Robot chassis and anti-explosion robot

Abstract

The utility model provides a robot chassis which is applied to an anti-explosion robot and comprises a frame, a wheel assembly and a steering assembly. The hub motors are adopted to provide driving force and form the four wheels, the steering assemblies are arranged between the wheel assemblies and the frame, an independent suspension structure and the frame are designed in a relatively split mode, meanwhile, the frame is provided with the adjusting part, and the adjusting part is arranged on the frame. The adjusting part can adjust the relative position of the frame and the swing arm so as to adjust the toe-in angle or the camber angle of the hub motor. According to the robot chassis, the gravity center of the robot chassis can be lowered, the structure can be simplified, and the weight of the chassis can be reduced on the premise that the same passing capacity and function are guaranteed through the scheme that the independent suspension structure and the frame are relatively split. The toe-in angle or the camber angle of the hub motor is adjusted by adjusting the relative position of the frame and the swing arm through the adjusting part arranged on the frame, accurate positioning of four wheels is guaranteed more easily, and the machining cost and difficulty are greatly reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a robot chassis and an explosion-proof robot. Background Art

[0002] Existing explosion-proof robots generally adopt the structure of traditional independent suspension and independent explosion-proof cavity chassis. Components such as motors and steering gears occupy the space of the vehicle frame, resulting in a relatively high center of gravity of the robot chassis, redundant structure, and relatively heavy overall weight. There is also a structural solution that uses a four-wheel independent suspension and an articulated point on the outer wall of the explosion-proof cavity. However, in order to prevent the angle of the wheels relative to the robot chassis from deviating, it is necessary to ensure the position and dimensional accuracy of the articulated points. At this time, the explosion-proof cavity often needs to be integrally welded and then machined. For a larger body, a gantry milling machine is often used, and it needs to be clamped and flipped multiple times, which is difficult to process, costly, and ultimately difficult to guarantee the machining accuracy. In addition, the toe angle or camber angle of the wheels often cannot be adjusted. Summary of the Utility Model

[0003] An object of the utility model is to provide a new technical solution for a robot chassis to solve the problems of relatively high center of gravity of the chassis of the existing explosion-proof robot, redundant structure, deviation of the angle of the wheels relative to the chassis, difficult processing of the explosion-proof cavity, and high cost.

[0004] The utility model provides a robot chassis, which is applied to an explosion-proof robot and includes a vehicle frame, a wheel assembly, and a steering assembly.

[0005] The wheel assemblies are distributed at the front and rear ends of the vehicle frame. The wheel assemblies include in-wheel motors and wheel brackets. The in-wheel motors provide driving force and form wheels. The axes of the in-wheel motors are connected with the shaft holes of the wheel brackets in a mating manner. The steering assembly connects the vehicle frame and the wheel assemblies. The steering assembly includes a swing arm and a rotating part. One end of the swing arm is connected to the vehicle frame, and the other end is axially connected to the wheel assembly through the rotating part. The rotating part is axially fixed relative to the swing arm and can drive the wheel assembly to rotate relative to the vehicle frame along the vertical axis. Among them, an adjusting part is arranged on the vehicle frame, and the relative position of the vehicle frame and the swing arm is adjusted through the adjusting part to adjust the toe angle or camber angle of the in-wheel motor.

[0006] Furthermore, the rotating part includes a servo motor, a servo motor adapter plate, a servo motor rotating shaft, and a transfer shaft. The servo motor adapter plate is fixed on the swing arm. The stator of the servo motor is fixed to the servo motor adapter plate. The rotor of the servo motor is connected and fixed to the servo motor rotating shaft. The transfer shaft is axially fixed relative to the swing arm, and the transfer shaft and the servo motor rotating shaft are nested with each other.

[0007] Further, the rotating part further includes a first bearing and a second bearing. The first bearing and the second bearing are assembled in the cavity of the swing arm. Both ends of the adapter shaft are respectively assembled with the inner rings of the first bearing and the second bearing, and are respectively axially limited in one direction.

