CN113635968A

CN113635968A - Chassis assembly and building robot with same

Info

Publication number: CN113635968A
Application number: CN202010391168.5A
Authority: CN
Inventors: 修德敏; 许安鹏; 阳凯; 熊会平
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-05-11
Filing date: 2020-05-11
Publication date: 2021-11-12

Abstract

The invention discloses a chassis component and a construction robot with the same, wherein the chassis component comprises: a chassis; the motion wheel set is arranged below the chassis and can drive the chassis to move, the motion wheel set comprises a plurality of motion wheels which are circumferentially spaced around the center of the chassis, the motion wheels can rotate around corresponding vertical rotating axes, and the motion wheel sets comprise a first motion pose, a second motion pose and a transition pose between the first motion pose and the second motion pose. The driving module is arranged on the chassis; and the transmission module is in transmission connection between the driving module and the corresponding motion wheel and drives each motion wheel to rotate around the corresponding vertical rotation axis so as to change the advancing direction of the motion wheel. The chassis assembly provided by the embodiment of the invention can realize quick adjustment of the movement direction of the moving wheel and realize omnidirectional movement of the chassis assembly.

Description

Chassis assembly and building robot with same

Technical Field

The invention relates to the technical field of motion chassis, in particular to a chassis assembly and a construction robot with the same.

Background

In the related art, when the intelligent trolley in the prior art runs on severe and complex ground and working conditions, the moving precision of the trolley is greatly reduced, the steering capacity of the existing intelligent trolley is limited, part of trolleys cannot move in all directions, or the speed of motion direction adjustment is not fast enough.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a chassis assembly, which can realize quick adjustment of the moving direction of the moving wheel and realize omnidirectional movement of the chassis assembly.

Another object of the present invention is to provide a construction robot.

A floor assembly according to an embodiment of the first aspect of the invention, comprising: a chassis; the moving wheel sets are arranged below the chassis and can drive the chassis to move, each moving wheel set comprises a plurality of moving wheels which are circumferentially spaced around the center of the chassis, and the moving wheels are rotatable around corresponding vertical rotation axes, wherein the moving wheel sets have a first moving pose, a second moving pose and a transition pose between the first moving pose and the second moving pose, the traveling directions of the moving wheels are all towards the X direction in the first moving pose, the traveling directions of the moving wheels are all towards the Y direction in the second moving pose, and the traveling directions of two circumferentially adjacent moving wheels are crossed with each other in the transition pose. The driving module is arranged on the chassis; the transmission modules are connected between the driving modules and the corresponding motion wheels in a transmission mode and drive each motion wheel to rotate around the corresponding vertical rotation axis so as to change the advancing direction of the motion wheels.

According to the chassis assembly provided by the embodiment of the invention, the chassis assembly can move in all directions through the rotation of the motion wheel set, and the chassis assembly can be steered in situ through the adjustment of the motion direction of the motion wheel, so that the steering convenience of the chassis assembly is improved. The cooperation of the drive module and the transmission module that are equipped with, the drive power that the drive module provided can transmit to the motion wheel through the transmission module, can make the angle transform of motion wheel quick and accurate from this, promotes the accuracy nature of the change of the direction of motion of chassis subassembly from this to the control of the direction of motion of the chassis subassembly of being convenient for.

In addition, the chassis component according to the invention may also have the following additional technical features:

in some embodiments of the invention, the transmission module comprises a link transmission module.

In some embodiments of the invention, each of the link transmission modules comprises: the first end of the first connecting rod is pivotally connected with the driving module; the first end of the swing rod is connected with the second end of the first connecting rod in a pivoting mode, the moving wheel is provided with a connecting shaft, the axis of the connecting shaft is overlapped with the vertical rotating axis, and the second end of the swing rod is connected with the connecting shaft.

In some embodiments of the invention, the driving module comprises: a push rod mechanism including a push rod; and the connecting rod driving module is connected between the push rod and the connecting rod transmission module.

