Omni-directional moving rocker arm type suspension robot chassis

Abstract

The utility model relates to the field of suspensions, in particular to an omni-directional moving rocker arm type suspension robot chassis which adopts the technical scheme that the omni-directional moving rocker arm type suspension robot chassis comprises a machine body frame, a control system and a suspension system arranged on the machine body frame, the suspension system comprises a rocker arm assembly arranged on the machine body frame, a linkage assembly arranged in the machine body frame and connected with the rocker arm assembly, and a plurality of steering assemblies arranged on the rocker arm assembly. The steering assembly comprises a mounting base arranged on the rocker arm assembly, a steering motor arranged in the mounting base, a fixing base connected with an output shaft of the steering motor and a driving wheel arranged on the fixing base, and the output shaft of the steering motor is vertically arranged downwards and drives the driving wheel to rotate by 360 degrees around the output shaft of the steering motor. The terrain adaptability and trafficability of the robot are improved, and the structural stability of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of suspension, and more particularly to an omnidirectional rocker arm suspension robot chassis. Background Technology

[0002] Mobile robot chassis used in fields such as inspection, security, and special transportation are mainly divided into two categories: one is the traditional wheeled chassis; the other is the omnidirectional mobile chassis.

[0003] Traditional wheeled chassis, including four-wheel differential drive and Ackermann steering chassis, offer good stability and fuel efficiency on flat roads. However, they have a large turning radius, making lateral movement (crawl) or turning on the spot difficult. In confined spaces, their maneuverability is severely limited. Furthermore, traditional wheeled chassis have limited suspension travel, resulting in poor terrain adaptability and difficulty traversing rough roads or obstacles smoothly.

[0004] Although omnidirectional mobile chassis can achieve zero-radius steering and translation in any direction, its wheel system structure is complex, it has extremely high requirements for ground flatness, its obstacle crossing ability is weak, and it has high rolling resistance and high energy consumption during operation, making it less practical in outdoor unstructured environments. Utility Model Content

[0005] To address the problems existing in the prior art, this application provides an omnidirectional mobile rocker arm suspension robot chassis.

[0006] This application provides an omnidirectional mobile rocker arm suspension robot chassis, which adopts the following technical solution:

[0007] An omnidirectional mobile rocker arm suspension robot chassis includes a body frame and a control system, and further includes a suspension system mounted on the body frame. The suspension system includes a rocker arm assembly mounted on the body frame, a linkage assembly mounted within the body frame and connected to the rocker arm assembly, and several steering assemblies mounted on the rocker arm assembly. Each steering assembly includes a mounting base mounted on the rocker arm assembly, a steering motor mounted within the mounting base, a fixed base connected to the output shaft of the steering motor, and a drive wheel mounted on the fixed base. The output shaft of the steering motor is vertically downward and drives the drive wheel to rotate 360 ​​degrees around the output shaft of the steering motor. The linkage assembly includes... The assembly includes a mounting shell within the fuselage frame, a connecting shaft mounted on the mounting shell and connected to the rocker arm assembly, a first bevel gear within the mounting shell, a second bevel gear mounted on the connecting shaft on one side of the fuselage frame along its length, and a third bevel gear mounted on the connecting shaft on the other side of the fuselage frame along its length. The rocker arm assembly is rotatably connected to the fuselage frame via the connecting shaft. The first bevel gear meshes with the second bevel gear, and the first bevel gear meshes with the third bevel gear. The first, second, and third bevel gears form a linkage relationship. When either the second or third bevel gear rotates, the first bevel gear drives the other bevel gear to rotate in the opposite direction.

