Mobile chassis and robot

Abstract

The utility model provides a movable chassis and a robot, and relates to the technical field of robots. The mobile chassis comprises a chassis main body and lifting support legs, wherein the lifting support legs are arranged on the chassis main body; wherein the lifting support leg comprises a parallelogram connecting rod mechanism, a support mechanism and a driving mechanism, the parallelogram connecting rod mechanism is provided with a fixed connecting rod, a driving connecting rod and a driven connecting rod, and the fixed connecting rod is connected with the chassis main body; the extending directions of the fixed connecting rods are respectively vertical to the length direction and the width direction of the chassis main body; the supporting mechanism is arranged on the driven connecting rod; the driving mechanism is connected with the driving connecting rod and used for driving the driving connecting rod to rotate, so that the supporting mechanism can ascend and descend. On the basis of miniaturization, the stability of the robot and the precision of the parking position can be improved.

Description

TECHNICAL FIELD

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

[0002] Based on the considerations of passability and miniaturization, a mobile pipeline welding robot adopts a small crawler chassis. During the movement of the small crawler chassis, the small crawler chassis has the problem of poor stability due to the short size of the crawler of the small crawler chassis. To solve the above problem, a lifting leg is usually used to support the crawler chassis. At the same time, in order to ensure the accuracy of the parking position of the small crawler chassis, the lifting leg is usually vertically arranged. However, the vertically arranged lifting leg occupies the space above the robot, and the power device required by the vertically arranged lifting leg is large in size, which also occupies space, such as a motor or a hydraulic system, and is not conducive to the miniaturization of the robot. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the purpose of the present application is to overcome the deficiencies in the prior art, and to provide a mobile chassis and a robot which can improve the stability and the accuracy of the parking position of the robot on the basis of miniaturization.

[0004] The present application provides the following technical solutions:

[0005] In a first aspect, the present application provides a mobile chassis, which comprises a chassis body and a lifting leg, and the lifting leg is arranged on the chassis body. The lifting leg comprises:

[0006] a parallelogram linkage mechanism, the parallelogram linkage mechanism has a fixed link, a driving link and a driven link, the fixed link is connected with the chassis body, and the extension directions of the fixed link are arranged perpendicular to the length direction and the width direction of the chassis body, respectively;

[0007] a supporting mechanism, the supporting mechanism is arranged on the driven link;

[0008] a driving mechanism, the driving mechanism is connected with the driving link, and the driving mechanism is used to drive the driving link to rotate, so that the supporting mechanism can be lifted and lowered.

[0009] In some embodiments of the first aspect, the supporting mechanism further comprises an adapter and a supporting part, one end of the adapter is connected with the driven link, and the other end of the adapter is hinged with the supporting part, and the hinge between the adapter and the supporting part can enable the supporting part to be self-adaptively adjusted in rotation according to the slope of the ground.

[0010] In some embodiments of the first aspect, the hinge connection between the adapter and the support part allows the support part to rotate around a preset axis, which is parallel to the length or width of the chassis body.

[0011] In some embodiments of the first aspect, the driving mechanism comprises a telescopic part having a fixed end and a telescopic end, the telescopic end is hingedly connected to the driving link, the fixed end is hingedly connected to the chassis body, and the telescopic end is capable of performing a telescopic action so that the driving link can rotate; wherein the telescopic direction of the telescopic end is obliquely arranged.

[0012] In some embodiments of the first aspect, one of the fixed end and the telescopic end is close to the middle part of the chassis body, and the other is away from the middle part of the chassis body.

[0013] In some embodiments of the first aspect, the number of lifting legs is multiple, and multiple lifting legs are arranged at intervals on the periphery of the chassis body.

[0014] In some embodiments of the first aspect, the chassis body is arranged as any one of the following:

[0015] Tracked chassis, wheeled chassis, legged chassis, hybrid chassis.

[0016] In the second aspect, the present application also provides a robot, which comprises the mobile chassis as described in any one of the above embodiments.

[0017] In some embodiments of the second aspect, the robot further comprises a construction device arranged on the mobile chassis, and the construction device comprises at least one of the following: spraying device, welding device, polishing device, cutting device.

[0018] In some embodiments of the second aspect, the construction device is a welding device, which comprises a position adjusting mechanism arranged on the vehicle frame and a welding gun connected to the position adjusting mechanism, and the position adjusting mechanism is capable of adjusting at least the position and the spraying direction of the welding gun.

[0019] In some embodiments of the second aspect, the position adjusting mechanism is arranged as a multi-axis robot arm, and the execution end of the multi-axis robot arm is connected to the welding gun.

[0020] In some embodiments of the second aspect, the welding device further comprises a welding machine electrically connected to the welding gun, the welding machine is arranged at the front end of the mobile chassis, and the multi-axis robot arm is arranged at the rear end of the mobile chassis.

[0021] In some embodiments of the second aspect, the robot further comprises a dragging chassis, and the dragging chassis and the moving chassis are detachably connected;

[0022] In some embodiments of the second aspect, the welding device further comprises a welding machine, the welding machine is electrically connected with the welding gun through a cable, the welding machine is arranged on the dragging chassis, and the multi-axis robot arm is arranged on the moving chassis.

[0023] In some embodiments of the second aspect, the welding device comprises a wire storage mechanism and a wire feeder, the wire storage mechanism and the wire feeder are arranged on the moving chassis, the wire storage mechanism is used for storing welding wire, and the wire feeder is used for feeding welding wire to the welding gun.