In some embodiments of the invention, the link driving module comprises: the first end of the second connecting rod is pivotally connected with the pushing rod; the first end of the connecting rod is connected with the second end of the second connecting rod in a pivoting mode, the second end of the connecting rod is connected with the first end of the first connecting rod in a pivoting mode, and the middle of the connecting rod is connected to the chassis in a pivoting mode.

In some embodiments of the present invention, the plurality of link transmission modules are divided into a first group of transmission modules and a second group of transmission modules, wherein each of the first group of transmission modules and the second group of transmission modules includes at least two link transmission modules, and the link driving module includes a first driving module and a second driving module, and the first driving module is connected to all the link transmission modules in the first group of transmission modules; the second driving module is connected with all the connecting rod transmission modules in the second group of transmission modules.

In some embodiments of the present invention, the first driving module and the second driving module are symmetrically arranged with respect to an axial direction of the push rod; at least two of the first group of transmission modules are positioned along the axial direction of the push rod, and at least two of the second group of transmission modules are positioned along the axial direction of the push rod.

In some embodiments of the present invention, the first set of transmission modules includes two link transmission modules, and the two motion wheels respectively connected to the two link transmission modules are symmetrically arranged with respect to a direction perpendicular to the pushing rod; the second group of transmission modules comprises two connecting rod transmission modules, and the two motion wheels respectively connected with the two connecting rod transmission modules are symmetrically arranged relative to the direction vertical to the push rod.

In some embodiments of the present invention, each of the moving wheels includes a driving motor and a wheel body drivingly connected to the driving motor.

A construction robot according to an embodiment of a second aspect of the present invention includes: the chassis assembly of the above embodiment. Through the chassis assembly provided with the embodiment, the construction robot provided by the embodiment of the second aspect of the invention can move in all directions under the driving of the chassis assembly, and can rapidly convert the movement direction, so that the construction robot can be promoted to rapidly convert the direction when in work, the time is saved, the work efficiency is improved, the construction robot has the capability of moving in all directions, and the movement and movement capability of the construction robot is enhanced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view of a chassis assembly of an embodiment of the present invention;

FIG. 2 is a perspective view of a chassis of the chassis assembly of an embodiment of the present invention;

FIG. 3 is a perspective view of a baseless configuration of the basepan assembly of an embodiment of the present invention;

FIG. 4 is a top view of a second motion pose of the chassis assembly of the embodiment of the present invention;

FIG. 5 is a top view of the chassis assembly in a first motion pose according to an embodiment of the present invention;

FIG. 6 is a top view of the chassis assembly in the transition attitude of an embodiment of the present invention;

FIG. 7 is a cross-sectional view of a floating mount of the undercarriage assembly of an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a mounting bracket of the undercarriage assembly according to an embodiment of the present invention;

FIG. 9 is a perspective view of a floating mount of the undercarriage assembly of an embodiment of the present invention;

FIG. 10 is a side view of a floating mount of the undercarriage assembly of an embodiment of the present invention.

Reference numerals:

a chassis assembly 100;

a chassis 10;

a moving wheel group 20; a moving wheel 1; a drive motor 11; a wheel main body 12; a mounting bracket 13; a connecting bracket 14; a connecting shaft 15; a fixing bracket 141; a floating mount 142;

a drive module 30;

a push rod mechanism 3; a push rod 31; a connecting rod driving module 4; a second link 41; a connecting rod 42;

a transmission module 40; a connecting rod transmission module 2; a first link 21; a swing link 22;

a first set of transmission modules 5; a second group of transmission modules 6;

a first driving module 7; a second driving module 8.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

An undercarriage assembly 100 according to an embodiment of the present invention is described below with reference to fig. 1-10.

As shown in fig. 1-10, a floor pan assembly 100 includes: the chassis 10, the moving wheel group 20, the driving module 30 and the plurality of transmission modules 40. The chassis 10 may provide a mounting platform for mounting other structures, so that the other structures may be stably supported.

