Robot rotating chassis device

Abstract

The utility model discloses a robot rotating chassis device, which relates to the technical field of robots and comprises a main frame, a bumper component, a rotating mechanism and a moving mechanism. The main frame has a mounting channel; the bumper assembly defines a ring and is fixedly arranged on the periphery of the main frame. The rotating mechanism comprises a rotating motor, a rotating bearing, a sleeve, a first conical tooth and a second conical tooth; the sleeve penetrates through the mounting channel, the upper end of the sleeve is fixedly connected with an inner ring of the rotating bearing, and an outer ring of the rotating bearing is fixedly connected with the main frame; second conical teeth are fixedly arranged at the lower end of the sleeve; the rotating motor is fixedly arranged on the main frame, and an output shaft of the rotating motor is fixedly provided with a first conical tooth; the first conical teeth and the second conical teeth are in meshing transmission; the moving mechanism is arranged on the main frame and used for driving the main frame to move. According to the invention, the rotating operation is more stable, the workpiece shaking is small, and the transmission efficiency is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to a robot rotary chassis device. BACKGROUND

[0002] RoboMaster, the national college students' robot competition, is the most influential robot project in China, and is a globally unique robot competition platform, including robot competition, robot ecology and engineering culture, and is causing a robot technology craze worldwide.

[0003] With the improvement of industrial automation degree, the demand for chassis overturning, lifting and rotating increases. The rotating device of the chassis of the traditional robot is mostly synchronous belt transmission, and the workpiece shakes greatly during operation, which has safety hazards and low transmission efficiency. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a robot rotary chassis device to solve the problems in the prior art, make the rotation operation more stable, the workpiece shakes less, and the transmission efficiency is high.

[0005] To achieve the above object, the utility model provides the following scheme:

[0006] The utility model provides a robot rotary chassis device, including main frame, bumper assembly, rotating mechanism and moving mechanism, the main frame middle part has the installation channel that penetrates up and down, the bumper assembly is surrounded into a ring, and the bumper assembly is fixedly arranged on the four sides of the main frame, the rotating mechanism includes rotating motor, rotating bearing, sleeve, first taper gear and second taper gear, the sleeve is worn in the installation channel, the upper end of the sleeve is fixedly connected with the inner ring of the rotating bearing, the outer ring of the rotating bearing is fixedly connected with the main frame, the inner ring of the rotating bearing is used for installing other external devices above, the lower end of the sleeve is fixedly provided with the second taper gear, the rotating motor is fixedly arranged on the main frame, and the output shaft of the rotating motor is fixedly provided with the first taper gear, the first taper gear is engaged with the second taper gear and drives, the moving mechanism is arranged on the main frame, and the moving mechanism is used to drive the main frame to move.

[0007] Preferably, the main frame includes two first rectangular tubes arranged in parallel and two second rectangular tubes arranged in parallel, the first rectangular tubes and the second rectangular tubes are arranged in cross, and the first rectangular tubes are fixedly arranged above the second rectangular tubes, the installation channel is formed in the middle of the two first rectangular tubes and the two second rectangular tubes.

[0008] Preferably, the bumper assembly comprises four bumper elbows, two bumper end frames and two bumper side frames; one bumper elbow is arranged between the first rectangular tube end and the adjacent second rectangular tube end; the corresponding ends of the two first rectangular tubes are fixedly connected through a bumper side frame; the corresponding ends of the two second rectangular tubes are fixedly connected through a bumper end frame; the two ends of the bumper elbow are fixedly connected with the corresponding bumper side frame and bumper end frame respectively.

[0009] Preferably, the two ends of the second rectangular tube are rotatably provided with rolling wheels protruding from the ends thereof, and the lowest surface of the rolling wheel is lower than the lowest surface of the main frame.

[0010] Preferably, in the projection in the direction of the main frame axis, the outer edge of each rolling wheel protrudes from the outer edge of the bumper assembly.