[0008] Further, the wheel assembly further includes a wheel fixing plate. The wheel fixing plate is fixed to the wheel bracket. The bottom end face of the wheel fixing plate is attached to the axial plane of the wheel shaft of the hub motor, and the side end face of the wheel fixing plate is attached to the notch side end face of the wheel shaft of the hub motor.

[0009] Further, the wheel assembly further includes a wheel shaft fixing piece. The wheel shaft fixing piece is located between the other end face of the wheel fixing plate and the other end face of the notch of the wheel shaft of the hub motor.

[0010] Further, the vehicle frame includes a swing arm hinge seat. The swing arm is hinged to the vehicle frame through the swing arm hinge seat.

[0011] Further, the adjusting part includes a first adjusting part. The first adjusting part is used to adjust the included angle between the swing arm hinge seat and the side wall of the vehicle frame in the vertical direction.

[0012] Further, the adjusting part includes a second adjusting part. The second adjusting part is used to adjust the included angle between the swing arm hinge seat and the side wall of the vehicle frame in the horizontal direction.

[0013] Further, the robot chassis further includes a shock absorption device. One end of the shock absorption device is connected to the vehicle frame, and the other end is connected to the swing arm.

[0014] In a second aspect of the present invention, an explosion-proof robot is provided, including the robot chassis described in the above embodiment.

[0015] For the robot chassis of the present invention, a hub motor is used to provide driving force and form four wheels. The steering assembly is arranged between the wheel assembly and the vehicle frame, and the independent suspension structure and the vehicle frame are designed relatively separately. At the same time, an adjusting part is arranged on the vehicle frame. The adjusting part can adjust the relative position of the vehicle frame and the swing arm to adjust the toe angle or camber angle of the hub motor. For the robot chassis of the present invention, when applied to an explosion-proof robot, through the independent suspension structure and the relatively separate vehicle frame solution, on the premise of ensuring the same passing ability and function, the center of gravity of the robot chassis can be reduced, the structure can be simplified, and the weight of the chassis can be reduced. By adjusting the relative position of the vehicle frame and the swing arm through the adjusting part arranged on the vehicle frame to adjust the toe angle or camber angle of the hub motor, it is easier to ensure the precise positioning of the four wheels, and the processing cost and difficulty can be greatly reduced.

[0016] Other features and advantages of the present utility model will become clear from the following detailed description of exemplary embodiments of the present utility model with reference to the accompanying drawings. Description of the Drawings

[0017] The drawings incorporated in and forming a part of this specification illustrate embodiments of the present utility model and, together with the description, are used to explain the principles of the present utility model.

[0018] Figure 1 is a front view of a robot chassis according to an embodiment of the present utility model;

[0019] Figure 2 is a right view of a robot chassis according to an embodiment of the present utility model;

[0020] Figure 3 is a perspective view of a frame of a robot chassis according to an embodiment of the present utility model;

[0021] Figure 4 is a front view of a steering assembly of a robot chassis according to an embodiment of the present utility model;

[0022] Figure 5 is a sectional view of a steering assembly of a robot chassis according to an embodiment of the present utility model;

[0023] Figure 6 is a front view of a wheel assembly of a robot chassis according to an embodiment of the present utility model;

[0024] Figure 7 is a bottom view of a wheel assembly of a robot chassis according to an embodiment of the present utility model;

[0025] Figure 8 is a sectional view of a wheel assembly of a robot chassis according to an embodiment of the present utility model;

[0026] Figure 9 is according to Figure 8 a partial enlarged view of a wheel assembly of the robot chassis;

[0027] Figure 10 is a front view of a frame of a robot chassis according to an embodiment of the present utility model;

[0028] Figure 11 is a front view of a robot chassis according to an embodiment of the present utility model;

[0029] Figure 12 is according to Figure 11 a right view of the frame of the robot chassis in the F direction (other components are omitted);

[0030] Figure 13 is according to Figure 11Top view of the robot chassis on the E direction of the frame (other components omitted);

[0031] Figure 14 It is a three-dimensional view of the robot chassis according to an embodiment of the present invention.

