A compact obstacle-crossing robot chassis with stowable swing arms

Abstract

The utility model discloses a compact type obstacle-crossing robot chassis with accomodating type swing arm, including frame, be connected with first track group on frame through drive mechanism, frame is provided with accomodating box symmetrically, two groups of accomodating box all are provided with second track group, accomodating box is connected with second track group through accomodating piece on, accomodating box is connected through steering piece between frame. The utility model discloses a second track group is designed as accomodating in the structure of accomodating box, and the swing arm track is turned over with the help of first motor drive frame, so that chassis can be completely received in accomodating box when swing arm track is on the ground, and the whole machine width is only determined by first track group and frame body, and the appearance size is greatly reduced, which is favorable to the flexible movement in narrow passageway, and swing arm track can be unfolded and grounded when needing to cross the obstacle, and first track group forms multiple track layout together, and the needs of compact appearance and high obstacle-crossing ability are considered.

Description

Technical Field

[0001] This utility model relates to the field of automated handling equipment technology, and more specifically, to a compact obstacle-crossing robot chassis with a retractable swing arm. Background Technology

[0002] With the transformation and upgrading of intelligent manufacturing and the rapid development of the semiconductor industry, the demand for automation and intelligence in wafer manufacturing, chip packaging and testing is becoming increasingly urgent. In such production scenarios, factory space utilization is extremely high, equipment layout is compact, material transfer channels are often extremely narrow, and the ground environment is riddled with obstacles such as steps, power supply ducts, air ducts, and isolation ramps between clean and non-clean areas. This requires that the mobile robot chassis used for material handling must simultaneously possess extremely small dimensions and reliable obstacle-crossing capabilities to ensure the smooth and efficient automated flow of production materials in complex conditions. However, existing conventional mobile chassis structures struggle to achieve an ideal balance under these dual constraints.

[0003] Currently, the chassis of commonly used handling robots in production lines mainly adopt pure wheeled structures or ordinary tracked structures. Pure wheeled chassis are widely used in flat and open workshop environments due to their simple structure and flexible steering. However, their obstacle-crossing ability has an inherent weakness. When facing thresholds, cable trays, or small steps on the ground, they are prone to getting stuck or even overturning, which seriously limits their applicability in high-density, multi-obstacle production lines. Although ordinary tracked chassis can cross some obstacles with a larger ground contact area and stronger grip, the auxiliary swing arm mechanism added to improve obstacle-crossing performance is usually fixed on both sides of the vehicle body and is in a long-term external state. This results in a significant increase in the lateral size of the whole machine, making it difficult to pass smoothly in narrow passages or turn on the spot. This greatly restricts the deployment flexibility of robots in high-space utilization scenarios such as semiconductor factories.

[0004] However, some retractable swing arm solutions still have certain problems: First, the swing arm generally lacks a stable and reliable guiding mechanism during the retraction and deployment process, and the movement trajectory is prone to deviation, resulting in incomplete retraction or inaccurate deployment angle. Moreover, the movement is accompanied by relatively obvious impacts and vibrations, which poses a significant safety threat to the transportation of precision semiconductor components and wafer cassettes. Second, after the existing retraction structure retracts the swing arm, it relies solely on the self-locking force of the drive motor or simple mechanical limit to maintain it. The holding torque is limited. When the chassis operates continuously for a long time, frequently starts and stops, or travels on bumpy roads, the swing arm is prone to loosening, retraction, or even self-deployment due to continuous vibration. This not only affects the stability of the chassis's own driving posture but may also cause accidental collisions with surrounding equipment, resulting in production line shutdowns or product damage. Therefore, we urgently need a compact obstacle-crossing robot chassis with a retractable swing arm to solve the above problems. Utility Model Content

[0005] One objective of this invention is to provide a new technical solution for a compact obstacle-crossing robot chassis with a retractable swing arm. By setting a swing arm track structure that can be stored in a storage box, the chassis can reduce its overall width to adapt to narrow passages when not crossing obstacles, and can unfold the swing arm track to form a multi-track grounding layout when crossing obstacles, thus balancing a compact shape with high obstacle-crossing capability and meeting the needs of obstacle-crossing and transportation in narrow spaces.