[0008] By adopting the above technical solution, the chassis frame is used to install the control system and suspension system; the rocker arm assembly is used to improve the terrain adaptability of the steering assembly; the linkage assembly improves the obstacle-crossing capability of the rocker arm assembly; the steering assembly is used to drive the chassis frame to move; the mounting base is used to install the steering motor, which drives the fixed base to rotate; the rotation of the fixed base drives the drive wheel to steer, thus facilitating the control of the drive wheel's direction of travel and enabling the robot to achieve arbitrary directional steering. The structure is simple. The linkage assembly, in conjunction with the rocker arm assembly, improves the obstacle-crossing and adaptability of the robot chassis; the mounting shell is used to install the connecting shaft, improving the stability of the connecting shaft on the chassis frame; the rocker arm assembly connects to the chassis frame via the connecting shaft. The rotating connection of the body frame facilitates the raising or lowering of the rocker arm assembly according to ground conditions. The mounting shell also improves the stability of the first, second, and third bevel gears on the body frame. The first bevel gear drives the second and third bevel gears to rotate in opposite directions. When the rocker arm assembly on one side of the body frame is forced to rise, the connecting shaft on one side rotates, driving the connected second or third bevel gear to rotate. Then, by driving the first bevel gear to rotate, it drives the third or second bevel gear on the opposite side to rotate, thereby driving the rocker arm assembly on the other side to be passively pressed down, increasing ground pressure and adhesion, effectively preventing slippage and tipping, mimicking the steady walking principle of multi-legged insects.

[0009] Preferably, at least two sets of rocker arm assemblies are provided, and the two sets of rocker arm assemblies are symmetrically arranged on both sides of the body frame along the length direction.

[0010] By adopting the above technical solution, two sets of rocker arm assemblies are symmetrically arranged on both sides of the fuselage frame along its length, thereby improving the stability of the fuselage frame in motion.

[0011] Preferably, the rocker arm assembly includes a connecting rocker arm disposed on the body frame and connected to the linkage assembly, a front rocker arm and a rear rocker arm connected to the connecting rocker arm, the connecting rocker arm being hinged to the body frame, the front rocker arm being detachably connected to one end of the connecting rocker arm, and the rear rocker arm being detachably connected to the other end of the connecting rocker arm.

[0012] By adopting the above technical solution, the rocker arm assembly includes a connecting rocker arm, a front rocker arm, and a rear rocker arm. Through modular disassembly of the rocker arm structure, the rocker arm assembly is more adaptable to complex terrain. The rocker arms are detachably connected, which facilitates installation or disassembly.

[0013] Preferably, the connecting rocker arm, the front rocker arm, and the rear rocker arm are arranged in a triangular pattern.

[0014] By adopting the above technical solution, the rocker arm, front rocker arm and rear rocker arm are arranged in a triangular pattern, which improves the structural stability of the rocker arm assembly.

[0015] Preferably, the mounting housing is provided with a bearing located at the connection between the mounting housing and the connecting shaft.

[0016] By adopting the above technical solution, the bearing effectively reduces the friction at the connection between the mounting housing and the connecting shaft, thereby improving the overall smoothness of the robot's movement.

[0017] Preferably, the connecting rocker arm is provided with a connector for connecting the front rocker arm, the connecting rocker arm has a cavity 1 on the side facing the front rocker arm, the cavity 1 is arc-shaped, the front rocker arm has a cavity 2 corresponding to the cavity 1 on the side facing the connecting rocker arm, and the front rocker arm is provided with a limiting member 1 located in the cavity 2 and the cavity 1.

[0018] By adopting the above technical solution, the connecting component 1 improves the connection stability between the connecting rocker arm and the front rocker arm, and facilitates the relative rotation of the connecting rocker arm and the front rocker arm. The limiting component 1 is used to limit the swing angle of the front rocker arm and to limit the swing angle of the front rocker arm within a safe range.

[0019] Preferably, the limiting member one includes a positioning part located inside the cavity two and extending along the inner wall of the cavity two, and a limiting part disposed on the side of the positioning part facing the cavity one. The limiting part is located inside the cavity one, the two ends of the positioning part are fitted with the two ends of the cavity two, and an movable gap is formed between the two ends of the limiting part and the inner wall of the cavity one.

[0020] By adopting the above technical solution, the positioning part improves the stability of the limiting part one in the cavity two. The limiting part is used to limit the swing angle between the front rocker arm and the connecting rocker arm, and the movable gap is used for the front rocker arm and the connecting rocker arm to swing.