[0024] In some embodiments of the second aspect, the robot further comprises a controller and a remote controller, the remote controller and the controller are electrically connected, and the controller is electrically connected with the moving chassis and the welding device respectively.

[0025] Embodiments of the present application have the following advantages:

[0026] The present application provides a moving chassis, the setting direction of the fixed connecting rod is perpendicular to the length and width direction of the chassis body, which ensures that the connecting rod mechanism does not affect the horizontal stability of the chassis during operation, and further ensures that the lifting direction of the supporting mechanism is perpendicular to the ground. The driving connecting rod is connected with the driving mechanism, receives power input from the driving mechanism, and converts it into the action of the connecting rod mechanism. The driven connecting rod moves accordingly according to the action of the driving connecting rod, ensuring that the supporting mechanism can smoothly rise or fall according to the predetermined trajectory. The supporting mechanism is installed on the driven connecting rod, and when it is necessary to increase the stability of the chassis, the supporting mechanism will be lowered to contact the ground through the action of the connecting rod mechanism to provide additional support force. The design of the supporting mechanism should consider the terrain adaptability and load capacity. The driving mechanism is responsible for providing power to the driving connecting rod, thereby controlling the lifting of the supporting mechanism.

[0027] Obviously, through the parallelogram connecting rod mechanism, the horizontal position of the chassis can be maintained even on uneven ground, enhancing the overall stability. Moreover, unlike the traditional vertical lifting method, this connecting rod mechanism can reduce the occupation of the space above without affecting the function, and can achieve the effect of saving labor by using the parallelogram connecting rod mechanism, thereby reducing the parameter requirements and the volume of the driving mechanism, which is conducive to the miniaturization of the robot. Furthermore, since the lifting height of the supporting mechanism can be accurately controlled, it helps to improve the accuracy of the landing position of the robot.

[0028] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0030] Figure 1 A structural schematic diagram of a mobile chassis from one perspective is shown;

[0031] Figure 2 A partial enlarged schematic diagram of A in Figure 1

[0032] Figure 3 A structural schematic diagram of a mobile chassis from another perspective is shown;

[0033] Figure 4 A structural schematic diagram of a robot from one perspective is shown;

[0034] Figure 5 A structural schematic diagram of a robot from another perspective is shown.

[0035] Main element symbol explanation:

[0036] 10 - mobile chassis; 100 - chassis main body;

[0037] 200 - lifting leg; 210 - parallelogram linkage; 211 - driving link; 212 - parallel link; 213 - driven link; 2131 - mounting hole; 214 - fixed link; 220 - telescopic part; 230 - support mechanism; 231 - adapter; 232 - support part;

[0038] 300 - towing chassis;

[0039] 400 - controller;

[0040] 500 - welding equipment; 510 - welding gun; 520 - mechanical arm; 530 - wire storage mechanism; 540 - wire feeder; 550 - welding machine;

[0041] X - length direction; Y - width direction. DETAILED DESCRIPTION

[0042] ​Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein like numerals represent like elements or elements having the same or similar functions throughout the drawings. The embodiments described below are exemplary only, and are not intended to limit the present application.

[0043] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. Like numbers refer to like elements throughout the description of the figures.

[0044] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be 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 terms in the present application can be understood according to the specific circumstances.

[0045] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the template herein are only for the purpose of describing the specific embodiments, and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0047] In the related art, a mobile pipeline welding robot adopts a small crawler chassis based on considerations of passability and miniaturization. During movement of the small crawler chassis, the small crawler chassis has poor stability due to the short size of the crawler track. To solve the above problem, a lifting leg is usually used to support the crawler chassis. At the same time, to ensure the accuracy of the parking position of the small crawler chassis, the lifting leg is usually vertically arranged. However, the vertically arranged lifting leg occupies the space above the robot, and the power device required by the vertically arranged lifting leg is large in size, which also occupies space, such as a motor or a hydraulic system, and is not conducive to the miniaturization of the robot.

[0048] As shown in Figure 1 , Figure 2 and Figure 3 , to solve the above technical problems, the embodiments of the present application provide a mobile chassis 10, which comprises a chassis body 100 and a lifting leg 200, and the lifting leg 200 is arranged on the chassis body 100; wherein the lifting leg 200 comprises a parallelogram linkage mechanism 210, a supporting mechanism 230 and a driving mechanism, the parallelogram linkage mechanism 210 has a fixed link 214, a driving link 211 and a driven link 213, the fixed link 214 is connected with the chassis body 100; and the extension directions of the fixed link 214 are arranged perpendicularly to the length direction X and the width direction Y of the chassis body 100; the supporting mechanism 230 is arranged on the driven link 213; the driving mechanism is connected with the driving link 211, and the driving mechanism is used to drive the driving link 211 to rotate, so that the supporting mechanism 230 can be lifted and lowered.

[0049] In these embodiments, the present application aims to solve the problem of poor stability of the small crawler chassis in the mobile pipeline welding robot, while optimizing the space utilization of the robot to make it more miniaturized. By providing a new design of the lifting leg 200, this technical solution not only improves the stability and position accuracy of the robot, but also effectively solves the problem of occupying space above the robot caused by the vertically arranged lifting leg.

[0050] The chassis body 100 of the mobile chassis 10 serves as the basic platform of the entire robot, carrying all necessary equipment, control systems, power supplies and the like. Its design needs to consider factors such as strength, weight and space utilization to ensure the reliability and flexibility of the robot in various working environments.