[0011] Preferably, a connecting block is fixedly connected below the first rectangular tube through a bolt, an angle code is arranged between the connecting block and the corresponding second rectangular tube, and the angle code is fixedly connected with the connecting block and the corresponding second rectangular tube through a bolt.

[0012] Preferably, the moving mechanism comprises four universal wheel devices; each universal wheel device is fixedly arranged on an angle code; the universal wheel device comprises a hanger, a single-wheel driver and a universal roller; the hanger is fixedly arranged on the angle code, the single-wheel driver is fixed on the hanger, and the universal roller is arranged on the output shaft of the single-wheel driver.

[0013] Preferably, a slip ring is fixedly arranged in the sleeve, and the slip ring is connected with the rotating motor and the moving mechanism.

[0014] Preferably, the first rectangular tube and the second rectangular tube are both aluminum alloy tubes.

[0015] Preferably, the rotating motor comprises a motor body, a connecting frame, a rotating shaft and a star claw; the fixed part of the motor body is fixedly connected with the connecting frame through a bolt, and the connecting frame is fixed on the second rectangular tube; the rotating shaft is arranged in the motor body, one end of the rotating shaft is fixedly connected with the star claw, and the star claw is fixedly connected with the rotating part of the motor body; a through hole is arranged on the second rectangular tube, the other end of the rotating shaft is rotatably arranged in the through hole through at least one flange bearing, and a first conical tooth is fixedly arranged at the end of the rotating shaft.

[0016] Compared with the prior art, the utility model has the following technical effects:

[0017] The robot rotating chassis device provided by this utility model, by using a rotating bearing and cooperating with the first and second bevel teeth of the rotating motor for transmission, can effectively reduce the radial and axial runout generated during rotation, thereby ensuring the stability of the rotation of the sleeve and the upper external device and greatly reducing the workpiece sway amplitude; through the meshing transmission of the first and second bevel teeth, the transmission is more stable and reliable, and the transmission efficiency is higher; and the ring-shaped bumper assembly provides safety protection for the main frame, and the ring-shaped design can reduce the obstruction of surrounding objects.

[0018] Furthermore, the two first rectangular tubes and the two second rectangular tubes are arranged in a cross pattern to form a "well"-like structure. This layout creates a stable frame system, with the rectangular tubes in each direction supporting each other, enhancing the main frame's resistance to deformation when subjected to external forces from different directions. The rectangular tubes around the perimeter provide uniform and strong support for the installation channels, ensuring that the installation foundation is stable during operation and reducing the positional displacement of rotating parts caused by deformation of the main frame, thereby improving the smoothness of rotational operation.

[0019] Furthermore, the bumper assembly is arranged around the main frame. The four bumper bends, two bumper end frames, and two bumper side frames together form a complete protective structure. Whether the robot is moving forward, backward, or turning, if it encounters an obstacle and collides with it, the bumper assembly can be the first to make contact and absorb the impact force, providing all-round protection for the main frame and the key components installed on it, such as the rotating mechanism and the moving mechanism, reducing the risk of damage caused by collisions. Moreover, the segmented design can better accommodate the connection between the first and second rectangular tubes stacked on top of each other, and reduce manufacturing costs.

[0020] Furthermore, the rollers are located at both ends, with their bottom surfaces lower than the bottom surface of the main frame. This allows the main frame to be better supported when the moving mechanism is not installed, reducing the contact between the main frame and the mounting surface and reducing wear between them.

[0021] Furthermore, the rolling wheels protrude from the bumper assembly, ensuring they are the first to contact obstacles during robot movement, thus better protecting the robot's internal structure and related equipment.

[0022] Furthermore, the corner brackets form a stable triangular structure between the first and second rectangular tubes, which better resists forces from all directions, prevents deformation of the main frame, and ensures the overall stability of the rotating chassis device. Compared with the traditional welding method to connect the first and second rectangular tubes, the method of fixing the connecting blocks and corner brackets with bolts allows for easy adjustment of the installation accuracy of the first and second rectangular tubes, reducing the precision problems caused by traditional welding.