As shown in fig. 1, the moving wheel set 20 is disposed under the chassis 10 and drives the chassis 10 to move, that is, the chassis assembly 100 can have a moving capability through the moving wheel set 20, so as to perform a movement. The moving wheel set 20 includes a plurality of moving wheels 1 spaced circumferentially around the center of the chassis 10, wherein the center of the chassis 10 is the midpoint of the chassis 10, i.e., the position of point O in fig. 4, the plurality of moving wheels 1 are spaced around the chassis 10 around the midpoint O, and the plurality of moving wheels 1 are rotatable around the corresponding vertical rotation axis.

Further, the vertical rotation axis is a rotation axis for angular adjustment of the running wheel 1, such as a line L1 shown in fig. 3, and as can be seen from fig. 3, the vertical direction may be the up-down direction shown in fig. 3. Wherein the plurality of moving wheel groups 20 have a first movement attitude in which the traveling directions of the plurality of moving wheels 1 are all oriented in the X direction, a second movement attitude in which the traveling directions of the plurality of moving wheels 1 are all oriented in the Y direction, and a transition attitude between the first movement attitude and the second movement attitude in which the traveling directions of two circumferentially adjacent moving wheels 1 intersect with each other.

Specifically, the plurality of moving wheel sets 20 may rotate, so as to adjust the moving direction of the moving wheel 1, thereby realizing the omnidirectional movement of the chassis assembly 100, and the chassis assembly 100 may have a plurality of moving capabilities in different directions through the rotation of the plurality of moving wheels 1 in different directions. For example, as shown in fig. 4, the moving direction of the chassis assembly 100 is the X direction, i.e. the first moving posture, and the chassis assembly 100 can move in the X direction, wherein the X direction can be the left-right direction shown in fig. 4, so that the chassis assembly 100 can be adjusted by the direction of the moving wheels 11 and has the capability of moving in the left-right direction.

Further, for example, as shown in fig. 5, the moving direction of the chassis assembly 100 is the Y direction, that is, the second moving posture, in which the chassis assembly 100 can move in the Y direction, wherein the Y direction can be the front-back direction shown in fig. 5, so that the chassis assembly 100 can be adjusted by the direction of the moving wheels 11 and has the capability of moving in the front-back direction.

Further, the angular adjustment of the moving wheels 1 can also be made to rotate to a position between the first moving attitude and the second moving attitude, i.e., a transitional attitude, and when the chassis assembly 100 is in the transitional attitude, the direction of the moving wheels 1 of the chassis 10 is between the X direction and the Y direction, i.e., an intermediate position of the directions shown in fig. 4 and 5.

It should be noted that in the chassis assembly 100 according to the embodiment of the present invention, referring to the transitional position, i.e., the state shown in fig. 6, the traveling directions of two circumferentially adjacent moving wheels 1 are crossed with each other, that is, for example, the traveling directions of two adjacent moving wheels 1 are not parallel as shown in fig. 6, that is, the two adjacent moving wheels 1 shown in fig. 6, the traveling direction of one moving wheel 1 may be along the direction of the line L2, and the traveling direction of the other moving wheel 1 may be along the direction of the line L3, at which time L2 and L3 are crossed, that is, the traveling directions of two moving wheels 1 are crossed, whereby the moving wheels 1 can make a circular motion around a central point during movement, such as the point O shown in fig. 5, by adjusting the traveling directions of the moving wheels 1 to appropriate angles, the chassis assembly 100 can be made to make an in-place rotation around the point O, i.e., to effect pivot steering of the undercarriage assembly 100. By allowing the undercarriage assembly 100 to be turned in situ to adjust the orientation, no orientation adjustment is required during travel, thereby allowing the undercarriage assembly 100 to be more flexible and quicker to adjust.