[0032] Reference numerals:

[0033] Frame 10; adjusting part 11; first adjusting part 111; second adjusting part 112; swing arm hinge seat 12; explosion-proof cavity 13;

[0034] Wheel assembly 20; hub motor 21; wheel bracket 22; wheel fixing plate 23; wheel axle fixing piece 24;

[0035] Steering assembly 30; swing arm 31; rotating part 32; servo 321; servo adapter plate 322; servo rotating shaft 323; adapter shaft 324; first bearing 325; second bearing 326;

[0036] Shock absorption device 40. Detailed implementation manners

[0037] Now, various exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0038] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way limits the present invention, its application, or its use.

[0039] Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and devices should be regarded as part of the specification.

[0040] In all the examples shown and discussed here, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values.

[0041] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0042] In the description and claims of the present utility model, features related to the terms "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, the meaning of "a plurality" is two or more. In addition, "and / or" in the description and claims indicates at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0043] In the description of the present utility model, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are involved to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0044] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" involved should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0045] The following specifically describes the robot chassis according to the embodiments of the present utility model with reference to the drawings.

[0046] The robot chassis according to the embodiments of the present utility model includes a vehicle frame 10, a wheel assembly 20, and a steering assembly 30.

[0047] Specifically, the wheel assemblies 20 are distributed at the front and rear ends of the frame 10. The wheel assembly 20 includes a hub motor 21 and a wheel bracket 22. The hub motor 21 provides driving force and forms a wheel. The axis of the hub motor 21 is in fit connection with the shaft hole of the wheel bracket 22; the steering assembly 30 connects the frame 10 and the wheel assembly 20. The steering assembly 30 includes a swing arm 31 and a rotating part 32; one end of the swing arm 31 is connected to the frame 10, and the other end is axially connected to the wheel assembly 20 through the rotating part 32; the rotating part 32 is axially fixed relative to the swing arm 31 and can drive the wheel assembly 20 to rotate relative to the frame 10 along the vertical axis; wherein, an adjusting part 11 is arranged on the frame 10, and the relative position of the frame 10 and the swing arm 31 is adjusted through the adjusting part 11 to adjust the toe angle or camber angle of the hub motor 21.

[0048] In other words, the robot chassis according to the embodiment of the present invention mainly consists of a frame 10, a wheel assembly 20 and a steering assembly 30. Among them, as Figure 1 shown, the wheel assemblies 20 are distributed at the front and rear ends of the frame 10, as Figure 6 shown, the wheel assembly 20 includes a hub motor 21 and a wheel bracket 22. The hub motor 21 provides driving force and forms a wheel. The axis of the hub motor 21 is in fit connection with the shaft hole of the wheel bracket 22. Thus, in the robot chassis of the embodiment of the present invention, all four wheel assemblies include hub motors. The hub motors can provide driving force and form wheels. Compared with the prior art in which the wheels and motors are separately arranged and divided into front wheels and rear wheels, the robot chassis of the embodiment of the present invention integrates the functions of the motor and the wheel into the wheel assembly, realizes that all four wheels have independent driving forces, and forms a four-wheel independent suspension structure.

[0049] As Figure 1 and Figure 4 shown, the steering assembly 30 connects the frame 10 and the wheel assembly 20. The steering assembly 30 includes a swing arm 31 and a rotating part 32; the steering assembly 30 is connected to the frame 10 through one end of the swing arm 31, preferably by a hinge connection. The other end of the swing arm is axially connected to the wheel assembly 20 through the rotating part 32; the axial connection makes the rotating part 32 axially fixed relative to the swing arm 31, but can drive the wheel assembly 20 to rotate relative to the frame 10 along the vertical axis. Thus, the steering assembly 30 drives the wheel assembly 20 to rotate relative to the frame 10 along the vertical axis through the rotating part 32 to realize the steering function.