[0023] Further, the universal wheels enable the robot to realize omni-directional movement, and easily complete actions such as advancing, retreating, transverse movement and in-place rotation, and the single-wheel driver independently controls the movement of each universal wheel, so that the robot can realize accurate positioning and control during movement.

[0024] Further, the slip ring transmits power and signals through internal sliding contacts, can keep the continuity of electrical connection during rotation, so that the robot can rotate by 360 degrees without limitation, and there is no need to worry about the problem of wire winding.

[0025] Further, the use of aluminum alloy pipes can significantly reduce the weight of the robot chassis, make the robot more flexible during movement, reduce energy consumption and improve endurance.

[0026] Further, the motor body is fixed on the second rectangular pipe through the connecting frame, the connecting frame plays a role of transition and strengthening fixation, the motor body and the connecting frame are connected by bolts, so that the motor can be kept stable during operation and is not easy to loosen, and the problem of unstable rotation and workpiece shaking caused by motor shaking is reduced; the rotary motor is installed on the second rectangular pipe, the structural space of the chassis main frame is fully utilized, the layout of the whole rotary chassis device is more compact and reasonable, and such layout helps to optimize the gravity distribution of the robot and improve the stability of the robot during movement and rotation; the flange bearing provides stable radial and axial support for the rotating shaft, can reduce vibration and swing of the rotating shaft during high-speed rotation, and ensures the rotation accuracy of the rotating shaft. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0028] Figure 1 The overall structure schematic diagram of the robot rotary chassis device provided by the present application is shown in the figure.

[0029] Figure 2 The structure schematic diagram of the robot rotary chassis device provided by the present application is shown in the figure.

[0030] Figure 3 The structure schematic diagram of the robot rotary chassis device provided by the present application is shown in the figure.

[0031] Figure 4 The structure schematic diagram of the robot rotary chassis device provided by the present application is shown in the figure.

[0032] Figure 5 The connecting structure diagram between the bumper end frame and the bumper elbow pipe in the robot rotary chassis device is provided in the utility model;

[0033] Figure 6 The structure schematic diagram of the rotary bearing in the robot rotary chassis device is provided in the utility model;

[0034] Figure 7 The structure connection schematic diagram of the rotary bearing and the second bevel gear in the robot rotary chassis device is provided in the utility model;

[0035] Figure 8 The structure schematic diagram of the sleeve in the robot rotary chassis device is provided in the utility model;

[0036] Figure 9 The meshing transmission schematic diagram of the first bevel gear and the second bevel gear in the robot rotary chassis device is provided in the utility model.

[0037] In the drawing,

[0038] 10 - main frame; 11 - first rectangular pipe; 12 - second rectangular pipe; 13 - connecting block; 14 - angle code;

[0039] 20 - bumper assembly; 21 - bumper elbow pipe; 22 - bumper end frame; 23 - bumper side frame; 24 - triangular glass fiber plate; 25 - rolling wheel; 26 - extension clamping plate; 27 - cushion block plate;

[0040] 30 - rotating mechanism; 31 - rotating motor; 311 - star claw; 312 - star claw gasket; 313 - rotating shaft; 314 - connecting frame; 32 - rotary bearing; 321 - inner ring; 322 - outer ring; 33 - sleeve; 34 - first bevel gear; 35 - second bevel gear; 36 - slip ring; 37 - fixed ring plate;

[0041] 40 - universal wheel device; 41 - hanger; 42 - single-wheel driver; 43 - universal roller. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0043] The utility model aims at providing a robot rotary chassis device to solve the problems in the prior art, so that the rotation operation is more stable, the workpiece shakes less, and the transmission efficiency is high.