[0021] Preferably, the connecting rocker arm is provided with a limiting shaft on the side facing the body frame, the limiting shaft is connected to the connecting shaft, the connecting rocker arm is rotatably connected to the body frame through the limiting shaft, and the connecting rocker arm is provided with a second limiting component.

[0022] By adopting the above technical solution, the limiting shaft is used to connect the rocker arm and the fuselage frame for rotational connection, and the second limiting component increases the swing amplitude between the connecting rocker arm and the fuselage frame.

[0023] Preferably, the limiting shaft includes a rotating part disposed on the machine frame and a connecting part disposed on the rotating part facing the connecting rocker arm. The connecting part has an arc groove for the two ends of the limiting member to be inserted into it, and the center of the arc groove is located on the rotation axis of the limiting shaft.

[0024] By adopting the above technical solution, the rotating part is used to rotate and connect with the fuselage frame, the connecting part improves the connection stability between the limiting shaft and the connecting rocker arm, and the arc groove one is used for the limiting part two to rotate, so as to provide rotation space for the swing of the connecting rocker arm.

[0025] Preferably, the connecting rocker arm is provided with a connecting member two for connecting the rear rocker arm.

[0026] By adopting the above technical solution, connector two is used to connect the rear rocker arm and the connecting rocker arm, thereby improving the stability of both.

[0027] In summary, this application increases the flexibility of the suspension system by using rocker arm assemblies, improves the adaptability of the suspension system to complex terrain, facilitates the control of the movement direction of the suspension system by using steering assemblies, reduces steering distance, expands steering angle, and improves the robot's movement flexibility in narrow spaces; the rocker arm assemblies are arranged in a triangular pattern, which improves the stability of the suspension system in harsh environments. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of an omnidirectional mobile rocker arm suspension robot chassis according to this application. Figure 1 ;

[0029] Figure 2 This is a schematic diagram of the structure of an omnidirectional mobile rocker arm suspension robot chassis according to this application. Figure 2 ;

[0030] Figure 3 This is a cross-sectional view of an omnidirectional mobile rocker arm suspension robot chassis according to this application;

[0031] Figure 4 This is a schematic diagram of the structure of an omnidirectional mobile rocker arm suspension robot chassis according to this application. Figure 3 ;

[0032] Figure 5 This is a schematic diagram of the structure of an omnidirectional mobile rocker arm suspension robot chassis according to this application. Figure 4 ;

[0033] Figure 6 This is a schematic diagram of the structure of an omnidirectional mobile rocker arm suspension robot chassis according to this application. Figure 5 ;

[0034] Figure 7 This is a schematic diagram of the structure of the linkage component in this application;

[0035] Figure 8 This is a schematic diagram of the structure of the drive wheel turning in place according to this application.

[0036] Explanation of reference numerals in the attached drawings: 1. Fuselage frame; 2. Suspension system; 21. Rocker arm assembly; 211. Connecting rocker arm; 212. Front rocker arm; 213. Rear rocker arm; 22. Linkage assembly; 221. Mounting housing; 222. Connecting shaft; 223. First bevel gear; 224. Second bevel gear; 225. Third bevel gear; 23. Steering assembly; 231. Mounting seat; 232. Steering motor; 233. Fixed seat; 234. Drive wheel; 3. Bearing; 4. Connector 1; 5. Cavity 1; 6. Cavity 2; 7. Limiting component 1; 71. Positioning part; 72. Limiting part; 8. Limiting shaft; 81. Rotating part; 82. Connecting part; 9. Limiting component 2; 10. Arc groove 1; 11. Connector 2. Detailed Implementation

[0037] The following is in conjunction with the appendix Figures 1-8 The present invention will be further described below. The following embodiments are only used to more clearly illustrate the technical solution of this application, and should not be used to limit the protection scope of the present invention.

