 21, and the two ends of the upper fixing member 25 are respectively fixedly connected to the two lifting plates 21 by screws. The two ends of the lower fixing member 26 are respectively connected to the other end face of the two lifting plates 21 on the same side. In this embodiment, the lower fixing member 26 is provided on the end face where the fixing seat 211 is provided on the lifting plate 21, and the two ends of the lower fixing member 26 are respectively fixedly connected to the two lifting plates 21 by screws.

[0053] It should be noted that the two ends of the upper fixing member 25 and the lower fixing member 26 are respectively connected to the two lifting plates 21, and the middle parts of the two fixing members will inevitably cross the clamping plate 22. The clamping plate 22 needs to rotate around the axis. In order to prevent the upper fixing member 25 and the lower fixing member 26 from hindering the rotation of the clamping plate 22, a clearance space is set at the position of the upper fixing member 25 and the lower fixing member 26 facing the clamping plate 22. For example, a clearance groove 251 can be opened at the position of the upper fixing member 25 and the lower fixing member 26 facing the clamping plate 22, and the clearance groove 251 forms a clearance space, or the upper fixing member 25 and the lower fixing member 26 can be directly bent at the position facing the clamping plate 22 to form a clearance space.

[0054] By providing the upper fixing member 25 and the lower fixing member 26 , the two lifting plates 21 can be fixedly connected. By providing the clearance grooves 251 on the upper fixing member 25 and the lower fixing member 26 , a clearance space can be formed to avoid hindering the rotation of the clamping plate 22 .

[0055] In one embodiment, see Figure 1 , Figure 4 and Figure 6 , the lifting plate 21 can perform lifting motion relative to the installation frame 1 (i.e., reciprocating motion along the first direction). Specifically, a top plate 13 is provided on the installation frame 1, and the top plate 13 is provided at one end of the installation frame 1 facing away from the roller 11. The lifting plate 21 is located in the space surrounded by the installation frame 1, and there is a gap between the lifting plate 21 and the top plate 13. Part of the structure of the lifting plate 21 overlaps with the top plate 13. A sliding sleeve 214 is provided at the position where the lifting plate 21 overlaps with the top plate 13. The sliding sleeve 214 has a sliding hole, and the sliding hole passes through the sliding sleeve 214 and the lifting plate 21. A guide shaft 132 is provided at the position of the top plate 13 facing the sliding sleeve 214. The axis of the guide shaft 132 is parallel to the first direction, and the guide shaft 132 can be plugged and adapted in the sliding sleeve 214.

[0056] In this embodiment, four sliding sleeves 214 are preferably provided, and a sliding sleeve 214 is provided at both ends of each lifting plate 21, that is, the two lifting plates 21 can achieve the lifting movement of the lifting plates 21 relative to the installation frame 1 through the cooperation of the four sliding sleeves 214 and the guide shaft 132.

[0057] It is worth mentioning that an abutment block 131 is further provided at one end of the top plate 13 facing the lifting plate 21, and the lifting plate 21 can abut against the abutment block 131 when moving upward. A plurality of stoppers 12 are further provided at one end of the installation frame 1 facing away from the top plate 13, and the stoppers 12 include a connecting plate 121 fixedly connected to the installation frame 1, an intermediate plate 122 integrally formed with the connecting plate 121 at one end, and a stopper 123 integrally formed with one end of the intermediate plate 122 away from the connecting plate 121, the stopper 123 extends toward the lifting plate 21 and is located below the lifting plate 21, and can abut against the stopper 123 when the lifting plate 21 descends along the first direction.

[0058] By providing the abutment block 131 and the stopper 12 , the rising height and the falling dimension of the lifting plate 21 can be limited.

[0059] In a specific embodiment, please refer to Figures 1 to 5 The rise and fall of the lifting plate 21 depends on the drive of the driving mechanism 3, wherein the driving mechanism 3 includes a driving member 31, a driving shaft 32 and a speed reducer 33. The output end of the driving member 31 transmits the motion to the driving shaft 32 through the speed reducer 33 to drive the driving shaft 32 to move. Of course, the lifting and lowering motion of the lifting plate 21 also depends on the lifting assembly 23. The lifting mechanism 2 also includes the lifting assembly 23. The lifting assembly 23 includes two components that can move relative to each other in a first direction, one of which is connected to the driving shaft 32, and the other is fixedly connected to the top plate 13. When the driving shaft 32 moves, it can drive the component connected thereto to reciprocate relative to the other component in the first direction. Through the cooperation between the driving mechanism 3 and the lifting assembly 23, the lifting and lowering of the lifting plate 21 can be realized.