[0044] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Example 1

[0046] This embodiment provides a robot rotating chassis device, such as Figures 1-9 As shown, the system includes a main frame 10, a bumper assembly 20, a rotating mechanism 30, and a moving mechanism. The main frame 10 has a through-hole mounting channel in the middle. The bumper assembly 20 forms a ring and is fixedly mounted around the main frame 10. The rotating mechanism 30 includes a rotating motor 31, a rotating bearing 32, a sleeve 33, a first conical tooth 34, and a second conical tooth 35. The sleeve 33 passes through the mounting channel, and its upper end is fixedly connected to the inner ring 321 of the rotating bearing 32, while the outer ring 322 of the rotating bearing 32 is fixedly connected to the main frame 10. The inner ring 321 of the bearing 32 is used to install other external devices; the lower end of the sleeve 33 is fixedly provided with a second conical tooth 35; the rotary motor 31 is fixedly provided on the main frame 10, and the output shaft of the rotary motor 31 is fixedly provided with a first conical tooth 34; the first conical tooth 34 and the second conical tooth 35 mesh and drive each other (the first conical tooth 34 and the second conical tooth 35 are set according to requirements, such as the first conical tooth 34 being 1.5 modulus 15 teeth; the second conical tooth 35 being 1.5 modulus 45 teeth); the moving mechanism is provided on the main frame 10, and the moving mechanism is used to drive the main frame 10 to move.

[0047] By employing a rotary bearing 32 and cooperating with the first conical tooth 34 and the second conical tooth 35 of the rotary motor 31 for transmission, the radial and axial runout generated during rotation can be effectively reduced, thereby ensuring the smooth rotation of the sleeve 33 and the upper external device and greatly reducing the workpiece sway amplitude. Through the meshing transmission of the first conical tooth 34 and the second conical tooth 35, the transmission is smoother and more reliable, and the transmission efficiency is higher. Furthermore, the use of an annular bumper assembly 20 provides safety protection for the main frame 10, and the annular design can reduce the obstruction of surrounding objects.

[0048] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 , Figure 2 and Figure 3As shown, the main frame 10 includes two parallel first rectangular tubes 11 and two parallel second rectangular tubes 12. The first rectangular tubes 11 and second rectangular tubes 12 are arranged intersectingly, and the first rectangular tubes 11 are fixedly positioned above the second rectangular tubes 12. An installation channel is formed in the middle of the two first rectangular tubes 11 and the two second rectangular tubes 12. The intersecting arrangement of the two first rectangular tubes 11 and the two second rectangular tubes 12 forms a structure similar to a "well" shape. This layout constructs a stable frame system, with the rectangular tubes in each direction supporting each other, enhancing the main frame 10's resistance to deformation when subjected to external forces from different directions. The rectangular tubes around the perimeter provide uniform and strong support for the installation channel, ensuring that the installation foundation is stable during operation, reducing the positional displacement of rotating parts caused by deformation of the main frame 10, thereby improving the smoothness of rotational operation.

[0049] The following are the settings instructions for the main frame 10:

[0050] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 , Figure 2 and Figure 3 As shown, a connecting block 13 is bolted to the bottom of the first rectangular tube 11. A corner bracket 14 is provided between the connecting block 13 and the corresponding second rectangular tube 12. The corner bracket 14 is bolted to the connecting block 13 and the corresponding second rectangular tube 12. The corner bracket 14 forms a stable triangular structure between the first rectangular tube 11 and the second rectangular tube 12, which better resists forces from all directions, prevents deformation of the main frame 10, and ensures the overall stability of the rotating chassis device. Compared with the traditional welding method to connect the first rectangular tube 11 and the second rectangular tube 12, the bolted method using the connecting block 13 and the corner bracket 14 allows for easy adjustment of the installation accuracy of the first rectangular tube 11 and the second rectangular tube 12, reducing the accuracy problems caused by traditional welding.

[0051] Specifically, the first rectangular tube 11 and the second rectangular tube 12 have through holes at corresponding positions where they intersect and overlap, and bolts are inserted through the through holes for fixing.