[0038] In the description of this application, it should be noted that the orientations or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inner", and "outer" are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0039] This application discloses an omnidirectional mobile rocker arm suspension robot chassis. (Refer to...) Figure 1 and Figure 2The system includes a chassis frame 1, a suspension system 2 mounted on the chassis frame 1, and a control system. The suspension system 2 includes a rocker arm assembly 21 mounted on the chassis frame 1, a linkage assembly 22 mounted inside the chassis frame 1 and connected to the rocker arm assembly 21, and several steering assemblies 23 mounted on the rocker arm assembly 21 for moving the chassis frame 1. At least two sets of rocker arm assemblies 21 are provided. In this embodiment, two sets of rocker arm assemblies 21 are used, symmetrically arranged on both sides of the chassis frame 1 in the direction of travel. In this embodiment, six sets of steering assemblies 23 are provided, with three sets of steering assemblies 23 on one side of the rocker arm assembly 21. Through the coordinated control of the six independent steering assemblies 23, the mobility of the robot chassis is improved, enabling zero-radius in-situ turning and arbitrary directional translation on flat terrain. In specific implementations, the number of steering assemblies 23 may be increased or decreased according to actual conditions.

[0040] Reference Figure 1 and Figure 2 The rocker arm assembly 21 includes a connecting rocker arm 211 mounted on one side of the fuselage frame 1 in the direction of travel, a front rocker arm 212 disposed at one end of the connecting rocker arm 211, and a rear rocker arm 213 disposed at the other end of the connecting rocker arm 211. The connecting rocker arm 211 is connected to the linkage assembly 22 to facilitate control of the rocker arm assembly 21 on the opposite side. The steering assembly 23 includes a mounting base 231 mounted on the rocker arm assembly 21, a steering motor 232 mounted in the mounting base 231, a fixed base 233 connected to the output shaft of the steering motor 232, and a drive wheel 234 mounted on the fixed base 233. The output shaft of the steering motor 232 is vertically downward. When the steering motor 232 is started, it drives the fixed base 233 to rotate. The rotation of the fixed base 233 drives the drive wheel 234 to rotate at the overall travel angle, which is used to control the drive wheel 234 to rotate 360 ​​degrees around the output shaft of the steering motor 232. A motor for driving the drive wheel 234 to rotate is mounted on the fixed base 233. This facilitates multi-angle turning of the robot, improves the steering capability of the robot chassis, and effectively solves the problem of traditional chassis having a large turning radius and being unable to move laterally. In this embodiment, the drive wheel 234 is either an inflatable wheel or a solid rubber wheel.

[0041] In practical implementation, the steering assembly 23 can be configured with four or eight sets, etc., to improve the stability of the robot chassis movement. The drive wheel 234 can also be configured as an omnidirectional spherical wheel.

[0042] Reference Figure 2 and Figure 3The connecting rocker arm 211, front rocker arm 212, and rear rocker arm 213 are arranged in a triangular pattern to improve the stability of the rocker arm assembly 21 and disperse and mitigate terrain impacts. One end of the connecting rocker arm 211 is hinged to the fuselage frame 1, the front rocker arm 212 is detachably connected to one end of the connecting rocker arm 211, and the rear rocker arm 213 is detachably connected to the other end of the connecting rocker arm 211. In this embodiment, one end of the rear rocker arm 213 is connected to the end of the connecting rocker arm 211 that is hinged to the fuselage frame 1, and the other end of the connecting rocker arm 211 is hinged to the front rocker arm 212. A connector 4 is installed on the connecting rocker arm 211, which enables the connecting rocker arm 211 and the front rocker arm 212 to be connected and rotate relative to each other. In this embodiment, connector 4 uses a long bolt and nut. The part of the long bolt that passes through the connecting rocker arm 211 and the front rocker arm 212 is a smooth rod (with a smooth surface and no threads), which facilitates the angle adjustment of the front rocker arm 212 and the connecting rocker arm 211.