Meanwhile, as shown in fig. 4 to 6, the chassis assembly 100 can move in the front-back direction, and can also move transversely in the left-right direction by adjusting the angle of the moving wheel 1, and can also rotate in place of the chassis assembly 100 by adjusting the moving direction of the moving wheel 1 to a proper angle. Therefore, after the chassis assembly 100 rotates around its vertical rotation axis by a plurality of multi-motions 1, the motion direction of the motion wheel 1 is adjusted to different angles, thereby realizing the omnidirectional movement of the chassis assembly 100.

As shown in fig. 1, the driving module 30 is disposed on the chassis 10, and the transmission module 40 is connected between the driving module 30 and the corresponding moving wheel 1 in a transmission manner, and drives each moving wheel 1 to rotate around the corresponding vertical rotation axis, so as to change the traveling direction of the moving wheel 1.

Specifically, through the cooperation between drive module 30 and the transmission module 40, can provide drive power through drive module 30, transmission module 40 transmits drive power to corresponding motion wheel 1 to make motion wheel 1 can carry out automatic angle adjustment, and the accuracy of the angle adjustment of motion wheel 1 is high, has guaranteed the accuracy nature of the change of the direction of motion of chassis subassembly 100. Meanwhile, the matching of the driving module 30 and the transmission module 40 makes the adjustment of the movement direction of the chassis assembly 100 faster, and also can improve the automation degree of the chassis assembly 100.

According to the chassis assembly 100 of the embodiment of the invention, the chassis assembly 100 can move in all directions through the rotation of the moving wheel set 20, and the chassis assembly 100 can steer in situ through the adjustment of the moving direction of the moving wheel 1, so that the steering convenience of the chassis assembly 100 is improved. Due to the cooperation of the driving module 30 and the transmission module 40, the driving force provided by the driving module 30 can be transmitted to the moving wheel 1 through the transmission module 40, so that the angle change of the moving wheel 1 can be fast and accurate, the accuracy of the change of the moving direction of the chassis assembly 100 can be improved, and the control of the moving direction of the chassis assembly 100 can be facilitated.

Specifically, in the chassis assembly 100 according to the embodiment of the present invention, the chassis 100 is provided with the plurality of moving wheels 1, the chassis 100 is provided with the plurality of transmission modules 40, the plurality of transmission modules 40 are connected to the plurality of moving wheels 1 in a one-to-one correspondence manner, and meanwhile, the transmission modules 40 are connected to the driving module 30, so that the driving module 30 can simultaneously drive the plurality of transmission modules 40 to move, and the plurality of transmission modules 40 transmit the driving force to the corresponding moving wheels 1, so that the corresponding moving wheels 1 can rotate along the vertical rotation axis thereof, for example, a vertical line L1 shown in fig. 3, and the moving wheels 1 rotate along the vertical rotation axis, so that the chassis assembly 100 can be in situ, and the omnidirectional movement of the chassis assembly 100 can be realized by adjusting the rotation of the moving wheels 1 to different directions.

The chassis 10 plays a role in providing a mounting platform for mounting other structures, and the chassis 10 can be formed by welding a plurality of sectional materials and sheet metal parts, so that the stability and rigidity of the chassis 10 can be improved, the chassis 10 is not easy to deform, and the service life of the chassis 10 is prolonged.

Further, the transmission module 40 of the embodiment of the present invention includes a link transmission module 240. The rod transmission module 40 formed by the connecting rod structure has the advantages of simple structure, low manufacturing cost, convenient use and convenient operation.

As shown in fig. 4 to 6, the link transmission module 240 includes: a first link 21 and a swing link 22. The first connecting rod 21 is a long rod, and meanwhile, the first connecting rod 21 and the swing link 22 may be alloy rods, so that the first connecting rod 21 and the swing link 22 may have strong rigidity and stability, and the first connecting rod 21 and the swing link 22 may also be plastic rods, so that the first connecting rod 21 and the swing link 22 may effectively reduce the manufacturing cost under the condition of ensuring certain rigidity. Therefore, the materials of the first link 21 and the swing link 22 can be designed in various ways according to the requirements of the use environment and the manufacturing cost.