[0051] The parallelogram linkage mechanism 210 of the lifting leg 200 serves as a transmission mechanism. The parallelogram linkage mechanism 210 has a driving link 211, a fixed link 214, a driven link 213 and an intermediate link. Among them, the fixed link 214 serves as the basis of the entire mechanism, is usually fixed on the equipment body and does not participate in relative movement, and is the connection basis of other links. Exemplarily, the fixed link 214 is arranged integrally with the chassis body 100.

[0052] The drive link 211 is driven by an external power source (such as a hydraulic cylinder, electric motor, etc.), which drives the entire mechanism to move. It is directly connected to the power source and is responsible for transmitting power to other links. The driven link 213 moves following the movement of the drive link 211 and is usually connected to the working mechanism (such as the lifting of the support mechanism 230) that needs to perform specific tasks. It is directly connected to the working mechanism and realizes the expected mechanical action. The intermediate link connects the drive link 211 and the driven link 213, ensuring that their relative movement complies with the parallelogram rule, without direct power input or output, mainly playing the role of connection and transmission of movement. Among them, the fixed link 214 is connected to the chassis body 100 at one end and connected to other links in the parallelogram linkage mechanism 210 at the other end.

[0053] In simple terms, the fixed link 214 is connected to the chassis body 100, one end is hinged to the drive link 211, and the other end is hinged to one end of the driven link 213. The other end of the drive link 211 is hinged to one end of the parallel link 212, and the other end of the parallel link 212 is hinged to the other end of the driven link 213.

[0054] Among them, the fixed link 214 is arranged vertically to the length and width direction Y of the chassis body 100, which ensures that the linkage mechanism does not affect the horizontal stability of the chassis during operation, and further ensures that the lifting direction of the support mechanism 230 is perpendicular to the ground. The drive link 211 is connected to the drive mechanism and receives power input from the drive mechanism, and converts it into the action of the linkage mechanism. The driven link 213 moves accordingly according to the action of the drive link 211, ensuring that the support mechanism 230 can smoothly rise or fall according to the predetermined trajectory. The support mechanism 230 is installed on the driven link 213, and when the chassis needs to be stabilized, the support mechanism 230 will be lowered to contact the ground through the action of the linkage mechanism, providing additional support force. The design of the support mechanism 230 should consider the terrain adaptability and load capacity.

[0055] The drive mechanism is responsible for providing power to the drive link 211, thereby controlling the lifting of the support mechanism 230. The drive mechanism can be an electric motor, a hydraulic cylinder, or other forms of power source, and the specific choice depends on the application requirements such as power, response speed, and volume restrictions, etc.

[0056] Obviously, through the parallelogram linkage 210, the horizontal position of the chassis can be maintained even on uneven ground, enhancing overall stability. Moreover, unlike traditional vertical lifting methods, this linkage can reduce the occupation of the space above without affecting functionality, and the parallelogram linkage 210 can achieve the effect of saving effort, thereby reducing the parameter requirements and size of the driving mechanism, which is conducive to the miniaturization of the robot. Furthermore, since the support mechanism 230 can accurately control the lifting height, it helps to improve the accuracy of the robot's landing position.

[0057] As shown in Figure 2 and Figure 3 In some embodiments, the support mechanism 230 further includes an adapter 231 and a support 232. One end of the adapter 231 is connected to the driven link 213, and the other end of the adapter 231 is hinged to the support 232. The hinge between the adapter 231 and the support 232 allows the support 232 to automatically rotate and adjust according to the slope of the ground.

[0058] In these embodiments, the support mechanism 230 is further optimized by introducing the adapter 231 and the support 232, and connecting them through a hinge. This design enhances the ability of the mobile chassis 10 to adapt to different ground mechanisms.

[0059] One end of the adapter 231 is fixedly connected to the driven link 213, receiving action instructions from the parallelogram linkage 210. The adapter 231 acts as a bridge between the support 232 and the linkage, ensuring smooth power transmission while allowing the support 232 to adjust its angle as needed.

[0060] The support 232 is the part that directly contacts the ground, responsible for providing additional support to enhance the stability of the robot. Through the hinge with the adapter 231, the support 232 can automatically rotate and adjust its posture according to the slope of the ground, ensuring optimal support even on uneven ground.

[0061] That is, the hinge between the adapter 231 and the support 232 allows the support 232 to rotate around an axis, which is crucial for adapting to different ground slopes. When the robot lands on an inclined or uneven surface, the support 232 can automatically adjust its angle according to the actual terrain changes, ensuring that the chassis always remains horizontal, thereby improving overall stability and operational accuracy.

[0062] For example, in a pipeline welding scenario, this can help the robot stay more stable next to the pipeline, even in a construction environment with some slope or ruggedness. That is, the design of the articulated support 232 greatly improves the robot's adaptability to different terrains, especially when working on uneven ground, reducing the risk of the robot tipping over due to unstable ground and improving the safety of the work.

[0063] Exemplarily, the adapter is located on the side of the driven link close to the chassis body, and the lifting leg acts on the lateral support of the mobile chassis to adapt to the working environment in the pipeline.

[0064] As shown in Figure 2 and Figure 3 In some embodiments, the articulation of the adapter 231 and the support 232 allows the support 232 to rotate around a preset axis, which is parallel to the length direction X or the width direction Y of the chassis body 100.