[0050] During the use of the wheels, it is inevitable that the angle between the wheels and the frame will shift, affecting the normal travel route. Or, it is necessary to adjust the angle between the wheels and the frame according to factors such as the site environment of the use occasion. Those skilled in the art usually use camber angle and toe angle to describe it.

[0051] The camber angle, as the name implies, is the angle at which the upper edge of the wheel slopes outward. The main function of the camber angle is to improve the steering performance and handling of the vehicle. When the vehicle steers, the camber angle can increase the lateral force of the wheel, making the wheel stick closer to the ground, improving the grip and steering accuracy. At the same time, the camber angle can also reduce the pressure on the bearing of the wheel and extend the life of the bearing. Generally speaking, the larger the camber angle, the better the steering performance, but it will also increase the tire wear and fuel consumption. Therefore, the camber angle should be reasonably set according to its usage scenarios and purposes.

[0052] The toe angle is the angle between the centerlines of the left and right wheels when viewed directly from above the robot chassis. The main function of the toe angle is to compensate for the adverse effects brought by the camber angle and ensure the straight-line driving and stability of the robot. The camber angle will cause the wheel to have a tendency to roll outward, resulting in edge wear of the tire. With the toe angle, the rolling direction of the wheel can be made closer to the due front, reducing the lateral sliding and wear of the tire. At the same time, the toe angle can also offset the deformation of the suspension system and prevent the robot from deviating. Generally speaking, the larger the toe angle, the better the straight-line driving stability, but it will also increase the steering resistance and energy consumption. Therefore, the toe angle should be reasonably set according to the weight and speed of the robot.

[0053] As Figure 11 , Figure 12 shown, an adjusting portion 11 is provided on the vehicle frame 10. The relative position of the vehicle frame 10 and the swing arm 31 is adjusted through the adjusting portion 11 to adjust the toe angle or the camber angle of the hub motor 21. In the prior art explosion-proof robots, it is often impossible to adjust the angle between the wheel and the vehicle frame 10, or the explosion-proof cavity needs to be removed to perform the maintenance and adjustment of the vehicle path, which is time-consuming and laborious and has a high cost. The robot chassis of the embodiment of the present utility model can directly adjust the relative position of the vehicle frame 10 and the swing arm 31 through the adjusting portion 11 outside according to the usage requirements to adjust the toe angle or the camber angle of the hub motor 21, saving the trouble of opening the explosion-proof cavity, being time-saving and labor-saving, and saving costs.

[0054] Thus, for the robot chassis according to the present utility model, the hub motors 21 are adopted to provide driving force and form four wheels. The steering assembly 30 is arranged between the wheel assembly 20 and the vehicle frame 10, and the independent suspension structure and the vehicle frame are designed separately. At the same time, an adjusting part 11 is arranged on the vehicle frame 10, and the adjusting part 11 can adjust the relative position between the vehicle frame 10 and the swing arm 31 to adjust the toe angle or camber angle of the hub motor 21. The robot chassis of the present utility model is used for explosion-proof robots. Through the solution of the relative separation of the independent suspension structure and the vehicle frame, on the premise of ensuring the same passing ability and functions, the center of gravity of the robot chassis can be reduced, the structure can be simplified, and the weight of the chassis can be reduced. By adjusting the relative position between the vehicle frame 10 and the swing arm 31 through the adjusting part 11 arranged on the vehicle frame 10 to adjust the toe angle or camber angle of the hub motor 21, it is easier to ensure the accurate positioning of the four wheels, and the processing cost and difficulty can be greatly reduced.

[0055] According to an embodiment of the present utility model, the rotating part 32 includes a servo motor 321, a servo motor adapter plate 322, a servo motor rotating shaft 323, and an adapter shaft 324. The servo motor adapter plate 322 is fixed on the swing arm 31. The stator of the servo motor 321 is fixed to the servo motor adapter plate 322, and the rotor of the servo motor 321 is fixedly connected to the servo motor rotating shaft 323. The adapter shaft 324 is axially fixed relative to the swing arm 31, and the adapter shaft 324 and the servo motor rotating shaft 323 are nested with each other.