Specifically, the first end of the first link 21 is pivotally connected to the driving module 30, the first end of the swing link 22 is pivotally connected to the second end of the first link 21, the moving wheel 1 is provided with a connecting shaft 15, the axis of the connecting shaft 15 coincides with the vertical rotation axis, and the second end of the swing link 22 is connected to the connecting shaft 15.

The first end of the link is pivotally connected to the driving module 30, that is, the position near the middle of the first link 21 is set as the first end of the first link 21, the second end of the first link 21 is the end of the two ends of the first link 21, and the first end of the swing link 22 is connected to the second end of the first link 21, so that the swing link 22 connected to the first end can be driven to rotate by the movement of the first link 21. The swing link 22 is connected to the rotating shaft of the moving wheel 1, and the rotating axis of the rotating shaft coincides with the vertical rotating axis of the moving wheel 1, which is the axis rotated when the angle of the moving wheel 1 is adjusted, for example, the direction of the line L1 in fig. 3, that is, the up-down direction in fig. 3. Therefore, the swing rod 22 drives the connecting shaft 15 to rotate, and the rotation of the connecting shaft 15 drives the moving wheel 1 to rotate, so that the direction of the moving wheel 1 is adjusted.

As shown in fig. 3 to 6, the driving module 30 includes: a push rod mechanism 3 and a connecting rod driving module 4. The push rod mechanism 3 comprises a push rod 31, and the connecting rod driving module 4 is connected between the push rod 31 and the connecting rod transmission module 2.

Specifically, push rod mechanism 3 can produce the driving force, can transmit to connecting rod drive module 4 and then transmit to transmission module 40 through the driving force, realizes the transmission of the structure that the many connecting rods are constituteed from this, and the adjustment motion direction of wheel 1 makes the direction adjustment convenience and fast more of motion wheel 1.

Further, as shown in fig. 3 to 6, the link driving module 4 includes: a second link 41 and a connecting rod 42. The first end of the second link 41 is pivotally connected to the push lever 31, the first end of the connecting rod 42 is pivotally connected to the second end of the second link 41, the second end of the connecting rod 42 is pivotally connected to the first end of the first link 21, and the middle portion of the connecting rod 42 is pivotally connected to the chassis 10.

Specifically, as shown in fig. 3 to 6, the second link 41 is connected to the first link 21 through a connecting rod 42, and the connecting rod 42 is rotatably disposed on the chassis 10, so that the connecting rod 42 can rotate on the chassis 10, but the connecting rod 42 cannot move on the chassis 10, and therefore, after the second link 41 is connected to the first link 21 through the connecting rod 42, the connecting rod 42 can transmit power generated by the pushing rod 31 connected to the second link 41 to the first link 21, so that a multi-link mechanism that stably operates is formed among the pushing rod 31, the second link 41, the connecting rod 42, the first link 21, and the swing rod 22, and finally the moving wheel 1 is driven to rotate around a vertical axis, so that the chassis assembly 100 can change a moving direction and realize omnidirectional movement.

As shown in fig. 4-6, the plurality of link transmission modules 2 are divided into a first group of transmission modules 5 and a second group of transmission modules 6, wherein each of the first group of transmission modules 5 and the second group of transmission modules 6 includes at least two link transmission modules 2, that is, one first link 21 and one swing link 22 are one link transmission module 2, and each of the first group of transmission modules 5 and the second group of transmission modules 6 includes at least two link transmission modules 2. Therefore, the first group of transmission modules 5 and the second group of transmission modules 6 can simultaneously control at least two moving wheels 1 to rotate, so that the rotating control speed of the moving wheels 1 is improved, and the steering control of the moving wheels 1 is more convenient.