[0043] Reference Figure 3 , Figure 4 and Figure 5 To ensure that the relative rotation between the front rocker arm 212 and the connecting rocker arm 211 is within a controllable range, a limiting member 7 is provided on the front rocker arm 212, and a cavity 5 is formed on the side of the connecting rocker arm 211 facing the front rocker arm 212. The cavity 5 is arc-shaped, and the center of the arc is located on the rotation axis of the connecting member 4. A cavity 6 corresponding to the cavity 5 is formed on the front rocker arm 212, and the limiting member 7 is located in the cavity 6 and the cavity 5. The limiting member 7 includes a positioning part 71 located in the cavity 6 and a limiting part 72 located on the side of the positioning part 71 facing the cavity 5. The positioning part 71 extends and fits along the inner wall of the cavity, improving the stability of the limiting member 7 on the front rocker arm 212. When the front rocker arm 212 rotates, the positioning part 71 rotates simultaneously with the front rocker arm 212, and the two ends of the limiting part 72 form an movable gap with the inner wall of the cavity 5, providing rotation space for the front rocker arm 212. When the front rocker arm 212 rotates, causing the end of the limiting part 72 to abut against the cavity 6, the front rocker arm 212 drives the connecting rocker arm 211 to swing. In this embodiment, the connecting member 4 is located at the end of the connecting rocker arm 211, at the center of the length direction of the front rocker arm 212. A set of steering components 23 are installed at both ends of the front rocker arm 212 to improve the maneuverability of the front rocker arm 212. When encountering a slope, the front rocker arm 212 can adjust its angle to adapt to the ground conditions.

[0044] Reference Figure 3 and Figure 5A limiting shaft 8 is installed on the side of the connecting rocker arm 211 facing the fuselage frame 1. The limiting shaft 8 is used to connect with the linkage component 22. The connecting rocker arm 211 is rotatably connected to the fuselage frame 1 through the limiting shaft 8, which facilitates the adjustment of the travel angle of the connecting rocker arm 211. To ensure that the connecting rocker arm 211 is within a safe swing range, a second limiting member 9 is provided on the connecting rocker arm 211. An arc groove 10 is provided on the limiting shaft 8. One end of the second limiting member 9 is located in the arc groove 10, and the center of the arc groove 10 is located on the rotation axis of the limiting shaft 8. To ensure the rotation and connection effects of the limiting shaft 8, the limiting shaft 8 includes a rotating part 81 located on the fuselage frame 1 and a connecting part 82 located on the side of the rotating part 81 facing the connecting rocker arm 211. The arc groove 10 is provided on the side of the connecting part 82 facing the connecting rocker arm 211.

[0045] Reference Figure 3 , Figure 6 and Figure 7 The linkage component 22 includes a mounting shell 221 installed within the fuselage frame 1, a connecting shaft 222 installed within the mounting shell 221 and connected to the rocker arm assembly 21, and a first bevel gear 223, a second bevel gear 224, and a third bevel gear 225 installed within the mounting shell 221. The connecting shaft 222 is connected to a limiting shaft 8. A bearing 3 is installed on the mounting shell 221 at the connection point between the mounting shell 221 and the connecting shaft 222. The bearing 3 is used to reduce the friction between the connecting shaft 222 and the mounting shell 221. In this embodiment, the connecting shaft 222 is fixedly connected to the limiting shaft 8 by bolts and nuts. The second bevel gear 224 is connected to the connecting shaft 222 on one side of the fuselage frame 1, and the third bevel gear 225 is connected to the connecting shaft 222 on the other side of the fuselage frame 1. The rotation axis of the first bevel gear 223 is set along the length of the fuselage frame 1. The second bevel gear 224 meshes with the first bevel gear 223, and the third bevel gear 225 meshes with the first bevel gear 223. The first bevel gear 223 transmits rotation, causing the second bevel gear 224 and the third bevel gear 225 to rotate in opposite directions, and the rotation directions of the second bevel gear 224 and the third bevel gear 225 are opposite.

[0046] In practical implementation, the bevel gear set can be replaced with a linkage structure, a synchronous belt drive structure, or a worm gear self-locking structure, mainly to drive the two limiting shafts 8 to rotate in opposite directions. Linkage structure: A spatial linkage mechanism connects the two limiting shafts 8. When one rocker arm assembly 21 moves, it directly pushes or pulls the other rocker arm assembly 21 to move in the opposite direction via a rigid linkage. Synchronous belt drive structure: Synchronous pulleys or sprockets are installed on the connecting shafts 222 on both sides, connected by a tensioned synchronous belt or chain, and an idler pulley is added to adjust the transmission direction, similarly achieving reverse rotation on both sides. Worm gear self-locking structure: A pair of worm gears with opposite directions of rotation are connected to the connecting shafts 222 for driving. This scheme also provides a certain degree of motion self-locking, enhancing the stability of the robot chassis on slopes.