[0056] In other words, as Figure 5 shown, the rotating part 32 is mainly composed of a servo motor 321, a servo motor adapter plate 322, a servo motor rotating shaft 323, and an adapter shaft 324. The servo motor adapter plate 322 is fixed to the swing arm 31 by screws; the stator of the servo motor 321 is fixed to the servo motor adapter plate 322 by screws; the rotor of the servo motor 321 is fixedly connected to the servo motor rotating shaft 323, preferably by screws and positioning pins; the adapter shaft 324 is axially fixed relative to the swing arm 31 but can rotate freely; the adapter shaft 324 and the servo motor rotating shaft 323 are nested with each other and are guaranteed to rotate synchronously by a flat key.

[0057] According to an embodiment of the present utility model, the rotating part 32 further includes a first bearing 325 and a second bearing 326. The first bearing 325 and the second bearing 326 are assembled in the cavity of the swing arm 31. The two ends of the adapter shaft 324 are respectively assembled with the inner rings of the first bearing 325 and the second bearing 326 and are respectively axially limited in a single direction.

[0058] In other words, as Figure 5As shown, the rotating part 32 is mainly composed of a servo motor 321, a servo motor adapter plate 322, a servo motor rotating shaft 323, an adapter shaft 324, a first bearing 325, and a second bearing 326. The outer rings of the first bearing 325 and the second bearing 326 are assembled in the cavity of the swing arm 31 and are respectively axially limited in one direction by the swing arm 31. The two ends of the adapter shaft 324 are respectively assembled with the inner rings of the first bearing 325 and the second bearing 326 and are respectively axially limited in one direction.

[0059] Thus, in the robot chassis according to the embodiment of the present invention, the wheel assembly 20 is connected to the steering assembly 20 through the rotating part 32. The rotating part 32 is mainly composed of a servo motor 321, a servo motor adapter plate 322, a servo motor rotating shaft 323, an adapter shaft 324, a first bearing 325, and a second bearing 326. The servo motor 321 is connected to the swing arm 31 through the servo motor adapter plate 322; the rotor of the servo motor 321 is connected to the servo motor rotating shaft 323, and the offline rotating shaft 323 and the adapter shaft 324 are nested with each other. At the same time, through the axial one-way limitation of the servo motor adapter plate 322, the first bearing 325, and the second bearing 326, in this way, the rotor of the servo motor 321 can drive the servo motor rotating shaft 323, the adapter shaft 324, and the adapter shaft 324 to rotate axially, and the adapter shaft 324 drives the wheel assembly to complete steering.

[0060] According to an embodiment of the present invention, the wheel assembly 20 further includes a wheel fixing plate 23. The wheel fixing plate 23 is fixed to the wheel bracket 22. The bottom end face of the wheel fixing plate 23 is attached to the axial plane of the wheel shaft of the hub motor 21, and the side end face of the wheel fixing plate 23 is attached to the notch side end face of the wheel shaft of the hub motor 21.

[0061] In other words, as Figure 7 , Figure 9 shown, the wheel assembly further includes a wheel fixing plate 23. The wheel fixing plate 23 is fixed to the wheel bracket 22, preferably by screws. At the same time, the bottom end face of the wheel fixing plate 23 is attached to the axial plane of the wheel shaft of the hub motor 21 to ensure that the wheel shaft of the hub motor 21 cannot rotate relative to the wheel bracket 22, and the side end face of the wheel fixing plate 23 is attached to the notch side end face of the wheel shaft of the hub motor 21 to ensure that the hub motor 21 is axially limited in one direction.

[0062] According to an embodiment of the present invention, the wheel assembly 20 further includes a wheel shaft fixing piece 24. The wheel shaft fixing piece 24 is located between the other end face of the wheel fixing plate 23 and the other end face of the notch of the wheel shaft of the hub motor 21.