[0065] In these embodiments, the articulation of the adapter 231 and the support 232 allows the support 232 to rotate around a preset axis, which is parallel to the length direction X or the width direction Y of the chassis body 100. Further optimization of the function of the support mechanism 230 makes it better adapt to different terrains while maintaining the stability and operation precision of the robot.

[0066] If the preset axis is parallel to the length direction X of the chassis body 100, the support 232 can be adjusted in a direction perpendicular to the forward direction of the robot. This helps the robot to maintain horizontal on the laterally inclined ground (such as the sides of the slope), preventing instability caused by lateral inclination.

[0067] If the preset axis is parallel to the width direction Y of the chassis body 100, the support 232 can automatically adjust the angle in the forward direction of the robot according to the ground undulation. This is particularly useful for dealing with longitudinally uneven ground, such as crossing small gullies or driving on roads with slight undulations, ensuring that the robot chassis is always in a horizontal state.

[0068] Whether on laterally or longitudinally inclined ground, the support 232 can adapt to ground changes by rotating around the preset axis, thereby providing more stable support and reducing the risk of the robot tipping over.

[0069] Exemplarily, when performing precision tasks such as pipeline welding, good stability is the key to ensuring the quality of the work. The adaptive adjustment mechanism can ensure that the robot maintains the best posture under various terrains, thereby improving the precision of welding and other work. It allows the robot to work more flexibly in complex and variable environments, without being limited to flat construction sites, expanding its scope of application.

[0070] As shown in Figure 2 In some embodiments, the driven link 213 is provided with a plurality of mounting holes 2131, one end of the adapter 231 is hinged to the driven link 213, the other end of the adapter 231 is hinged to the support mechanism 230, and the plurality of mounting holes 2131 are located on the same circular contour line, the center of the circular contour line is located on the rotation axis of the adapter 231, and the plane on which the circular contour line is located is perpendicular to the rotation axis of the adapter 231, the middle part of the adapter 231 is threadedly connected with a bolt passing through one of the mounting holes 2131 to define the position of the adapter 231.

[0071] In these embodiments, this design allows the operator to adjust the angle and position of the support mechanism 230 according to actual needs. The plurality of mounting holes 2131 on the driven link 213 provides different connection points, so that the adapter 231 can choose the most suitable installation position according to the specific application scenario or ground strip mechanism. The mounting holes 2131 at different positions can change the angle of the adapter 231 relative to the driven link 213, thereby affecting the final working posture of the support mechanism 230, and adapting to various complex terrains.

[0072] As shown in Figure 2 and Figure 3 In some embodiments, the drive mechanism includes a telescopic portion 220, the telescopic portion 220 has a fixed end and a telescopic end, the telescopic end is hinged to the drive link 211, the fixed end is hinged to the chassis body 100, and the telescopic end can perform a telescopic action so that the drive link 211 can rotate; wherein the telescopic direction of the telescopic end is obliquely arranged.

[0073] In these embodiments, the drive mechanism adopts a scheme containing a telescopic portion 220, the telescopic portion 220 has a fixed end and a telescopic end. The key feature of this structure is that the telescopic end is hinged to the drive link 211, while the fixed end is hinged to the chassis body 100. In addition, the telescopic direction of the telescopic end is obliquely arranged. Such a configuration enables the telescopic action to be effectively converted into the rotation of the drive link 211, thereby realizing the lifting function of the support mechanism 230.

[0074] The fixed end of the telescopic part 220 is connected to the chassis body 100 by a hinged manner. This hinge allows the angle of the telescopic part 220 to be adjusted as needed when performing the telescopic action, so as to adapt to different work bar mechanisms. The telescopic end is also connected to the driving link 211 by a hinged manner. This design ensures that the telescopic action can be smoothly converted into the rotary motion of the driving link 211, thereby controlling the lifting of the supporting mechanism 230. The telescopic direction of the telescopic end is not vertical or horizontal, but is inclined at a certain angle. The advantage of this is that a smaller telescopic displacement can be used to produce a larger rotating effect, which helps to save space and improve transmission efficiency. At the same time, the inclined arrangement can also help to optimize the force transmission path, reduce stress concentration in the mechanical structure, and prolong the service life.

[0075] Due to the inclined telescopic direction, the telescopic part 220 can complete the required action in a limited space, which helps to miniaturize the overall design.

[0076] For example, the telescopic part 220 is arranged as an electric push rod, the electric push rod is arranged obliquely, the telescopic end of the electric push rod is hinged to the driving link 211, the fixed end of the electric push rod is hinged to the chassis body 100, the fixed end is higher than the telescopic end, and the fixed end is more inclined to the middle of the chassis body 100 than the telescopic end. Of course, in other embodiments, the telescopic part 220 can also be a pneumatic cylinder, a hydraulic cylinder, etc.

[0077] As shown in Figure 3 some embodiments, the front end or the rear end of the chassis body 100 is provided with a lifting leg 200, one of the telescopic end and the fixed end is close to the middle of the chassis body 100, and the other is away from the middle of the chassis body 100.

[0078] In these embodiments, this layout design not only helps to optimize the stability of the robot, but also improves its ability to adapt to complex terrain. The lifting leg 200 is arranged at the front end or the rear end of the chassis body 100, which can be flexibly adjusted according to the actual application scene. For example, when the mobile pipeline welding robot is working, if better front support is needed (such as front welding operation), the lifting leg 200 can be installed at the front end; otherwise, if better rear support is needed, the lifting leg 200 can be installed at the rear end.