[0047] Reference Figure 2 , Figure 6 and Figure 7 When the rocker arm assembly 21 on one side of the fuselage frame 1 is forced to lift, for example, the second bevel gear 224 is lifted, one end of the connecting rocker arm 211 is lifted, driving the limit shaft 8 to rotate. The rotation of the limit shaft 8 drives the connecting shaft 222 to rotate, the rotation of the connecting shaft 222 drives the second bevel gear 224 to rotate, the rotation of the second bevel gear 224 drives the first bevel gear 223 to rotate, and the rotation of the first bevel gear 223 drives the third bevel gear 225 to rotate. Since the third bevel gear 225 is set opposite to the second bevel gear 224, the rotation direction of the third bevel gear 225 is opposite to the rotation direction of the second bevel gear 224. That is, the rotation of the third bevel gear 225 drives the corresponding connecting shaft 222 to rotate, the rotation of the connecting shaft 222 drives the connecting rocker arm 211 to rotate downward, and the downward rotation of the connecting rocker arm 211 drives the front rocker arm 212 to move down and contact the ground. Therefore, when the robot chassis encounters a single-sided obstacle, the rocker arm assembly 21 connected to the second bevel gear 224 on one side is forced to lift, causing the second bevel gear 224 to rotate. The rocker arm assembly 21 on the other side rotates through the rotation of the first bevel gear 223, which drives the third bevel gear 225 to rotate in the opposite direction. The rocker arm assembly 21 connected to the third bevel gear 225 will be passively pressed down, increasing the ground pressure and adhesion, effectively preventing the robot chassis from slipping or tipping over. This mimics the steady walking principle of multi-legged insects, improving the walking stability and terrain adaptability of the robot chassis.

[0048] Reference Figure 2 and Figure 3A connecting member 211 is installed at the end of the connecting rocker arm 211 away from the front rocker arm 212. The connecting member 211 connects the rear rocker arm 213 to the connecting rocker arm 211, allowing relative rotation between the two. In this embodiment, the connecting member 211 uses a long bolt and nut. In this embodiment, the connecting member 211 connects the connecting rocker arm 211 and the rear rocker arm 213 together, ensuring the robot's chassis height and improving the stability between the connecting rocker arm 211 and the rear rocker arm 213.

[0049] In this embodiment, an antenna is installed on the fuselage frame 1 for wireless signal transmission, ensuring remote control and data communication. The fuselage frame 1 also integrates a sensor module for environmental perception, an industrial control computer, a battery module, and a wireless communication module. The industrial control computer is the core control unit, used to process perceived data and output control commands. The battery module provides stable power to all components. The control system (integrating the industrial control computer, CAN control box, etc.) receives information from sensors (such as a binocular vision camera), performs path planning, and controls the drive wheels 234 to move. The control system controls the rotation of the drive wheels 234 according to the wheel speed signal. When one drive wheel 234 slips and loses traction, the electronic control system adjusts the torque of each drive wheel 234 in real time according to the wheel speed signal.

[0050] The implementation principle of an omnidirectional rocker arm suspension robot chassis according to an embodiment of this application is as follows: the steering component 23 controls the robot chassis to move in all directions; when the robot chassis needs to go straight, multiple steering motors 232 adjust the drive wheels 234 to the same angle.

[0051] When the robot chassis needs to turn in place, taking the six drive wheels 234 in this embodiment as an example, refer to... Figure 8 The six drive wheels 234 are evenly and symmetrically arranged around the chassis center O. When turning in place, the chassis center O serves as the center of rotation, and the movement trajectories of all drive wheels revolve around this center. Taking the attached diagram as an example, the top and bottom four drive wheels 234 lie on an outer circle with radius R1. The axial centerline L1 of each drive wheel 234 and its deflected axial centerline L1' form a deflection angle α. The two middle drive wheels 234 lie on a virtual circle with radius R2. The control system performs differential speed compensation based on the actual dimensions of R1 and R2. The inner drive wheel 234 (in this case, the inner circle during rotation) needs to automatically reduce its speed according to the radius ratio R2 / R1. For example, when R1 is 30 cm and R2 is 15 cm, the inner wheel's speed must be 50% of the outer wheel's speed. By deflecting the corresponding drive wheel 234 through the control system, the robot chassis rotates in place around center O.