[0052] Among the optional solutions in this embodiment, the more preferred one is as follows: Figure 1 and Figure 2 As shown, the two ends of the second rectangular tube 12 are respectively provided with rolling wheels 25 protruding from their ends, and the bottom surface of the rolling wheels 25 is lower than the bottom surface of the main frame 10. The rolling wheels 25 are located at both ends, and the bottom surface of the rolling wheels 25 is lower than the bottom surface of the main frame 10. This enables the main frame 10 to be better supported when the moving mechanism is not installed, reducing the contact between the main frame 10 and the mounting surface, and reducing mutual wear.

[0053] Among the optional solutions in this embodiment, the more preferred one is as follows:Figure 1 and Figure 2 As shown in the projection of the main frame 10 in the axial direction, the outer edge of each rolling wheel 25 protrudes from the outer edge of the bumper assembly 20. The rolling wheel 25 protrudes from the bumper assembly 20, so that it contacts the obstacle first during the movement of the robot, thereby better protecting the inside structure of the robot and the corresponding equipment.

[0054] Specifically, the rolling wheel 25 is a polyurethane molded bearing, which is connected to the second rectangular tube 12 through a triangular glass plate 24 and a screw.

[0055] In an optional embodiment of the present embodiment, preferably, the first rectangular tube 11 and the second rectangular tube 12 are both aluminum alloy tubes. The use of aluminum alloy tubes can significantly reduce the weight of the robot chassis, making the robot more flexible during movement, reducing energy consumption, and improving endurance.

[0056] Among them, the related setting of the bumper assembly 20 is explained as follows:

[0057] In an optional embodiment of the present embodiment, preferably, as shown in Figure 1 , Figure 2 and Figure 5 , the bumper assembly 20 includes four bumper elbow pipes 21, two bumper end racks 22, and two bumper side racks 23; one bumper elbow pipe 21 is arranged between the end of the first rectangular tube 11 and the end of the adjacent second rectangular tube 12; the corresponding ends of the two first rectangular tubes 11 are fixedly connected through one bumper side rack 23; the corresponding ends of the two second rectangular tubes 12 are fixedly connected through one bumper end rack 22; the two ends of the bumper elbow pipe 21 are fixedly connected with the corresponding bumper side rack 23 and bumper end rack 22, respectively. The bumper assembly 20 is arranged around the main frame 10, and the four bumper elbow pipes 21, two bumper end racks 22, and two bumper side racks 23 jointly form a complete protection structure. Whether the robot is advancing, retreating, or turning, the bumper assembly 20 can first contact and bear the impact force when encountering obstacles, thereby protecting the main frame 10 and the key components such as the rotating mechanism 30 and the moving mechanism installed thereon, reducing the risk of damage caused by collision; and the segmented arrangement can better adapt to the connection of the first rectangular tube 11 and the second rectangular tube 12 stacked above and below, and reduce the production cost.

[0058] Specifically, the bumper end rack 22 and the bumper elbow pipe 21 can be fixedly connected through an extension clamp plate 26 and a cushion plate 27.

[0059] Among them, the related setting of the rotating mechanism 30 is explained as follows:

[0060] Specifically, the outer ring 322 of the rotating bearing 32 is fixed on a fixed ring plate 37, and the fixed ring plate 37 is fixed on the two first rectangular tubes 11.

[0061] Specifically, the second conical tooth 35 is uniformly provided with three countersunk mounting holes, so that the bolt head is embedded in the interior when the fixing bolt is subsequently installed.

[0062] Specifically, the rotating shaft 313 is provided at one end with four M3 threaded holes, so as to be subsequently fixedly connected with the star claw 311.

[0063] In an optional solution of the embodiment, as shown in Figure 1 、 Figure 2 、 Figure 6 and Figure 7 , the sleeve 33 is fixedly provided with a slip ring 36 inside, and the slip ring 36 is connected (power connection and communication connection) with the rotating motor 31 and the moving mechanism. The slip ring 36 transmits power and signals through the internal sliding contact, can keep the continuity of electrical connection in the rotating process, so that the robot can rotate 360 degrees without limitation, without worrying about the problem of wire winding.