[0060] Specifically, the lifting plate 21 is also provided with a second bearing seat 215, and the driving shaft 32 is rotatably connected to the second bearing seat 215, and the axis of the driving shaft 32 is parallel to the rotating shaft 212 of the clamping plate 22. The speed reducer 33 includes a housing 331 and a speed reduction gear 332 rotatably arranged in the housing 331, the driving shaft 32 is coaxially fixedly connected with the speed reduction gear 332, and the output end of the driving member 31 is coaxially connected with the driving gear 311, the driving gear 311 is located in the housing 331, and the driving gear 311 is meshed with the speed reduction gear 332, and the number of teeth of the driving gear 311 is less than the number of teeth of the speed reduction gear 332. The driving member 31 can drive the driving gear 311 to move, and the driving gear 311 can transmit the rotating shaft 212 to the speed reduction gear 332, thereby driving the driving shaft 32 to rotate. The lifting and lowering movement of the lifting plate 21 is realized by the rotation of the driving shaft 32.

[0061] Specifically, the lifting assembly 23 includes a mounting shell 232, the mounting shell 232 is fixedly connected to one end of the top plate 13 facing the lifting plate 21, and a lifting rack 233 is fixedly connected inside the mounting shell 232, and the extension direction of the lifting rack 233 is parallel to the first direction. The lifting assembly 23 also includes a lifting gear 231 that can mesh with the lifting rack 233, and the lifting gear 231 is coaxially fixedly connected to the driving shaft 32. It can be understood that when the driving shaft 32 rotates, it can drive the lifting gear 231 to rotate, and then the relative movement between the lifting gear 231 and the lifting rack 233 can be achieved, so that the lifting gear 231 moves along the extension direction of the lifting rack 233. Through the cooperation of the lifting gear 231 and the lifting rack 233, the relative movement between the lifting plate 21 and the mounting frame 1 can be achieved.

[0062] It should be noted that, in order to ensure the stability of the lifting movement, two lifting assemblies 23 are provided, and the two lifting assemblies 23 are respectively located near the two ends of the driving shaft 32, that is, both ends of the driving shaft 32 are provided with lifting gears 231 for meshing with the lifting racks 233. At this time, a second bearing seat 215 is provided on each of the two lifting plates 21, so that the two ends of the driving shaft 32 can be rotatably connected to the two second bearing seats 215, ensuring the stable rotation of the driving shaft 32.

[0063] In addition, the driving member 31 can drive a motor. In this embodiment, the driving member 31 is preferably a servo motor, which can output a stable torque, so that the lifting mechanism 2 can use the torque mode to control the lifting. This torque is output to the lifting plate 21. When an external force is applied to the lifting plate 21 to resist the output torque, when the external force is greater than the output torque, the external force can drive the lifting plate 21 to move up and down.

[0064] The torque control mode is specifically reflected in that, first, when the driving wheel 27 is used for driving, the driving wheel 27 needs to be abutted against the running plane. At this time, the constant torque output by the servo motor is used to drive the lifting plate 21 to move downward, so that the driving wheel 27 is abutted against the running plane. Under the action of the torque output by the servo motor, the driving wheel 27 tends to lift the entire robot upward. However, when setting, the force output by the servo motor is set to be smaller than the force applied to the chassis of the robot under the action of gravity. Therefore, when the servo motor drives the driving wheel 27 to rise and fall, the robot cannot be lifted.