Further, the connecting rod driving module 4 comprises a first driving module 7 and a second driving module 8, the first driving module 7 is connected with all the connecting rod transmission modules 2 in the first group of transmission modules 5, and the second driving module 8 is connected with all the connecting rod transmission modules 2 in the second group of transmission modules 6.

Specifically, as mentioned above, the first set of transmission modules 5 includes at least two link transmission modules 2, and the second set of transmission modules 6 includes at least two link transmission modules 2. The first driving module 7 is connected with the first group of transmission modules 5, namely, the first driving module 7 is connected with at least two connecting rod transmission modules 2 in the first group of transmission modules 5, the second driving module 8 is connected with the second group of transmission modules 6, namely, the first driving module 7 is connected with at least two connecting rod transmission modules 2 in the second group of transmission modules 6, therefore, the driving of the first driving module 7 can enable at least two connecting rod transmission modules 2 in the first group of transmission modules 5 to move, and at least two moving wheels 1 can be enabled to rotate around the vertical rotating axis direction at the same time. Correspondingly, the driving of the second driving module 8 can make at least two link transmission modules 2 in the second group of transmission modules 6 all move, i.e. can make at least two motion wheels 1 rotate around the vertical rotation axis direction simultaneously.

And, first drive module 7 and second drive module 8 all are connected with catch bar 31, and from this can know, through the promotion of catch bar 31, can transmit the driving force to first group transmission module 5 in through first drive module 7, and then can transmit to two at least connecting rod transmission module 2 in first group transmission module 5 to make the motion wheel 1 of two at least connecting rod transmission module 2 one-to-one rotate around vertical axis of rotation. Correspondingly, the driving force of catch bar 31 can transmit the driving force to the second group of transmission module 6 through the second driving module 8, and then can transmit to at least two connecting rod transmission modules 2 in the second group of transmission module 6, and make the motion wheel 1 of at least two connecting rod transmission modules 2 one-to-one rotate around the vertical rotation axis. Therefore, synchronous angle conversion can be realized by driving at least four moving wheels 1 through one driving module 30, the angle adjusting speed of the moving wheels 1 during steering of the chassis 10 is increased, the steering of the chassis assembly 100 is faster, and the chassis assembly 100 can also be steered in situ, namely the chassis assembly 100 can be converted among a first moving pose, a second moving pose and a transition pose under the condition that the chassis assembly 100 does not need to move.

As shown in fig. 4 to 6, the first drive module 7 and the second drive module 8 are arranged symmetrically with respect to the axial direction of the push rod 31. The push rod 31 of the push rod mechanism 3 can reciprocate along a direction, for example, in a state where the disc assembly 100 is located in fig. 4, a moving direction of the push rod 31 is a front-back direction, at this time, as can be seen from fig. 4, the first driving module 7 and the second driving module 8 are respectively located at left and right sides of the push rod 31, and the first driving module 7 and the second driving module 8 are symmetrically distributed with respect to a moving axis of the push rod 31. Then catch bar 31 can make the movement track of first drive module 7 and second drive module 8 keep unanimous and synchronous when promoting first drive module 7 and second drive module 8, and then make the movement track of a plurality of transmission module 40 also keep unanimous and synchronous, finally make a plurality of motion wheels 1 realize synchronous rotation, and the turned angle of a plurality of motion wheels 1 is unanimous, realize the control to the synchronous rotation of motion wheel 1, and then promote the accuracy nature to the angular adjustment of motion wheel 1.

Further, at least two link transmission modules 2 in the first group of transmission modules 5 are positioned along the axial direction of the push rod 31, and at least two link transmission modules 2 in the second group of transmission modules 6 are positioned along the axial direction of the push rod 31.