[0079] For example, the fixed end is close to the middle of the chassis body 100, which helps to maintain the balance and stability of the overall structure. When the telescopic part 220 performs an action, this fixed point can serve as a relatively stable fulcrum, ensuring that the driving link 211 and the supporting mechanism 230 move more accurately and smoothly.

[0080] As shown in Figure 3 and Figure 5As shown, in some embodiments, the number of lifting legs 200 is multiple, and the multiple lifting legs 200 are arranged at intervals around the periphery of the chassis body 100.

[0081] In these embodiments, the stability and adaptability of the robot can be further improved, especially in the face of complex terrain or the need for high-precision positioning. By increasing the number of lifting legs 200, the robot can be in contact with the ground at more points, providing more uniform and extensive support. This not only improves overall stability, but also reduces the risk of tilting or overturning due to uneven single-point stress.

[0082] The multiple lifting legs 200 are arranged at intervals around the periphery of the chassis body 100, ensuring that the support force distribution of the robot in all directions is more balanced. This layout helps to cope with external forces from different directions, enabling the robot to maintain a stable posture in complex environments.

[0083] Each lifting leg 200 can independently adjust the height according to the actual terrain, so that the robot can better adapt to uneven ground, such as slopes, potholes, or rugged terrain. Multi-point support can also help the robot maintain balance when crossing obstacles, avoiding getting stuck or overturning.

[0084] For example, when precise parking or operation is required (such as pipe welding), multiple lifting legs 200 can work together to fine-tune the height of each support point, ensuring that the chassis is in an ideal horizontal state, thereby improving the precision of the work position.

[0085] For example, the number of lifting legs 200 can be 1, 2, 3, 4, 5, or 6, etc.

[0086] As Figure 4 shown, in some embodiments, the chassis body 100 is arranged as any one of the following: a tracked chassis, a wheeled chassis, a legged chassis, or a hybrid chassis.

[0087] In this embodiment, the chassis body 100 is arranged as a tracked chassis, suitable for walking on a pipeline. Of course, the track of the tracked chassis is arranged to have elasticity, such as a rubber track, to be able to elastically deform and thus adapt to the inner wall of the pipeline.

[0088] As Figure 4 and Figure 5 shown, in some embodiments, the present application also provides a robot, which includes a mobile chassis 10 as in any of the above embodiments.

[0089] In these embodiments, the mobile chassis 10 and its lifting legs 200 can be integrated into different types of robot systems to improve the stability and adaptability of these robots, especially in scenarios of working on complex or uneven ground.

[0090] For example, pipeline welding robots, one of the most direct applications, especially in welding tasks that require high precision positioning and stability. The improved mobile chassis 10 can ensure that the robot remains level and stable under various terrain conditions, thereby improving welding quality.

[0091] Alternatively, construction and engineering robots, suitable for complex environments such as construction sites, require precise operations such as material handling, drilling or equipment installation on uneven ground. The multi-point support mobile chassis 10 can significantly improve its work stability and safety.

[0092] Obviously, by adopting the improved mobile chassis 10 described above, the robot can operate more stably and reliably in various environments, improving overall work efficiency and task success rate. Whether facing complex terrain or performing delicate tasks, the optimized mobile chassis 10 can provide better support for the robot, enabling it to play a role in a wider range of application scenarios.

[0093] As shown in Figure 4 and Figure 5 Some embodiments, the robot also includes construction equipment, which is arranged on the mobile chassis 10, and at least includes at least one of the following: spraying equipment, welding equipment 500, polishing equipment, cutting equipment.

[0094] In these embodiments, the robot not only includes an improved mobile chassis 10, but also integrates construction equipment. The construction equipment is arranged on the mobile chassis 10 and at least includes one of the following types: spraying equipment, welding equipment 500, polishing equipment, cutting equipment. Such design enables the robot to perform diversified construction tasks in complex environments, greatly improving its application range and work efficiency. That is, it can achieve modularity, which is conducive to replacing the corresponding construction equipment according to different work requirements.

[0095] Spraying equipment is suitable for product spraying, product corrosion prevention and other scenarios. The stability and precise position control provided by the mobile chassis 10 ensures the uniformity and quality of the spraying; the multi-point support system can maintain level on uneven surfaces, avoiding uneven spraying caused by inclination.

[0096] Welding equipment 500 is widely used in pipeline welding, steel structure connection and other fields. Enhanced stability and adaptability ensure precision and consistency during welding; the lifting leg 200 can automatically adjust the height according to the ground conditions, so that the welding head can accurately reach the predetermined position.

[0097] Polishing equipment is used for metal surface treatment, removing old paint layers, or welding seam finishing, etc. Stable support structure can withstand the reaction force generated during polishing, ensuring smooth operation; multi-point support helps to disperse pressure and prevent local overload damage to the mechanism.

[0098] Cutting equipment such as steel cutting, stone processing, etc. High-precision position control makes the cutting path more accurate; powerful support system can cope with possible vibration and impact during cutting, ensuring cutting quality and safety.