[0063] In other words, as Figure 9 shown, the wheel assembly 20 further includes a wheel shaft fixing piece 24. The wheel shaft fixing piece 24 is located between the other end face of the wheel fixing plate 23 and the other end face of the notch of the wheel shaft of the hub motor 21 to ensure the axial fixation of the hub motor 21.

[0064] According to an embodiment of the present utility model, the vehicle frame 10 includes a swing arm hinge seat 12, and the swing arm 31 is hinged to the vehicle frame 10 through the swing arm hinge seat 12.

[0065] In other words, as Figure 10 shown, the vehicle frame 10 includes a swing arm hinge seat 12, the swing arm hinge seat 12 is located between the front and rear two wheel assemblies 20, and the swing arm 31 is hinged to the vehicle frame 10 through the swing arm hinge seat 12.

[0066] According to an embodiment of the present utility model, the adjusting part 11 includes a first adjusting part 111, and the first adjusting part 111 is used to adjust the included angle between the swing arm hinge seat 12 and the side wall of the vehicle frame 10 in the vertical direction.

[0067] Optionally, the adjusting part 11 includes a second adjusting part 112, and the second adjusting part 112 is used to adjust the included angle between the swing arm hinge seat 12 and the side wall of the vehicle frame 10 in the horizontal direction.

[0068] In other words, as Figure 3 shown, the adjusting part 11 includes a first adjusting part 111 and a second adjusting part 112. By the adjusting part 11, the relative position between the vehicle frame 10 and the swing arm 31 can be adjusted to adjust the toe angle or camber angle of the hub motor 21.

[0069] Wherein, the first adjusting part 111 and the second adjusting part 112 are preferably adjusting bolts, and the adjusting bolts are connected to the vehicle frame 10 through threads. When designing the vehicle frame structure, ensure that the structural stiffness of the swing arm hinge seat 12 is slightly weaker than the surrounding structure, and a pre-tightening force is generated through the adjusting bolts to cause a predictable small deformation of the vehicle frame 10. Thus, the included angle between the swing arm hinge seat 12 and the vehicle frame 10 is adjusted. Since the swing arm hinge seat 12 is linked to the swing arm 31, the included angle between the hub motor 21 and the vehicle frame 10 is affected.

[0070] The specific process of adjusting the suspension is as follows:

[0071] When it is necessary to adjust the camber angle of the hub motor 21 (wheel), as Figure 11 , Figure 12 shown, where Figure 11 is the front view of the robot chassis according to the embodiment of the present utility model, Figure 12 is the right view of the vehicle frame of the robot chassis in the F direction according to Figure 11 (other components are omitted). The first adjusting part 111 is used to adjust the included angle between the swing arm hinge seat 12 and the side wall of the vehicle frame 10 in the vertical direction, as shown by the arrow direction in Figure 12 , which is the direction of wheel camber.

[0072] When the wheel camber angle is too large, i.e. the wheel is cambered, the adjusting bolt is tightened inwards through the first adjusting part 111, so that the middle cross beam of the frame 10 and the swing arm articulated seat 12 are slightly deformed. At this time, the swing arm articulated seat 12 drives the hinge point with the wheel assembly 20 to tilt inwards as a whole until the wheel camber angle reaches the ideal value range. When the wheel camber angle is too small, i.e. the wheel is inwardly tilted, the adjusting bolt is loosened outwards through the first adjusting part 111, and the matching nut is adjusted outwards at the same time, so that the middle cross beam of the frame 10 and the swing arm articulated seat 12 are slightly deformed. At this time, the swing arm articulated seat 12 drives the hinge point with the wheel assembly 20 to tilt outwards as a whole until the wheel camber angle reaches the ideal value range.

[0073] When the toe angle of the hub motor 21 (wheel) needs to be adjusted, Figure 11 , Figure 13 As shown, Figure 11 is a front view of a robot chassis according to an embodiment of the utility model, Figure 13 is based on Figure 11 The second adjustment part 112 is used to adjust the angle between the swing arm articulated seat 12 and the side wall of the frame 10 in the horizontal direction, such as Figure 13 The arrow shown indicates the direction, which is the direction of the wheel toe angle.