[0064] Specifically, the lower end of the slip ring 36 is provided with three circumferential through holes at the corresponding position of the lower end of the sleeve 33 and the second conical tooth 35; the inner ring 321 of the rotating bearing 32 is provided with three protrusions at the position corresponding to the upper end of the sleeve 33, the middle space of the three protrusions is used for the upper end of the slip ring 36 to pass through, and the three protrusions are provided with threaded holes at the positions corresponding to the corresponding positions of the sleeve 33, a long screw is passed through at one side of the second conical tooth 35, the threaded end is screwed with the threaded hole on the protrusion, so as to realize the fixed connection of the second conical tooth 35, the sleeve 33 and the inner ring 321 of the rotating bearing 32.

[0065] In an optional solution of the embodiment, as shown in Figure 1 、 Figure 2 and Figure 4As shown, the rotating motor 31 includes a motor body (such as a DJI 6020 motor), a connecting frame 314 (which is approximately C-shaped and corresponds to the shape of the second rectangular tube 12 and is made of aluminum alloy), a rotating shaft 313 (one end of the rotating shaft 313 is provided with a limiting surface which cooperates with the first conical gear 34 to limit the relative rotation in the circumferential direction, which is a prior structure and will not be described in detail here), and a star claw 311 (a star claw gasket 312 is further provided between the star claw 311 and the rotating part of the motor body, and the hole in the middle of the star claw gasket 312 is larger than the hole in the middle of the star claw 311 (the reason why the hole in the middle of the star claw gasket 312 is larger is that it is needed to pad the protruding part of the corresponding rotating shaft 313, so the hole in the middle will be larger, and other structures are the same); the fixed part of the motor body is fixedly connected to the connecting frame 314 by bolts, and the connecting frame 314 is fixed to a second rectangular tube 12; the rotating shaft 313 is arranged in the motor body, and one end of the rotating shaft 313 is fixedly connected to the star claw 311, and the star claw 311 is fixedly connected to the rotating part of the motor body; a through hole is formed in the second rectangular tube 12, and the other end of the rotating shaft 313 is rotatably arranged in the through hole by at least one flange bearing (two flange bearings are used in particular), and a first conical gear 34 is fixedly arranged at the end of the rotating shaft 313. The motor body is fixed to the second rectangular tube 12 through the connecting frame 314, and the connecting frame 314 plays a role in transition and strengthening fixation. The motor body and the connecting frame 314 are connected by bolts, which can ensure that the motor remains stable during operation and is not easy to loosen, reducing the problem of unstable rotation and workpiece shaking caused by the shaking of the motor; the rotating motor 31 is installed on the second rectangular tube 12, making full use of the structural space of the chassis main frame 10, so that the layout of the entire rotating chassis device is more compact and reasonable. This layout helps to optimize the distribution of the robot's center of gravity and improve the stability of the robot during movement and rotation; the flange bearing provides stable radial and axial support for the rotating shaft 313, which can reduce the vibration and swing of the rotating shaft 313 during high-speed rotation and ensure the rotation accuracy of the rotating shaft 313.

[0066] Among them, the relevant setting of the moving mechanism is as follows:

[0067] In the optional solution of the present embodiment, it is more preferred that Figure 1 As shown, the moving mechanism includes four universal wheel devices 40; each universal wheel device 40 is fixedly arranged on an angle code 14; the universal wheel device 40 includes a hanger 41, a single-wheel drive 42, and a universal roller 43; the hanger 41 is fixedly arranged on the angle code 14, the single-wheel drive 42 is fixed on the hanger 41, and the universal roller 43 is arranged on the output shaft of the single-wheel drive 42. The universal roller 43 enables the robot to realize omnidirectional movement, and can easily complete actions such as forward movement, backward movement, lateral movement, and rotation in place. The single-wheel drive 42 independently controls the movement of each universal roller 43, so that the robot can realize accurate positioning and control during movement.

[0068] Specifically, the universal wheel device 40 is of a prior structure, which will not be described in more details.