[0052] When the robot needs to perform lateral crabbing, the control system controls the steering motors 232 of all drive wheels 234 to deflect by the same angle (e.g., +90 degrees or -90 degrees). Then all drive wheels 234 rotate at the same speed, and the robot chassis will move laterally to the left or right.

[0053] When the robot needs to move in other directions, the steering motor 232 drives the drive wheel 234 to rotate at a corresponding angle, depending on the actual situation. When encountering a winding terrain, the drive wheel 234 can be adjusted to turn at a corresponding angle, depending on the actual situation.

[0054] When the robot chassis encounters an obstacle on one side, the front rocker arm 212, which moves onto the obstacle, rotates and climbs via the drive wheel 234 at its lower end, causing the connecting rocker arm 211 to lift upwards. When the slope is gentle, the limiting member 7 allows the connecting rocker arm 211 to be raised at an angle. At this time, the robot frame 1 runs smoothly, and the limiting member 7 provides adaptation space.

[0055] When the slope difference of the obstacle on one side is large, the limiting part 72 abuts against the connecting rocker arm 211, causing the front rocker arm 212 to drive the connecting rocker arm 211 to lift upwards. The connecting rocker arm 211 drives the connecting shaft 222 to rotate, and the rotation of the connecting shaft 222 drives the second bevel gear 224 or the third bevel gear 225 connected to it to rotate. For example, if the second bevel gear 224 rotates, then the first bevel gear 223 rotates, driving the third bevel gear 225 to rotate. The rotation direction of the third bevel gear 225 is opposite to that of the second bevel gear 224, driving the corresponding connecting shaft 222 to rotate. The connecting rocker arm 211 connected to the connecting shaft 222 rotates downwards, causing the front rocker arm 212 to press down. The drive wheel 234 contacts the ground and rotates, driving the robot chassis to move. During this process, the robot frame 1 moves smoothly, maintaining overall stability by keeping both sides close to the ground.

[0056] When the robot chassis of this application encounters an obstacle on one side, the rocker arm assembly 21 on one side is forced to swing upward, and the rocker arm assembly 21 on the other side is forced to swing downward through the transmission of the bevel gear set, thereby dynamically maintaining the stability of the body and increasing the ground pressure, which greatly improves the passability and anti-tipping ability in unstructured terrain.

[0057] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An omnidirectional mobile swing-arm suspension robot chassis comprising a body frame (1) and a control system, characterized in that: It also includes a suspension system (2) mounted on the fuselage frame (1). The suspension system (2) includes a rocker arm assembly (21) mounted on the fuselage frame (1), a linkage assembly (22) mounted inside the fuselage frame (1) and connected to the rocker arm assembly (21), and a plurality of steering assemblies (23) mounted on the rocker arm assembly (21). The steering assembly (23) includes a mounting base (231) mounted on the rocker arm assembly (21), a steering motor (232) mounted inside the mounting base (231), a fixed base (233) connected to the output shaft of the steering motor (232), and a drive wheel (234) mounted on the fixed base (233). The output shaft of the steering motor (232) is vertically downward and drives the drive wheel (234) to rotate 360 ​​degrees around the output shaft of the steering motor (232). The linkage assembly (22) includes a mounting shell (221) mounted inside the fuselage frame (1), a linkage assembly (22) mounted on the rocker arm assembly (21), and a plurality of steering assemblies (23) mounted on the rocker arm assembly (21). The housing (221) has a connecting shaft (222) connected to the rocker arm assembly (21), a first bevel gear (223) disposed inside the housing (221), a second bevel gear (224) disposed on the connecting shaft (222) on one side of the fuselage frame (1) in the length direction, and a third bevel gear (225) disposed on the connecting shaft (222) on the other side of the fuselage frame (1) in the length direction. The rocker arm assembly (21) is rotatably connected to the fuselage frame (1) through the connecting shaft (222). The first bevel gear (223) meshes with the second bevel gear (224) and the first bevel gear (223) meshes with the third bevel gear (225). The first bevel gear (223), the second bevel gear (224) and the third bevel gear (225) form a linkage relationship. When either the second bevel gear (224) or the third bevel gear (225) rotates, the first bevel gear (223) drives the other bevel gear to rotate in the opposite direction.