[0099] Obviously, by integrating multiple types of construction equipment, a single robot can perform multiple processes, reducing the time and cost of tool replacement, and improving overall work efficiency. Stable mobile chassis 10 provides a good working platform for various construction equipment, ensuring that each task can be completed under the best mechanism, thereby improving the final product quality. Robots with higher automation can replace manual labor in dangerous environments, reducing the risk of personnel injury; at the same time, advanced control systems can monitor and adjust equipment status in real time, further enhancing the safety of operation. Modular design allows flexible configuration of construction equipment according to different needs, maximizing the functional potential of the robot.

[0100] As shown in Figure 4 and Figure 5 , in some embodiments, the construction equipment is a welding device 500, which includes a position adjustment mechanism and a welding torch 510. The position adjustment mechanism is arranged on the vehicle frame, and the position adjustment mechanism and the welding torch 510 are connected. The position adjustment mechanism can at least adjust the position and injection direction of the welding torch 510.

[0101] In these embodiments, when the construction equipment is a welding device 500, the welding device 500 includes a position adjustment mechanism and a welding torch 510. The position adjustment mechanism is arranged on the vehicle frame and connected with the welding torch 510, and can at least adjust the position and injection direction of the welding torch 510. Such design enables the robot to flexibly perform high-precision welding tasks in complex environments.

[0102] The position adjustment mechanism is fixed on the vehicle frame of the mobile chassis 10 and serves as the support structure of the welding torch 510. The position adjustment mechanism can be a multi-degree-of-freedom mechanical arm or a slide rail system, allowing the welding torch 510 to be accurately adjusted in multiple axes, including but not limited to spatial movement in X, Y, Z three dimensions and rotation around each axis (i.e. pitch, yaw and roll). Usually equipped with servo motors or other driving devices, it can automatically adjust the position and attitude of the welding torch 510 under the instruction of the control system to adapt to different welding path and angle requirements.

[0103] The welding gun 510 is connected to the position adjustment mechanism through appropriate interfaces, ensuring stability and non-interference during adjustment. Through precise position adjustment, the welding gun 510 can accurately reach each welding point, ensuring consistency and quality of the welding path. This is particularly important for welding tasks that require strict tolerances.

[0104] Obviously, the multi-axis motion capability provided by the position adjustment mechanism enables the robot to handle more complex welding tasks, such as working in narrow spaces or dealing with different shapes of workpieces. Automated position adjustment reduces the need for manual intervention, speeding up the welding process; at the same time, the stable support structure ensures continuity and reliability during welding. The robot can replace manual welding in dangerous or hard-to-reach places, reducing the risk of personnel exposure to harmful environments and improving safety.

[0105] Optionally, advanced control systems combined with technologies such as visual sensors can enable the position adjustment mechanism to automatically adjust the welding gun 510 position based on pre-set models or real-time detection results, simplifying the programming process and reducing operational difficulty.

[0106] For example, in a large pipeline laying project, the welding equipment 500 carried by the robot can flexibly adjust the angle and position of the welding gun 510 through the position adjustment mechanism, ensuring high-quality welding even in curved or intersecting pipeline sections. This not only improves work efficiency but also reduces dependence on professional welders.

[0107] As shown in Figure 4 and Figure 5 , in some embodiments, the position adjustment mechanism is configured as a multi-axis robotic arm 520, and the execution end of the multi-axis robotic arm 520 is connected to the welding gun 510.

[0108] For example, the multi-axis robotic arm 520 can be a three-axis robotic arm, a four-axis robotic arm, a five-axis robotic arm, a six-axis robotic arm, or a seven-axis robotic arm, etc.

[0109] As shown in Figure 4 and Figure 5 , in some embodiments, the welding equipment 500 further includes a welding machine 550, the welding machine 550 is electrically connected to the welding gun 510, and the welding machine 550 is arranged at the front end of the mobile chassis 10, and the multi-axis robotic arm 520 is arranged at the rear end of the mobile chassis 10.

[0110] In these embodiments, the welding equipment 500 includes not only a multi-axis robotic arm 520 and a welding torch 510, but also a welding machine 550. The welding machine 550 is electrically connected to the welding torch 510 to ensure power supply and signal transmission during the welding process. Specifically, the welding machine 550 is located at the front end of the mobile chassis 10, while the multi-axis robotic arm 520 is located at the rear end of the mobile chassis 10. This layout design optimizes the robot's space utilization and improves operational flexibility and safety.

[0111] The Welder 550 is typically quite heavy, so placing it at the front helps balance the robot's weight distribution, especially when crossing obstacles or climbing ramps, thus contributing to stability. The front position also better protects the Welder 550 from potential rear-end collisions or impacts, reducing the risk of damage.

[0112] The robotic arm's rear-end location provides a larger working range, especially when performing complex welding tasks, allowing for better coverage of various angles and positions. Its distance from the welding machine 550 and other electrical components reduces the possibility of electromagnetic interference, ensuring signal stability and accuracy during the welding process.

[0113] Clearly, a well-planned space allocation allows robots to integrate more functional components within a limited volume, maintaining their miniaturization while improving work efficiency. The modular design reduces the mutual interference between components, such as through electrical isolation, thermal management, and mechanical vibration suppression, thereby enhancing the overall system's reliability and safety.

[0114] Optionally, the mobile chassis 10 is equipped with a battery that powers the mobile chassis 10 and the welding equipment 500.

[0115] like Figure 4 and Figure 5 As shown, in some embodiments, the robot also includes a drag chassis 300, which is detachably connected to the mobile chassis 10; wherein, the welding equipment 500 also includes a welding machine 550, which is electrically connected to the welding gun 510 via a cable, the welding machine 550 is disposed on the drag chassis 300, and the multi-axis robotic arm 520 is disposed on the mobile chassis 10.