[0006] According to a first aspect of the present invention, a compact obstacle-crossing robot chassis with a retractable swing arm is provided, comprising a frame, a first track assembly connected to the frame via a drive mechanism, symmetrically arranged storage boxes on the frame, each of the two storage boxes containing a second track assembly, the storage boxes being connected to the second track assembly via storage components, the storage boxes being connected to the frame via steering components for swinging the second track assembly, and symmetrically arranged casters at the bottom of the storage boxes for supporting the storage boxes and assisting in steering;

[0007] The second track assembly mainly consists of two swing arm tracks and a frame. The frame is located inside a storage box, and both sides of the frame are rotatably connected to the inner wall of the storage box via bearings. The two swing arm tracks are respectively installed on the side walls of the frame. A dual-axis motor for driving is provided between the two swing arm tracks. The output end of the dual-axis motor is respectively connected to the drive shaft of the corresponding swing arm track.

[0008] The storage component includes a first motor fixedly installed on the storage box. The output end of the first motor is connected to the frame. When the frame and the swing arm track enter the storage box under the drive of the first motor, a first working state is formed. When the frame and the swing arm track move out of the storage box under the drive of the first motor, a second working state is formed. The storage box is symmetrically equipped with arc-shaped guide rails that are adapted to the rotation axis of the first motor. The frame is symmetrically equipped with sliding wheels, which are slidably disposed within the arc-shaped guide rails.

[0009] Optionally, the inner wall of the storage box is symmetrically equipped with protrusions, and a first magnetic strip is fixedly connected to the protrusion. A second magnetic strip adapted to the first magnetic strip is symmetrically installed on the frame. When in the first working state, the first magnetic strip and the second magnetic strip are magnetically attracted to form a fixed area. When in the second working state, the first magnetic strip and the second magnetic strip are disengaged from the magnetic attraction state.

[0010] Optionally, the bottom of the storage box is symmetrically provided with placement slots, a sleeve is fixedly installed in the placement slot, a piston rod is slidably arranged in the sleeve, a spring is provided in the sleeve, the two ends of the spring are respectively connected to the inner wall of the sleeve and the piston rod, and the end of the piston rod is connected to a caster wheel to form an elastic support area.

[0011] Optionally, the steering component includes a connecting plate integrally formed on the storage box, a rotating rod fixedly connected to the connecting plate, an extension plate fixedly installed on the frame, a circular hole adapted to the rotating rod on the extension plate, the rotating rod being rotatably connected to the circular hole via a bearing, a second motor fixedly connected to the extension plate, the output end of the second motor being connected to the rotating rod, and when the second motor drives the rotating rod and the connecting plate to rotate, the storage box swings accordingly to form an angle adjustment zone.

[0012] Optionally, a guide rail frame is fixedly connected to the frame, and a lead screw is installed inside the guide rail frame. Both ends of the lead screw are rotatably connected to the guide rail frame through bearings. A third motor is fixedly connected to the guide rail frame, and the output end of the third motor is connected to the lead screw. A movable plate is slidably connected inside the guide rail frame, and the movable plate is threadedly connected to the lead screw. When the third motor drives the lead screw to rotate, the movable plate moves along the path of the guide rail frame to form a balance zone.

[0013] Optionally, the first track group includes four sets of triangular tracks, which are symmetrically arranged on both sides of the frame and are connected to the drive mechanism for transmission.

[0014] Optionally, a robotic arm for gripping is fixedly connected to the movable plate.

[0015] Beneficial effects

[0016] 1. This utility model designs the second track assembly as a structure that can be stored in a storage box, and uses the first motor to drive the frame to rotate the swing arm track, so that the swing arm track can be completely stored in the storage box when the chassis is traveling on flat ground. The width of the whole machine is determined only by the first track assembly and the frame body, which greatly reduces the size of the machine and is conducive to flexible movement in narrow passages. At the same time, when it is necessary to cross obstacles, the swing arm track can be unfolded and grounded, forming a multi-track layout together with the first track assembly, which takes into account both the need for compact shape and high obstacle crossing ability.

[0017] 2. This utility model, by setting a first magnetic strip on the inner wall of the storage box and a matching second magnetic strip on the frame, enables the swing arm track to automatically form a fixed area through magnetic attraction after it is stored in place, reliably locking the frame in the storage position. This effectively avoids problems such as swing arm loosening and swinging back caused by road bumps or long-term operation. Moreover, the magnetic locking response is rapid and there is no mechanical wear. When it needs to be unfolded, only the first motor needs to output a torque greater than the magnetic attraction force to disengage, simplifying the locking and unlocking control process.

[0018] 3. This utility model provides a second guiding constraint for the frame's flipping motion, in addition to the rotation center, by setting an arc-shaped guide rail on the storage box that is compatible with the rotation axis of the first motor, and setting sliding wheels on the frame that slide in cooperation with the arc-shaped guide rail. This significantly improves the motion stiffness and trajectory accuracy of the swing arm track during the storage and unfolding process, effectively suppresses the shaking and impact during the action, and ensures the accuracy of the swing arm track's posture at the moment of contact with the ground.