[0074] When the wheel toe angle is too large, i.e., the wheel toe is locked, the adjusting bolt is tightened on the back through the second adjusting part 112, so that the middle cross beam of the frame 10 and the swing arm articulated seat 12 are slightly deformed. At this time, the swing arm articulated seat 12 drives the hinge point with the wheel assembly 20 to expand outward as a whole until the wheel toe angle reaches the ideal value range. When the wheel toe angle is too small, the adjusting bolt is loosened on the back through the second adjusting part 112, and the matching nut is adjusted outward at the same time, so that the middle cross beam of the frame 10 and the swing arm articulated seat 12 are slightly deformed. At this time, the swing arm articulated seat 12 drives the hinge point with the wheel assembly 20 to retract inward as a whole until the wheel toe angle reaches the ideal value range.

[0075] The robot chassis of the embodiment of the utility model is provided with an adjustment part 11 at a position corresponding to the swing arm articulated seat 12 corresponding to each wheel assembly 20, so that the toe angle or camber angle of the wheel of each wheel assembly 20 can be adjusted to form an independent four-wheel suspension structure, and can be adjusted independently, so that the robot chassis of the embodiment of the utility model can adjust the toe angle or camber angle in a targeted manner according to various complex road conditions. At the same time, since the accuracy requirements for the hinge points of the explosion-proof wall are reduced, the processing cost and difficulty can be greatly reduced, and it is easier to ensure the final four-wheel positioning accuracy, and it can be adjusted at any time.

[0076] According to an embodiment of the present utility model, the robot chassis further includes a shock absorbing device 40 , one end of the shock absorbing device 40 is connected to the frame 10 , and the other end is connected to the swing arm 31 .

[0077] In other words, the robot chassis further includes a shock absorption device 40, preferably a shock absorber. One end of the shock absorber is hinged to the vehicle frame 10, and the other end is hinged to the swing arm 31. The setting of the shock absorption device can enhance the shock absorption effect of the robot chassis and make it more stable when facing complex road conditions.

[0078] In summary, for the robot chassis according to the present invention, the hub motor 21 is adopted to provide driving force and form four wheels. The steering assembly 30 is arranged between the wheel assembly 20 and the vehicle frame 10, and the independent suspension structure and the vehicle frame are designed relatively separately. At the same time, an adjusting portion 11 is arranged on the vehicle frame 10, and the adjusting portion 11 can adjust the relative position between the vehicle frame 10 and the swing arm 31 to adjust the toe angle or camber angle of the hub motor 21. The robot chassis of the present invention is used for an explosion-proof robot. Through the solution of the relatively separate independent suspension structure and the vehicle frame, on the premise of ensuring the same passing ability and functions, the center of gravity of the robot chassis can be reduced, the structure can be simplified, and the weight of the chassis can be reduced. By adjusting the relative position between the vehicle frame 10 and the swing arm 31 through the adjusting portion 11 arranged on the vehicle frame 10 to adjust the toe angle or camber angle of the hub motor 21, it is easier to ensure the accurate positioning of the four wheels, and the processing cost and difficulty can be greatly reduced.

[0079] Of course, for those skilled in the art, other structures and working principles of the robot chassis can be understood and implemented, and will not be described in detail in the present invention.

[0080] According to the second aspect of the present invention, an explosion-proof robot is provided, including the robot chassis in the above embodiment. For the specific structure and function of the explosion-proof robot chassis, please refer to the description of the above embodiment, which will not be repeated here. The explosion-proof robot of the embodiment of the present invention adopts this robot chassis. On the premise of ensuring the same passing ability and functions, the center of gravity of the robot chassis can be reduced, the structure can be simplified, and the weight of the chassis can be reduced. By adjusting the relative position between the vehicle frame 10 and the swing arm 31 through the adjusting portion 11 arranged on the vehicle frame 10 to adjust the toe angle or camber angle of the hub motor 21, it is easier to ensure the accurate positioning of the four wheels, and the processing cost and difficulty can be greatly reduced.