2. The omnidirectional mobile swing arm suspension robot chassis according to claim 1, characterized in that: At least two sets of rocker arm assemblies (21) are provided, and the two sets of rocker arm assemblies (21) are symmetrically arranged on both sides of the fuselage frame (1) along the length direction.

3. The omnidirectional mobile swing arm suspension robot chassis according to claim 1, wherein: The rocker arm assembly (21) includes a connecting rocker arm (211) mounted on the fuselage frame (1) and connected to the linkage assembly (22), a front rocker arm (212) connected to the connecting rocker arm (211), and a rear rocker arm (213). The connecting rocker arm (211) is hinged to the fuselage frame (1). The front rocker arm (212) is detachably connected to one end of the connecting rocker arm (211), and the rear rocker arm (213) is detachably connected to the other end of the connecting rocker arm (211).

4. The omnidirectional mobile swing arm suspension robot chassis according to claim 3, characterized in that: The connecting rocker arm (211), the front rocker arm (212), and the rear rocker arm (213) are arranged in a triangular pattern.

5. The omnidirectional mobile rocker arm suspension robot chassis according to claim 1, characterized in that: The mounting housing (221) is provided with a bearing (3) located at the connection between the mounting housing (221) and the connecting shaft (222).

6. The omnidirectional mobile swing arm suspension robot chassis according to claim 3, wherein: The connecting rocker arm (211) is provided with a connector 1 (4) for connecting the front rocker arm (212). The connecting rocker arm (211) has a cavity 1 (5) on the side facing the front rocker arm (212). The cavity 1 (5) is arc-shaped. The front rocker arm (212) has a cavity 2 (6) corresponding to the cavity 1 (5) on the side facing the connecting rocker arm (211). The front rocker arm (212) is provided with a limiting member 1 (7) located in the cavity 2 (6) and the cavity 1 (5).

7. The omnidirectional mobile swing arm suspension robot chassis according to claim 6, characterized in that: The limiting member 1 (7) includes a positioning part (71) located inside the cavity 2 (6) and extending along the inner wall of the cavity 2 (6) and a limiting part (72) disposed on the side of the positioning part (71) facing the cavity 1 (5). The limiting part (72) is located inside the cavity 1 (5). The two ends of the positioning part (71) are fitted with the two ends of the cavity 2 (6). An movable gap is formed between the two ends of the limiting part (72) and the inner wall of the cavity 1 (5).

8. The omnidirectional mobile swing arm suspension robot chassis according to claim 3, wherein: The connecting rocker arm (211) is provided with a limiting shaft (8) on the side facing the fuselage frame (1). The limiting shaft (8) is connected to the connecting shaft (222). The connecting rocker arm (211) is rotatably connected to the fuselage frame (1) through the limiting shaft (8). The connecting rocker arm (211) is provided with a second limiting member (9).

9. The omnidirectional mobile swing arm suspension robot chassis according to claim 8, characterized in that: The limiting shaft (8) includes a rotating part (81) disposed on the body frame (1) and a connecting part (82) disposed on the rotating part (81) facing the connecting rocker arm (211). The connecting part (82) is provided with an arc groove (10) for the end of the limiting member (9) to be inserted into. The center of the arc groove (10) is located on the rotation axis of the limiting shaft (8).

10. The omnidirectional mobile swing arm suspension robot chassis according to claim 3, wherein: The connecting rocker arm (211) is provided with a connecting member two (11) for connecting the rear rocker arm (213).

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