[0019] 4. This utility model sets a guide rail frame, a lead screw, and a third motor on the frame, and threads a movable plate with a fixed robotic arm onto the lead screw. This allows the third motor to drive the movable plate and robotic arm to move forward along the guide rail frame during climbing conditions, actively shifting the center of gravity of the robotic arm and its load forward. This counteracts the chassis's tendency to tilt backward during climbing, achieving a dynamic and balanced distribution of the vehicle's weight, improving longitudinal stability on slopes, and allowing the robotic arm to return to its standard weight distribution on flat ground without increasing the vehicle's dead weight. This design is beneficial for balancing flexibility on flat ground and passability on slopes.

[0020] 5. This utility model provides a universal wheel at the bottom of the storage box and an elastic support area consisting of a sleeve, piston rod, and spring between the universal wheel and the storage box. This allows the universal wheel to provide auxiliary support and follow-up steering while absorbing the impact vibration transmitted from the road surface through the compression and rebound of the spring. This prevents rigid impact from being directly transmitted to the storage box and its internal second track assembly, which helps protect the structural integrity and motion accuracy of the swing arm mechanism and extends the service life of the equipment.

[0021] 6. This utility model, by setting a steering component consisting of a connecting plate, a rotating rod, an extension plate, and a second motor, enables the storage box and the second track assembly to swing relative to the frame around the axis of the rotating rod as a whole. Before crossing an obstacle, the grounding angle of the swing arm track is pre-adjusted so that it contacts the obstacle surface at the optimal angle of attack, which improves the chassis's adaptability to various irregular obstacles such as steps and ramps. Furthermore, the design of the connecting plate being integrally formed on the storage box improves the response stiffness and control accuracy of the steering action.

[0022] Other features and advantages of the present invention will become clear from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present invention and, together with their description, serve to explain the principles of the present invention.

[0024] Figure 1 A schematic diagram of the overall structure of a compact obstacle-crossing robot chassis with a retractable swing arm;

[0025] Figure 2This is a compact obstacle-crossing robot chassis with a retractable swing arm. Figure 1 Enlarged structural diagram at point A in the middle;

[0026] Figure 3 This is a top view schematic diagram of the chassis of a compact obstacle-crossing robot with a retractable swing arm;

[0027] Figure 4 A first cross-sectional view of the chassis of a compact obstacle-crossing robot with a retractable swing arm;

[0028] Figure 5 This is a compact obstacle-crossing robot chassis with a retractable swing arm. Figure 4 Enlarged structural diagram at point B;

[0029] Figure 6 This is a compact obstacle-crossing robot chassis with a retractable swing arm. Figure 4 Enlarged structural diagram at point C;

[0030] Figure 7 This is a second cross-sectional view of a compact obstacle-crossing robot chassis with a retractable swing arm.

[0031] Figure 8 This is a compact obstacle-crossing robot chassis with a retractable swing arm. Figure 7 Enlarged structural diagram at point D.

[0032] The diagram shows the following components: 1. Frame; 2. First track assembly; 3. Storage box; 4. Second track assembly; 5. Caster wheel; 6. Swing arm track; 7. Frame; 8. Dual-axis motor; 9. First motor; 10. Arc-shaped guide rail; 11. Sliding wheel; 12. Raised seat; 13. First magnetic strip; 14. Second magnetic strip; 15. Placement slot; 16. Sleeve; 17. Piston rod; 18. Spring; 19. Connecting plate; 20. Rotating rod; 21. Extension plate; 22. Circular hole; 23. Second motor; 24. Guide rail frame; 25. Lead screw; 26. Third motor; 27. Moving plate; 28. Robotic arm. Detailed Implementation

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0034] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0035] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0036] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0037] like Figure 1-8 As shown, a compact obstacle-crossing robot chassis with a retractable swing arm includes a frame 1. A first track group 2 is connected to the frame 1 via a drive mechanism. Storage boxes 3 are symmetrically arranged on the frame 1. The first track group 2 includes four sets of triangular tracks, which are symmetrically arranged on both sides of the frame 1 and are connected to the drive mechanism for transmission.