[0081] Of course, for those skilled in the art, other structures and working principles of the explosion-proof robot can be understood and implemented, and will not be described in detail in the present invention.

[0082] Although some specific embodiments of the present utility model have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration purposes and not for limiting the scope of the present utility model. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present utility model. The scope of the present utility model is defined by the appended claims.

Claims

1. A robot chassis, applied to an explosion-proof robot, characterized in that, Comprising: Frame (10); Wheel assembly (20); The wheel assembly (20) is distributed at the front and rear ends of the frame (10). The wheel assembly (20) includes a hub motor (21) and a wheel bracket (22). The hub motor (21) provides driving force and forms a wheel. The axis of the hub motor (21) is in interference fit connection with the shaft hole of the wheel bracket (22); Steering assembly (30); The steering assembly (30) connects the frame (10) and the wheel assembly (20). The steering assembly (30) includes a swing arm (31) and a rotating part (32); One end of the swing arm (31) is connected to the frame (10), and the other end is axially connected to the wheel assembly (20) through the rotating part (32); The rotating part (32) is axially fixed relative to the swing arm (31) and can drive the wheel assembly (20) to rotate relative to the frame (10) along the vertical axis; Wherein, an adjusting part (11) is arranged on the frame (10). By adjusting the relative position between the frame (10) and the swing arm (31) through the adjusting part (11), the toe angle or camber angle of the hub motor (21) is adjusted.

2. The robot chassis according to claim 1, characterized in that, The rotating part (32) includes a servo motor (321), a servo adapter plate (322), a servo rotating shaft (323), and a transfer shaft (324). The servo adapter plate (322) is fixed on the swing arm (31). The stator of the servo motor (321) is fixed to the servo adapter plate (322). The rotor of the servo motor (321) is fixedly connected to the servo rotating shaft (323). The transfer shaft (324) is axially fixed relative to the swing arm (31), and the transfer shaft (324) and the servo rotating shaft (323) are nested with each other.

3. The robot chassis according to claim 2, characterized in that, The rotating part (32) further includes a first bearing (325) and a second bearing (326). The first bearing (325) and the second bearing (326) are assembled in the cavity of the swing arm (31). The two ends of the transfer shaft (324) are respectively assembled with the inner rings of the first bearing (325) and the second bearing (326) and are axially limited in one direction respectively.

4. The robot chassis according to claim 1, characterized in that, The wheel assembly (20) further includes a wheel fixing plate (23). The wheel fixing plate (23) is fixed to the wheel bracket (22). The bottom end face of the wheel fixing plate (23) is attached to the axial plane of the wheel shaft of the hub motor (21), and the side end face of the wheel fixing plate (23) is attached to the notch side end face of the wheel shaft of the hub motor.

5. The robot chassis according to claim 4, characterized in that The wheel assembly (20) further includes a wheel shaft fixing piece (24). The wheel shaft fixing piece (24) is located between the other end face of the wheel fixing plate (23) and the other end face of the notch of the wheel shaft of the hub motor (21).

6. The robot chassis according to claim 1, wherein The frame (10) includes a swing arm hinge seat (12). The swing arm (31) is hinged to the frame (10) through the swing arm hinge seat (12).

7. The robot chassis according to claim 6, wherein The adjusting part (11) includes a first adjusting part (111). The first adjusting part (111) is used to adjust the angle between the swing arm hinge seat (12) and the side wall of the frame (10) in the vertical direction.

8. The robot chassis according to claim 6, characterized in that, The adjusting part (11) includes a second adjusting part (112) for adjusting the included angle between the swing arm hinge seat (12) and the side wall of the vehicle frame (10) in the horizontal direction.

9. The robot chassis according to claim 1, wherein It further includes a shock absorption device (40), one end of the shock absorption device (40) is connected to the vehicle frame (10), and the other end is connected to the swing arm (31).

10. An explosion-proof robot, characterized in that, It includes the robot chassis according to any one of claims 1 to 9.

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