[0116] In these embodiments, the robot also includes a drag chassis 300, which is detachably connected to the mobile chassis 10. A welding machine 550 in the welding equipment 500 is electrically connected to a welding torch 510 via cables, with the welding machine 550 mounted on the drag chassis 300, while the multi-axis robotic arm 520 is mounted on the mobile chassis 10. This design not only improves the robot's flexibility and adaptability but also optimizes load distribution and space utilization.

[0117] The detachable connection between the drag chassis 300 and the mobile chassis 10 allows for quick assembly or disassembly as needed, facilitating transportation, maintenance, and adaptation to different working environments. This design enables the robot to easily add or remove additional functional modules, such as the drag chassis 300, enhancing the system's scalability and versatility.

[0118] Placing the heavier welding machine 550 on the towing chassis 300 avoids concentrating all the weight on the mobile chassis 10, thereby improving the overall center of gravity balance and enhancing the stability and handling performance of the mobile chassis 10. The towing chassis 300 also bears some of the weight, reducing the pressure on the ground from the tracks or wheels of the mobile chassis 10 and helping to protect the ground surface.

[0119] The welding machine 550 is located on the towing chassis 300 and can provide a stable power supply to the welding torch 510 through a long cable, ensuring that the welding process is not limited by distance. For example, during pipe welding operations, the towing chassis 300 can be separated from the mobile chassis 10, and the towing chassis 300 can be placed outside the pipe, allowing only the mobile chassis 10 to enter the pipe for welding operations.

[0120] The multi-axis robotic arm 520 is mounted on the mobile chassis 10, which fully utilizes the mobility and flexibility provided by the chassis 10 to achieve high-precision welding operations. Furthermore, its distance from the welding machine 550 and other electrical components reduces the possibility of electromagnetic interference, ensuring signal stability and accuracy during the welding process.

[0121] like ​ and ​ As shown, in some embodiments, the welding equipment 500 includes a wire storage mechanism 530 and a wire feeder 540, both of which are mounted on the mobile chassis 10. The wire storage mechanism 530 is used to store welding wire, and the wire feeder 540 is used to feed welding wire to the welding torch 510.

[0122] In these embodiments, the welding equipment 500 is actually part of the welding equipment 500 and includes a wire storage mechanism 530 and a wire feeder 540. Both the wire storage mechanism 530 and the wire feeder 540 are mounted on the mobile chassis 10, with the wire storage mechanism 530 storing the welding wire and the wire feeder 540 feeding the welding wire to the welding torch 510. This design ensures a stable supply of welding wire during the welding process, improving welding efficiency and quality.

[0123] The wire storage mechanism 530 is primarily used to store welding wire, ensuring sufficient material for the welding process. Depending on the expected workload and duration of the welding task, the wire storage mechanism 530 can be designed with different capacities to meet different needs. The wire storage mechanism 530 is usually designed with a convenient loading and unloading interface to facilitate quick replacement of the welding wire roll, reducing downtime. To prevent the welding wire from being contaminated or oxidized, the wire storage mechanism 530 can be equipped with a sealing cover or other protective measures.

[0124] The main function of the wire feeder 540 is to deliver the welding wire in the wire storage mechanism 530 to the welding torch 510 at an appropriate speed and tension. The wire feeder 540 is equipped with a high-precision drive system, such as a stepper motor or a servo motor, which can adjust the wire feeding speed in real time according to the welding parameters, ensuring the stability of the welding process. Some advanced wire feeders 540 have automatic tension control systems that can dynamically adjust the delivery tension of the welding wire, avoiding quality problems caused by uneven tension.

[0125] Optionally, by monitoring the consumption of the welding wire through sensors, the wire feeder 540 can issue an alarm or automatically stop when the welding wire is about to run out, preventing interruptions in the welding process.

[0126] Obviously, integrating the wire storage mechanism 530 and the wire feeder 540 into the mobile chassis 10 can optimize space utilization, maintain the overall miniaturization design of the robot, and ensure the close cooperation of all components. A stable and efficient welding wire supply system reduces the risk of interruptions during the welding process, improves the ability to work continuously, and thus improves work efficiency. The mobile chassis 10 integrates all necessary welding equipment 500, making the entire system more portable and easy to transport to different work sites, adapting to a wider range of application scenarios.

[0127] In some embodiments, the robot further includes a controller 400 and a remote controller, the remote controller and the controller 400 are electrically connected, and the controller 400 is respectively electrically connected with the mobile chassis 10 and the welding equipment 500.

[0128] In these embodiments, the operator can remotely control the movement and welding operation of the robot through the remote controller, improving the flexibility and safety of the operation.

[0129] The controller 400, as the core control system of the entire robot, is responsible for coordinating and managing the operation of all subsystems, including the mobile chassis 10, welding equipment 500 (such as welder 550, multi-axis robot arm 520, wire feeder 540, etc.), and the sensor network. The controller 400 integrates various control algorithms and support protocols, enabling efficient processing of data from different devices and issuing corresponding instructions. Equipped with high-performance processors and sufficient memory resources, it ensures real-time monitoring of the robot's state and timely response to various incidents or abnormal situations. Furthermore, the controller 400 has multiple safety protection measures built-in, such as emergency stop buttons, fault detection and recovery functions, ensuring the safety and reliability of operation.