[0038] Here, the first track group 2 serves as the main drive unit of the chassis under normal driving and light load conditions. Its four-set triangular track structure can distribute the power output by the drive mechanism to multiple ground-contact wheel systems, thereby reducing the ground pressure of a single track. This helps maintain traction on soft or uneven ground and avoids loss of driving force due to local subsidence. At the same time, the triangular tracks themselves have the characteristics of low rolling resistance and strong obstacle-crossing ability, which allows the chassis to have a certain basic obstacle-crossing ability even without the second track group 4 in use. It can smoothly pass through common obstacles such as low thresholds or small grooves.

[0039] Furthermore, the four sets of triangular tracks are symmetrically arranged on both sides of the frame 1, which makes the driving torque on the left and right sides of the chassis evenly distributed during straight driving and differential steering. This is beneficial to improving the directional stability at high speeds and reducing deviation or sideslip caused by uneven traction on both sides. It is especially suitable for the rapid passage requirements of long straight passages in semiconductor factories.

[0040] Furthermore, the arrangement of connecting the first track group 2 with the drive mechanism results in a short power transmission path and high transmission efficiency. The torque output by the drive mechanism can be directly and efficiently transmitted to the drive wheels of each set of triangular tracks, reducing energy loss and mechanical backlash caused by multi-stage transmission. This helps maintain response speed and positioning accuracy under frequent start-stop production line handling conditions, thereby improving the overall cycle efficiency of material handling.

[0041] Each of the two sets of storage boxes 3 is equipped with a second track group 4. The storage box 3 is connected to the second track group 4 through a storage component. The second track group 4 is mainly composed of two swing arm tracks 6 and a frame 7. The frame 7 is located inside the storage box 3, and its two sides are rotatably connected to the inner wall of the storage box 3 through bearings. The two swing arm tracks 6 are respectively installed on the side walls of the frame 7. A dual-axis motor 8 for driving is set between the two swing arm tracks 6. The output end of the dual-axis motor 8 is respectively connected to the drive shaft of the corresponding swing arm track 6.

[0042] Here, the second track assembly 4 is configured as an auxiliary drive and support unit for the chassis in high obstacle passage conditions. The two storage boxes 3 are symmetrically arranged on both sides of the frame 1, so that the chassis can obtain symmetrical additional support force when crossing obstacles, avoiding the risk of tilting caused by unilateral lifting. At the same time, the storage box 3 provides a closed or semi-closed storage space for the second track assembly 4, so that the swing arm track 6 and frame 7 can be effectively hidden and protected when not in use, reducing the direct damage to the swing arm mechanism by external dust, cable debris or accidental collisions, which is conducive to extending the service life of the equipment in complex industrial environments.

[0043] Furthermore, the structure in which the two sides of the frame 7 are rotatably connected to the inner wall of the storage box 3 via bearings provides a definite rotation center for the second track group 4, making the movement trajectory of the frame 7 and the swing arm track 6 during the storage and deployment process precisely controllable. The bearing connection method also reduces the frictional resistance when the frame 7 rotates relative to the storage box 3, which reduces the driving torque required by the first motor 9, which helps to reduce motor power consumption and control motor size, thereby further compressing the overall size of the storage box 3.

[0044] Furthermore, the two swing arm tracks 6 are respectively mounted on the side walls of the frame 7 and driven by the dual-axis motor 8 located between them. This dual-output direct drive layout eliminates the need for additional differential or transfer mechanisms in power transmission. The two swing arm tracks 6 can independently receive torque from the corresponding output end of the dual-axis motor 8, which helps them maintain appropriate speed and traction when the two swing arm tracks 6 contact different textures or uneven ground, thus preventing the entire second track group 4 from losing driving force due to slippage on one side.

[0045] The storage unit includes a first motor 9 fixedly installed on the storage box 3. The output end of the first motor 9 is connected to the frame 7. When the frame 7 and the swing arm track 6 enter the storage box 3 under the drive of the first motor 9, a first working state is formed. When the frame 7 and the swing arm track 6 move out of the storage box 3 under the drive of the first motor 9, a second working state is formed. The storage box 3 is symmetrically equipped with arc-shaped guide rails 10 that are adapted to the rotation axis of the first motor 9. The frame 7 is symmetrically equipped with sliding wheels 11, which are slidably disposed in the arc-shaped guide rails 10.

[0046] Here, the storage unit allows the second track group 4 to switch between the first working state and the second working state according to driving needs. The first motor 9 is fixedly installed on the storage box 3, and its output end is directly connected to the frame 7, which makes the transmission chain extremely short and the transmission precision high. The attitude change response of the frame 7 and the swing arm track 6 is rapid, which is conducive to quickly completing the deployment action when the chassis approaches the obstacle and shortening the obstacle crossing preparation time.