[0069] Among them, the other related settings are as follows:

[0070] Specifically, the relevant components can be made by 3D printing, including but not limited to sleeve 33, connecting block 13, fixed ring plate 37, etc.

[0071] The principle and implementation mode of the specific examples are described in the utility model, and the above embodiment is only used to help understand the method and core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the utility model, the specific implementation mode and application range will be changed. In conclusion, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. A robotic swivel chassis apparatus, characterized by: The application relates to a main frame, a bumper assembly, a rotating mechanism and a moving mechanism. The main frame is provided with an installation channel penetrating through the upper and lower portions of the middle portion of the main frame. The bumper assembly is enclosed into a ring shape, and the bumper assembly is fixedly arranged around the main frame. The rotating mechanism comprises a rotating motor, a rotating bearing, a sleeve, a first conical gear and a second conical gear. The sleeve is arranged in the installation channel, the upper end of the sleeve is fixedly connected with the inner ring of the rotating bearing, the outer ring of the rotating bearing is fixedly connected with the main frame, the inner ring of the rotating bearing is arranged above the other external devices.

2. The robotic rotating chassis apparatus of claim 1, wherein: The lower end of the sleeve is fixedly provided with the second conical gear.

3. The robotic rotary chassis apparatus of claim 2, wherein: The rotating motor is fixedly arranged on the main frame, and the output shaft of the rotating motor is fixedly provided with the first conical gear. The first conical gear is engaged with the second conical gear for transmission. The moving mechanism is arranged on the main frame, and the moving mechanism is used for driving the main frame to move. The main frame comprises two first rectangular tubes arranged in parallel and two second rectangular tubes arranged in parallel. The first rectangular tubes and the second rectangular tubes are arranged in a cross mode, and the first rectangular tubes are fixedly arranged above the second rectangular tubes.

4. The robotic rotary chassis apparatus of claim 3, wherein: The installation channel is formed in the middle portions of the two first rectangular tubes and the two second rectangular tubes.

5. The robotic rotating chassis apparatus of claim 4, wherein: The bumper assembly comprises four bumper elbow pipes, two bumper end frames and two bumper side frames.

6. The robotic rotating chassis apparatus of claim 2, wherein: The bumper elbow pipe is arranged between the end portion of the first rectangular tube and the end portion of the adjacent second rectangular tube.

7. The robotic rotary chassis apparatus of claim 6, wherein: The corresponding end portions of the two first rectangular tubes are fixedly connected through the bumper side frame. The corresponding end portions of the two second rectangular tubes are fixedly connected through the bumper end frame.

8. The robotic rotary chassis apparatus of claim 1, wherein: The two ends of the bumper elbow pipe are fixedly connected with the corresponding bumper side frame and bumper end frame.

9. The robotic rotary chassis apparatus of claim 2, wherein: The two ends of the second rectangular tube are rotatably provided with rolling wheels protruding from the end portions of the second rectangular tube.

10. The robotic rotary chassis apparatus of claim 2, wherein: In the projection of the main frame in the axial direction, the outer edges of the rolling wheels protrude from the outer edges of the bumper assembly. The connecting block is fixedly connected with the second rectangular tube through a bolt. The moving mechanism comprises four universal wheels. The universal wheel is fixedly arranged on the corner code. The universal wheel comprises a hanger, a single-wheel driver and a universal roller. The sleeve is fixedly provided with a slip ring. The first rectangular tube and the second rectangular tube are aluminum alloy tubes. The rotating motor comprises a motor body, a connecting frame, a rotating shaft and a star claw. The fixed portion of the motor body is fixedly connected with the connecting frame through a bolt. The connecting frame is fixedly arranged on the second rectangular tube. The rotating shaft is arranged in the motor body, one end of the rotating shaft is fixedly connected with the star claw, the star claw is fixedly connected with the rotating part of the motor body, a through hole is arranged on the second rectangular tube, the other end of the rotating shaft is rotatably arranged in the through hole through at least one flange bearing, and the end of the rotating shaft is fixedly provided with the first conical teeth.

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