[0065] However, when the plane on which the robot is running is uneven, for example, when the height of the roller 11 is greater than the height of the driving wheel 27 (that is, the driving wheel 27 is in a concave position), the driving wheel 27 can be adaptively controlled to descend to abut the concave position under the action of the servo motor torque; in another case, if the height of the roller 11 is less than the height of the driving wheel 27 (that is, the driving wheel 27 is in a convex position), the driving wheel 27 can be lifted up along with the convex position because the robot's own gravity is greater than the force output by the servo motor, so that the driving wheel 27 can adapt to the convex position. By setting a servo motor and setting the servo motor to output a predetermined torque, when the robot walks on an uneven ground, the driving wheel 27 can adaptively adjust its height according to the concave and convex surface to adapt to the uneven ground.

[0066] On the other hand, the utility model also provides an industrial robot, comprising the above-mentioned chassis.

[0067] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A chassis, which can be applied to an industrial robot, characterized in that: include: A mounting frame, wherein a plurality of rollers are mounted on the mounting frame; Driving mechanism; and a lifting mechanism, the lifting mechanism comprising a lifting plate and a clamping plate, the lifting plate being movably connected to the installation frame along a first direction, the driving mechanism being arranged on the lifting mechanism, and the driving mechanism being capable of driving the lifting plate to move relative to the installation frame in the first direction; The middle part of the clamping plate is rotatably connected to the lifting plate, the rotating shaft of the clamping plate is perpendicular to the first direction, and both ends of the clamping plate are provided with driving wheels capable of outputting driving force.

2. The chassis according to claim 1, characterized in that: The lifting mechanism comprises two lifting plates arranged at intervals, the two lifting plates are fixedly connected, the clamping plate is located between the two lifting plates, and the two ends of the clamping plate relative to the two lifting plates are respectively rotatably connected to the corresponding lifting plates.

3. The chassis according to claim 2, characterized in that: A fixing seat is arranged at a position of the lifting plate close to the clamping plate, a rotating shaft is arranged on the fixing seat, a first bearing seat is arranged at a position of the clamping plate facing the fixing seat, and the rotating shaft can be rotatably connected to the first bearing seat.

4. The chassis according to claim 3, characterized in that: A support member is also provided on one end surface of the lifting plate, and the support member has a support end. A support rod is provided on one end of the clamping plate on the same side as the support member, and a support plate is provided on the end of the support rod. A partial structure of the support plate is arranged opposite to the support end, and the partial structure has a support portion, and an elastic member is connected between the support end and the support portion.

5. The chassis according to claim 2, characterized in that: An upper fixing part and a lower fixing part are respectively provided at opposite ends of the lifting plate, the two ends of the upper fixing part are respectively fixedly connected to one end surface of the two lifting plates on the same side, the two ends of the lower fixing part are respectively connected to the other end surface of the two lifting plates on the same side, and the upper fixing part and the lower fixing part are both provided with a clearance groove at the positions facing the clamping plate.

6. The chassis according to claim 1, characterized in that: The lifting plate is provided with a sliding sleeve, the mounting frame is provided with a top plate, a partial structure of the top plate is arranged opposite to the sliding sleeve, and the partial structure is provided with a guide shaft, and the guide shaft is passed through the sliding sleeve.

7. The chassis according to claim 6, characterized in that The driving mechanism includes a driving member, a driving shaft and a reduction member. The output end of the driving member transmits motion to the driving shaft through the reduction member to drive the driving shaft to move. The lifting mechanism also includes a lifting assembly. The lifting assembly includes two components that can move relative to each other in the first direction, one of which is connected to the driving shaft, and the other is fixedly connected to the top plate. When the driving shaft moves, it can drive the component connected to it to reciprocate relative to the other component in the first direction.

8. The chassis according to claim 7, characterized in that A second bearing seat is also provided on the lifting plate, and the drive shaft is rotatably connected to the second bearing seat. The reduction member includes a housing and a reduction gear arranged in the housing. The drive shaft is coaxially and fixedly connected to the reduction gear. The output end of the drive member is coaxially connected to the drive gear, and the drive gear is meshed with the reduction gear.

9. The chassis according to claim 7, characterized in that: The lifting assembly includes a mounting shell, the mounting shell is fixedly connected to the top plate, a lifting rack is fixedly connected inside the mounting shell, and the lifting assembly also includes a lifting gear that can mesh with the lifting rack, and the lifting gear is coaxially fixedly connected to the driving shaft.

10. An industrial robot, characterized in that: Comprising a chassis as described in any one of claims 1-9.

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