[0047] Furthermore, the cooperative structure of the arc-shaped guide rail 10 and the sliding wheel 11 provides a second guiding constraint for the flipping motion of the frame 7 in addition to the rotation center. This allows the frame 7 to rotate around the bearing rotation axis during the flipping process, and also obtain radial support through the sliding of the sliding wheel 11 within the arc-shaped guide rail 10. This significantly improves the stiffness and stability of the frame 7 during the dynamic flipping process, effectively suppresses swaying or shaking caused by gravity or inertial force, and ensures the accuracy of the attitude of the swing arm track 6 at the moment of contact with the ground.

[0048] Furthermore, the design of the curvature of the arc-shaped guide rail 10 being adapted to the rotation axis of the first motor 9 ensures that the sliding wheel 11 remains in contact with the track path of the arc-shaped guide rail 10 throughout the entire movement stroke, preventing jamming or derailment. At the same time, the sliding or rolling friction between the guide rail and the sliding wheel can partially absorb the motion impact during the flipping process, which helps to reduce the peak load at the moment of start-stop of the first motor 9 and improve the smoothness of the movement and service life of the storage component.

[0049] The inner wall of the storage box 3 is symmetrically equipped with protruding seats 12, and a first magnetic strip 13 is fixedly connected to the protruding seat 12. A second magnetic strip 14 adapted to the first magnetic strip 13 is symmetrically installed on the frame 7. When in the first working state, the first magnetic strip 13 and the second magnetic strip 14 magnetically attract each other to form a fixed area. When in the second working state, the first magnetic strip 13 and the second magnetic strip 14 disengage from the magnetic attraction state.

[0050] Here, the cooperative design of the first magnetic strip 13 and the second magnetic strip 14 provides a non-contact retaining force for locking the second track assembly 4 in the first working state. When the chassis is traveling at a normal speed on flat ground, the magnetic force can reliably attract and hold the frame 7 in the storage position, preventing the swing arm track 6 from falling off unexpectedly due to road bumps or emergency braking, ensuring that the chassis's external dimensions do not change in a compact form, and ensuring that its passability is not affected.

[0051] Furthermore, the magnetic attraction method for forming a fixed area has the advantages of fast response and no mechanical wear compared to traditional mechanical buckles or pin locks. The first magnetic strip 13 and the second magnetic strip 14 can automatically attract each other when they approach the effective distance without the need for additional drive mechanisms or control commands for locking operations. When it is necessary to unfold, only the first motor 9 needs to output a starting torque greater than the magnetic attraction force to achieve disengagement, which simplifies the control process and mechanical structure and reduces the risk of failure.

[0052] Furthermore, the protruding seat 12 allows the first magnetic strip 13 to be stably fixed in a predetermined position on the inner wall of the storage box 3, preventing the magnetic strip from shifting or falling off due to long-term vibration. At the same time, the protruding seat 12 can also mechanically limit the storage position of the frame 7, further limiting the final storage angle of the frame 7 on the basis of magnetic attraction. The dual positioning ensures the repeatability accuracy of the first working state.

[0053] The bottom of the storage box 3 is symmetrically provided with casters 5 for supporting the storage box 3 and assisting in turning. The bottom of the storage box 3 is symmetrically provided with placement grooves 15. A sleeve 16 is fixedly installed in the placement groove 15. A piston rod 17 is slidably arranged in the sleeve 16. A spring 18 is provided in the sleeve 16. The two ends of the spring 18 are respectively connected to the inner wall of the sleeve 16 and the piston rod 17. The end of the piston rod 17 is connected to the casters 5 to form an elastic support area.

[0054] Here, the caster wheel 5 is configured as an auxiliary support and follow-up steering device for the storage box 3. When the second track group 4 is in the storage state or partially unfolded but not fully loaded, the caster wheel 5 can freely deflect following the chassis driving direction, providing rolling support for the storage box 3, sharing the static torque of the weight of the storage box 3 and its internal components on the connection node of the frame 1, which is beneficial to improving the structural fatigue life of the frame 1 in long-term operation.

[0055] Furthermore, the elastic support area formed by the placement groove 15, sleeve 16, piston rod 17 and spring 18 provides axial buffer stroke between the caster wheel 5 and the storage box 3. When the chassis passes through uneven road surfaces or the caster wheel 5 rolls over small obstacles, the piston rod 17 can compress the spring 18 in the sleeve 16 to generate displacement, absorb instantaneous impact energy, and avoid rigid impact being directly transmitted to the storage box 3 and its internal second track assembly 4. This helps to protect the structural integrity and motion accuracy of the swing arm track 6 and the frame 7.