For example, as shown in fig. 4, the movement direction of the push rod 31 is the front-back direction, the first group of transmission modules 5 includes at least two transmission modules 40, and the at least two transmission modules 40 are arranged along the front-back direction, so that the at least two transmission modules 40 can be respectively connected with the moving wheels 1 of the chassis 10 in the front-back direction in a one-to-one correspondence manner, and further the rotation angle of the moving wheels 1 can be controlled. The second group of transmission modules 6 comprises at least two transmission modules 40, and the at least two transmission modules 40 are arranged along the front-back direction, so that the at least two transmission modules 40 can be respectively connected with the moving wheels 1 in the front-back direction of the chassis 10 in a one-to-one correspondence manner, and the rotation angle of the moving wheels 1 can be controlled.

Through adopting arranging of fore-and-aft direction with two at least transmission module 40 in the first transmission module 40, adopt arranging of fore-and-aft direction with two at least transmission module 40 in the second transmission module 40 simultaneously, can make the structure on the chassis subassembly 100 arrange more rationally, chassis subassembly 100 is when the motion, and overall structure is more stable.

As shown in fig. 4-6, in the embodiment of the present invention, the first group of transmission modules 5 includes two link transmission modules 2, two moving wheels 1 respectively connected to the two link transmission modules 2 are symmetrically disposed with respect to the direction of the vertical pushing rod 31, and the second group of transmission modules 6 includes two link transmission modules 2, and two moving wheels 1 respectively connected to the two link transmission modules 2 are symmetrically disposed with respect to the direction of the vertical pushing rod 31.

Specifically, as can be seen from the above, the push rod 31 reciprocates in one direction, for example, as shown in fig. 4, the movement direction of the push rod 31 may be a front-back direction, and the push rod 31 may reciprocate in the front-back direction, at this time, the direction perpendicular to the movement direction of the push rod 31, that is, the left-right direction of the chassis assembly 100, as can be seen from fig. 4, the two transmission modules 40 included in the first set of transmission modules 5, and the two movement wheels 1 corresponding to the two transmission modules 40 one to one, are distributed in the front-back direction of the chassis assembly 100, that is, symmetrically distributed in the direction perpendicular to the movement direction of the push rod 31. Correspondingly, the two transmission modules 40 included in the second group of transmission modules 6, and the two moving wheels 1 corresponding to the two transmission modules 40 one by one, are distributed in the front-back direction of the chassis assembly 100, that is, symmetrically distributed in the direction perpendicular to the moving direction of the push rod 31. By symmetrically arranging the moving wheels 1 in the direction perpendicular to the moving direction of the push rod 31, the arrangement of the chassis assembly 100 can be made more reasonable, and the chassis assembly 100 can be kept stable in movement.

As shown in fig. 1 to 8, each of the moving wheels 1 includes a driving motor 11 and a wheel body 12 drivingly connected to the driving motor 11. By installing the driving motor 11 on the wheel main body 12 of each moving wheel 1, independent driving of the single wheel main body 12 can be realized, the overall moving capability of the moving wheel 1 can be improved, and the omnidirectional moving capability of the chassis assembly 100 can be improved, meanwhile, each wheel main body 12 can make the moving wheels 1 have the same speed or non-same speed according to different using environments and moving requirements of the chassis assembly 100 through the control of the driving motor 11, so that the moving adaptability of the chassis assembly 100 is stronger.

Further, as shown in fig. 1 to 8, each moving wheel 1 further includes a mounting bracket 13 and a connecting bracket 14, and the mounting bracket 13 is fixed on the chassis 10, so that the moving wheel 1 can be stably fixed on the chassis 10, and the chassis assembly 100 can have omnidirectional movement capability. The connecting bracket 14 is connected with the connecting shaft 15 of the moving wheel 1, and the driving motor 11 is installed on the connecting bracket 14, so that the connecting shaft 15 is driven to rotate by the oscillating bar 22, the connecting shaft 15 can drive the connecting bracket 14 to synchronously rotate, and the corresponding wheel main body 12 is driven to rotate around the vertical rotating axis, so that the angle adjustment of the wheel main body 12 can be realized.