[0130] The remote controller is the interactive interface between the operator and the robot, allowing users to send commands wirelessly or through a wired connection to control the robot's movement and perform specific tasks. For example, an intuitive operation panel or touch screen interface is provided to simplify the operation process and reduce learning costs. Depending on the application scenario, the remote controller can be equipped with various function keys, such as forward / backward, left / right steering, lifting leg deployment / recovery, welding gun 510 start / stop, etc.

[0131] Some advanced remote controllers also have a display screen that can display the robot's working status, parameter settings, and alarm information in real-time, helping operators better understand the on-site situation.

[0132] The controller 400 and the remote controller are connected through stable electrical connections such as Wi-Fi, Bluetooth, RS485, etc., ensuring the quality and speed of signal transmission and reducing delay and interference. Not only does it support one-way instruction transmission from the remote controller to the controller 400, but it also allows the controller 400 to feedback the current state to the remote controller, enabling two-way interaction.

[0133] For example, in some situations such as welding sites, operators can control the robot's operation through the remote controller, and the operator does not need to enter the welding site to protect the operator.

[0134] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus, other examples of example embodiments can have different values.

[0135] It should be noted that like reference numerals and letters refer to like items throughout the several views, and once an item is defined in one view, it is not necessary to further define and explain it in the subsequent views.

[0136] The above embodiments only express several implementation ways of the present application, and the description is more specific and detailed, but it should not be understood as a limitation to the scope of the present application. It should be pointed out that, for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application.

Claims

1. A mobile chassis characterized by, The mobile chassis comprises a chassis body and a lifting leg, the lifting leg is arranged on the chassis body; wherein the lifting leg comprises: a parallelogram linkage mechanism, the parallelogram linkage mechanism has a fixed link, a driving link and a driven link, the fixed link is connected with the chassis body; and the extension direction of the fixed link is arranged perpendicular to the length direction and the width direction of the chassis body respectively; a supporting mechanism, the supporting mechanism is arranged on the driven link; a driving mechanism, the driving mechanism is connected with the driving link, and the driving mechanism is used to drive the driving link to rotate, so that the supporting mechanism can be lifted and lowered.

2. The mobile chassis of claim 1, wherein, The supporting mechanism further comprises a connecting part and a supporting part, one end of the connecting part is connected with the driven link, and the other end of the connecting part is hinged with the supporting part, and the hinged arrangement of the connecting part and the supporting part can enable the supporting part to rotate and adjust adaptively according to the slope of the ground.

3. The mobile chassis of claim 2, wherein, The hinged arrangement of the connecting part and the supporting part enables the supporting part to rotate around a preset axis, and the preset axis is arranged parallel to the length direction or the width direction of the chassis body.

4. The mobile chassis of claim 1, wherein, The driving mechanism comprises a telescopic part, the telescopic part has a fixed end and a telescopic end, the telescopic end is hinged with the driving link, and the fixed end is hinged with the chassis body, the telescopic end can perform a telescopic action, so that the driving link can rotate; wherein the telescopic direction of the telescopic end is arranged obliquely.

5. The mobile chassis of claim 4, wherein, One of the fixed end and the telescopic end is close to the middle part of the chassis body, and the other is away from the middle part of the chassis body.

6. The mobile chassis of claim 1, wherein, The number of the lifting legs is multiple, and multiple lifting legs are arranged at intervals on the periphery of the chassis body.

7. The mobile chassis of claim 1, wherein, The chassis body is arranged as any one of the following: a tracked chassis, a wheeled chassis, a legged chassis, and a hybrid chassis.

8. A robot, characterized in that The robot comprises the mobile chassis as claimed in any one of claims 1 to 7.

9. The robot of claim 8, wherein, The robot further comprises a construction device, the construction device is arranged on the mobile chassis, and the construction device at least comprises at least one of the following: a spraying device, a welding device, a grinding device, and a cutting device.

10. The robot of claim 9, wherein, The construction device is a welding device, the welding device comprises a position adjusting mechanism and a welding gun, the position adjusting mechanism is arranged on the mobile chassis, the position adjusting mechanism is connected with the welding gun, and the position adjusting mechanism can at least adjust the position and the spraying direction of the welding gun.

11. The robot of claim 10, wherein, The position adjusting mechanism is arranged as a multi-axis mechanical arm, and the execution end of the multi-axis mechanical arm is connected with the welding gun.

12. The robot of claim 11, wherein, The welding device further comprises a welding machine, the welding machine is electrically connected with the welding gun, the welding machine is arranged at the front end of the mobile chassis, and the multi-axis mechanical arm is arranged at the rear end of the mobile chassis.

13. The robot of claim 12, wherein, The robot further comprises a towing chassis, the towing chassis is detachably connected with the mobile chassis. The welding device further comprises a welding machine, the welding machine is electrically connected with the welding gun through a cable, the welding machine is arranged on the towing chassis, and the multi-axis mechanical arm is arranged on the mobile chassis.

14. The robot of claim 13, wherein, The welding equipment includes a wire storage mechanism and a wire feeder, both of which are arranged on the mobile chassis, the wire storage mechanism is used for storing welding wire, and the wire feeder is used for conveying welding wire to the welding gun.

15. The robot according to claim 13 or 14, characterized in that, The robot further includes a controller and a remote controller, the remote controller and the controller are electrically connected, and the controller is electrically connected with the mobile chassis and the welding equipment respectively.

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