[0056] Furthermore, the elastic potential energy stored in the spring 18 after compression can be smoothly released after the impact, pushing the piston rod 17 to reset, so that the caster wheel 5 can quickly restore effective contact with the ground, ensuring that the storage box 3 continuously obtains stable auxiliary support force throughout the entire driving process, and avoiding support imbalance caused by one of the caster wheels 5 being suspended.

[0057] The storage box 3 is connected to the frame 1 via a steering component for swinging the second track assembly 4. The steering component includes a connecting plate 19 integrally formed on the storage box 3. A rotating rod 20 is fixedly connected to the connecting plate 19. An extension plate 21 is fixedly installed on the frame 1. A circular hole 22 adapted to the rotating rod 20 is provided on the extension plate 21. The rotating rod 20 is rotatably connected to the circular hole 22 via a bearing. A second motor 23 is fixedly connected to the extension plate 21. The output end of the second motor 23 is connected to the rotating rod 20. When the second motor 23 drives the rotating rod 20 and the connecting plate 19 to rotate, the storage box 3 swings accordingly to form an angle adjustment zone.

[0058] Here, the steering mechanism allows the storage box 3 and its internal second track assembly 4 to swing around the axis of the rotating rod 20 relative to the frame 1. This allows the ground contact angle of the second track assembly 4 to be pre-adjusted before crossing the obstacle, enabling it to contact the obstacle surface at the optimal angle of attack. This avoids slippage or inability to climb due to improper angles, significantly improving the chassis's adaptability to various irregular obstacles.

[0059] Furthermore, the structural design of the connecting plate 19 being integrally formed on the storage box 3 allows the steering torque to be directly and evenly transmitted to the entire storage box 3 via the connecting plate 19 through the rotating rod 20. This avoids the connection gaps and stress concentrations that may exist in the split connection, improves the response stiffness and control accuracy of the steering action, and at the same time reduces the number of parts and assembly processes, which helps to reduce manufacturing costs and potential failure points.

[0060] Furthermore, the extension plate 21 and the circular hole 22 provide stable and independent rotational support for the rotating rod 20, so that the rotation axis of the rotating rod 20 will not be offset due to the slight deformation of the frame 1, ensuring the angular positioning accuracy of the steering component during long-term use. The layout of the rotating rod 20 is independently driven by the second motor 23, so that the formation of the angle adjustment area and the movement of the storage component do not interfere with each other. The control system can coordinate and control the two sets of mechanisms separately to achieve more complex obstacle-crossing action sequences.

[0061] A guide rail frame 24 is fixedly connected to the frame 1. A lead screw 25 is installed inside the guide rail frame 24. Both ends of the lead screw 25 are rotatably connected to the guide rail frame 24 through bearings. A third motor 26 is fixedly connected to the guide rail frame 24. The output end of the third motor 26 is connected to the lead screw 25. A movable plate 27 is slidably connected inside the guide rail frame 24. The movable plate 27 is threadedly connected to the lead screw 25. When the third motor 26 drives the lead screw 25 to rotate, the movable plate 27 moves along the path of the guide rail frame 24 to form a balance zone.

[0062] Here, the linear motion mechanism consisting of the guide rail 24 and the lead screw 25 provides the moving plate 27 with precise displacement capability along the path of the guide rail 24. When the third motor 26 drives the lead screw 25 to rotate, the moving plate 27 can achieve smooth and continuous position adjustment under the thread drive of the lead screw 25. This motion control method has a self-locking characteristic, that is, after the moving plate 27 is adjusted to the target position, even if the third motor 26 stops supplying power, the thread friction between the lead screw 25 and the moving plate 27 can keep the moving plate 27 in the current position and will not slide on its own due to external force, thus ensuring the stability and reliability of the balance zone.

[0063] Furthermore, when the robotic arm 28, which is fixedly connected to the moving plate 27, performs material clamping and handling tasks, the total weight of itself and the clamped material constitutes the main load on the front of the chassis. Under climbing conditions, if this load is concentrated at the rear, it will exacerbate the risk of longitudinal instability of the chassis. By moving the moving plate 27 forward along the guide rail frame 24, the overall center of gravity of the robotic arm 28 and its load can be actively moved forward to balance the vehicle's center of gravity that shifts backward due to the slope, thereby effectively suppressing the unloading of the front wheels and the tendency to lift up, and improving the chassis's traction and longitudinal stability when driving on a slope.

[0064] Furthermore, after completing the climb, the third motor 26 can drive the moving plate 27 and the robotic arm 28 back to the normal position, restoring the standard weight distribution of the chassis on flat ground. This reversible adjustment capability gives the chassis the ability to dynamically adjust the weight distribution between different working conditions, enabling the chassis to take into account both the flexibility requirements of driving on flat ground and the stability requirements of driving on slopes, without the need to configure fixed counterweights or sacrifice effective load capacity in exchange for slope passability, significantly improving the overall load utilization rate.

[0065] A robotic arm 28 for gripping is fixedly connected to the movable plate 27.

[0066] Here, the robotic arm 28 is fixedly mounted on the movable plate 27, so that the robotic arm 28 can change its position in the longitudinal direction of the chassis synchronously with the displacement of the movable plate 27. In the case of climbing or when the center of gravity needs to be moved forward, the center of gravity of the robotic arm 28 and the material it holds is actively moved forward, realizing the dynamic adjustment of the weight of the whole vehicle. When driving on flat ground, the robotic arm 28 returns to the normal position with the movable plate 27, so that the chassis restores the standard weight distribution, taking into account both the flexibility of flat ground transportation and the stability of driving on slopes.

[0067] Furthermore, the robotic arm 28 is linked with the balance zone formed by the moving plate 27, the guide rail frame 24, and the lead screw 25, so that the center of gravity adjustment matches the chassis driving conditions, without the need to add an independent counterweight mechanism or manual intervention, thus improving the chassis's adaptability under complex road conditions.

[0068] Furthermore, the robotic arm 28 is normally in a fixed position, and is only driven forward by the third motor 26 when the center of gravity needs to shift forward, such as when climbing a hill. This design ensures that the chassis does not generate additional center of gravity shift during most of the time it travels on flat ground, which helps to maintain the stability of straight-line driving and the consistency of steering response.

[0069] In this invention, under normal speed driving conditions on flat ground, the second track group 4 is in the first working state inside the storage box 3. That is, the frame 7 and the swing arm track 6 are flipped upwards and stored in the storage box 3 under the drive of the first motor 9. At this time, the first magnetic strip 13 on the protrusion 12 and the second magnetic strip 14 on the frame 7 are magnetically attracted to each other to form a fixed area, reliably locking the frame 7 in the storage position and preventing the swing arm track 6 from loosening or swinging back due to vibration. In this state, the chassis only moves on the ground by the four sets of triangular tracks of the first track group 2, greatly reducing the width of the machine and allowing it to flexibly pass through narrow passages.

[0070] When the chassis travels to obstacles such as steps, ramps, or pipelines, the second motor 23 in the steering component drives the rotating rod 20 and the connecting plate 19 to rotate, causing the storage box 3 and the second track assembly 4 inside it to swing around the axis of the rotating rod 20 to the required angle. Then, the first motor 9 in the storage component drives the frame 7 to drive the swing arm track 6 to flip down and unfold. The sliding wheel 11 slides smoothly along the arc-shaped guide rail 10, ensuring that the unfolding trajectory is accurate and the impact is small. The first magnetic strip 13 and the second magnetic strip 14 are disengaged. The swing arm track 6 enters the second working state and contacts the ground. The dual-axis motor 8 drives the swing arm track 6 to rotate, forming a multi-track grounding layout together with the first track assembly 2, which significantly increases the grounding area and driving force, and achieves stable obstacle crossing.

[0071] When climbing a slope or when the center of gravity needs to be shifted forward, the third motor 26 on the guide rail 24 drives the lead screw 25 to rotate, causing the moving plate 27 to move forward along the path of the guide rail 24. The robotic arm 28, fixedly mounted on the moving plate 27, moves forward synchronously, adjusting the center of gravity of the robotic arm 28 and its load forward. This counteracts the backward tilting tendency of the chassis when climbing, achieving a balanced distribution of the vehicle's weight and improving stability when driving on slopes. After passing the slope, the third motor 26 reverses to drive the moving plate 27 and robotic arm 28 back to their normal positions, restoring the normal layout.

[0072] After passing the obstacle, the first motor 9 reverses to retract the swing arm track 6 into the storage box 3. The first magnetic strip 13 and the second magnetic strip 14 then magnetically lock together again, and the chassis returns to its compact shape to continue moving. Throughout the operation, the universal wheels 5 at the bottom of the storage box 3 form an elastic support area with the piston rod 17 through the spring 18 in the sleeve 16 inside the placement slot 15. This provides ground support for the storage box 3 and assists in steering cushioning, ensuring that the chassis can maintain a stable and reliable operating posture under various working conditions.

[0073] Although specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A compact obstacle-crossing robot chassis with a retractable swing arm, comprising a frame (1), characterized in that: The frame (1) is connected to the first track group (2) via a drive mechanism. The frame (1) is symmetrically provided with storage boxes (3). The two sets of storage boxes (3) are each provided with a second track group (4). The storage box (3) is connected to the second track group (4) via a storage component. The storage box (3) is connected to the frame (1) via a steering component for swinging the second track group (4). The bottom of the storage box (3) is symmetrically provided with casters (5) for supporting the storage box (3) and assisting in steering. The second track assembly (4) is mainly composed of two swing arm tracks (6) and a frame (7). The frame (7) is located inside the storage box (3), and both sides of it are rotatably connected to the inner wall of the storage box (3) through bearings. The two swing arm tracks (6) are respectively installed on the side wall of the frame (7). A dual-axis motor (8) for driving is provided between the two swing arm tracks (6). The output end of the dual-axis motor (8) is respectively connected to the drive shaft of the corresponding swing arm track (6). The storage component includes a first motor (9) fixedly installed on the storage box (3). The output end of the first motor (9) is connected to the frame (7). When the frame (7) and the swing arm track (6) enter the storage box (3) under the drive of the first motor (9), a first working state is formed. When the frame (7) and the swing arm track (6) move out of the storage box (3) under the drive of the first motor (9), a second working state is formed. The storage box (3) is symmetrically equipped with an arc-shaped guide rail (10) adapted to the rotation axis of the first motor (9). The frame (7) is symmetrically equipped with sliding wheels (11). The sliding wheels (11) are slidably arranged in the arc-shaped guide rail (10).

2. The compact obstacle-crossing robot chassis with a retractable swing arm according to claim 1, characterized in that: The inner wall of the storage box (3) is symmetrically equipped with protrusions (12), and a first magnetic strip (13) is fixedly connected to the protrusions (12). A second magnetic strip (14) adapted to the first magnetic strip (13) is symmetrically installed on the frame (7). When in the first working state, the first magnetic strip (13) and the second magnetic strip (14) magnetically attract each other to form a fixed area. When in the second working state, the first magnetic strip (13) and the second magnetic strip (14) disengage from the magnetic attraction state.

3. A compact obstacle-crossing robot chassis with a retractable swing arm according to claim 2, characterized in that: The storage box (3) has symmetrically provided placement slots (15) at the bottom. A sleeve (16) is fixedly installed in the placement slot (15). A piston rod (17) is slidably arranged in the sleeve (16). A spring (18) is provided in the sleeve (16). The two ends of the spring (18) are respectively connected to the inner wall of the sleeve (16) and the piston rod (17). The end of the piston rod (17) is connected to the universal wheel (5) to form an elastic support area.

4. The compact obstacle-surmounting robot chassis with a retractable swing arm according to claim 3, characterized in that: The steering component includes a connecting plate (19) integrally formed on the storage box (3). A rotating rod (20) is fixedly connected to the connecting plate (19). An extension plate (21) is fixedly installed on the frame (1). A round hole (22) adapted to the rotating rod (20) is provided on the extension plate (21). The rotating rod (20) is rotatably connected to the round hole (22) through a bearing. A second motor (23) is fixedly connected to the extension plate (21). The output end of the second motor (23) is connected to the rotating rod (20). When the second motor (23) drives the rotating rod (20) and the connecting plate (19) to rotate, the storage box (3) swings accordingly to form an angle adjustment zone.

5. A compact obstacle-crossing robot chassis with a retractable swing arm according to claim 4, characterized in that: A guide rail frame (24) is fixedly connected to the frame (1). A lead screw (25) is installed inside the guide rail frame (24). Both ends of the lead screw (25) are rotatably connected to the guide rail frame (24) through bearings. A third motor (26) is fixedly connected to the guide rail frame (24). The output end of the third motor (26) is connected to the lead screw (25). A movable plate (27) is slidably connected inside the guide rail frame (24). The movable plate (27) is threadedly connected to the lead screw (25). When the third motor (26) drives the lead screw (25) to rotate, the movable plate (27) moves along the path of the guide rail frame (24) to form a balance zone.

6. A compact obstacle-crossing robot chassis with a retractable swing arm according to claim 5, characterized in that: The first track group (2) includes four sets of triangular tracks, which are symmetrically arranged on both sides of the frame (1) and are connected to the drive mechanism for transmission.

7. A compact obstacle-crossing robot chassis with a retractable swing arm according to claim 6, characterized in that: A mechanical arm (28) for clamping is fixedly connected to the movable plate (27).

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