A construction robot (not shown in the drawings) according to an embodiment of a second aspect of the present invention includes: the floor pan assembly 100 of the above embodiment. Through the chassis assembly 100 provided with the above embodiment, the construction robot according to the embodiment of the second aspect of the present invention can move in all directions under the driving of the chassis assembly 100, and can rapidly switch the moving direction, so that the direction of the construction robot can be quickly changed when the construction robot works, the time can be saved, the working efficiency can be improved, the construction robot has the capability of moving in all directions, and the moving capability of the construction robot can be enhanced.

The present invention is not limited thereto, and the connecting bracket 14 in the chassis assembly 100 according to the embodiment of the present invention may be a floating bracket 142 and a fixed bracket 141, as shown in fig. 7, the floating bracket 142 is shown in fig. 8, and as shown in fig. 8, the floating bracket 142 is shown in fig. 8, when the wheel main body 12 mounted on the bracket moves, the wheel main body meets an uneven road surface, has an up-and-down floating capability, and performs a shock absorption function, so that when the chassis assembly 100 moves to a pothole road surface, the whole chassis assembly 100 is still stable, and the accuracy of the moving direction of the chassis assembly 100 is not affected.

The fixing bracket 141 can maintain a certain stability of the wheel main body 12 mounted on the bracket, and improve the overall movement accuracy of the undercarriage assembly 100.

Therefore, the floating support 142 can improve the moving capability of the whole chassis assembly 100 on the uneven road surface, and improve the accuracy of the moving direction of the chassis assembly 100 on the uneven road surface.

As shown in fig. 9 and 10, the floating bracket 142 can provide floating force for the wheel body 12 mounted thereon, so that the wheel body 12 can be adjusted in position when moving to uneven road surface, thereby providing a cushioning effect for the chassis 10.

Further, the wheel main bodies 12 of the moving wheel 1 of the embodiment of the invention are all rubber covered wheels, so that the obstacle crossing capability and the wading capability of the moving wheel 1 can be enhanced.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A floor assembly, comprising:

a chassis;

a plurality of motion wheel groups, wherein the plurality of motion wheel groups are provided with a first motion pose, a second motion pose and a transition pose between the first motion pose and the second motion pose, the travel directions of the plurality of motion wheels are all towards the X direction in the first motion pose, the travel directions of the plurality of motion wheels are all towards the Y direction in the second motion pose, and the travel directions of two circumferentially adjacent motion wheels are crossed with each other in the transition pose;

the driving module is arranged on the chassis;

the transmission modules are connected between the driving modules and the corresponding motion wheels in a transmission mode and drive each motion wheel to rotate around the corresponding vertical rotation axis so as to change the advancing direction of the motion wheels.

2. The floor assembly of claim 1, wherein the transmission module comprises a link transmission module.

3. The floor assembly of claim 2, wherein each of said link transmission modules comprises:

the first end of the first connecting rod is pivotally connected with the driving module;

the first end of the swing rod is connected with the second end of the first connecting rod in a pivoting mode, the moving wheel is provided with a connecting shaft, the axis of the connecting shaft is overlapped with the vertical rotating axis, and the second end of the swing rod is connected with the connecting shaft.

4. The tray assembly of claim 3, wherein the drive module comprises:

a push rod mechanism including a push rod;

and the connecting rod driving module is connected between the push rod and the connecting rod transmission module.

5. The floor assembly of claim 4, wherein the link drive module comprises:

the first end of the second connecting rod is pivotally connected with the pushing rod;

the first end of the connecting rod is connected with the second end of the second connecting rod in a pivoting mode, the second end of the connecting rod is connected with the first end of the first connecting rod in a pivoting mode, and the middle of the connecting rod is connected to the chassis in a pivoting mode.

6. The tray assembly of claim 4, wherein the plurality of link transmission modules are divided into a first group of transmission modules and a second group of transmission modules, wherein each of the first group of transmission modules and the second group of transmission modules includes at least two of the link transmission modules, the link drive modules include a first drive module and a second drive module,

the first driving module is connected with all the connecting rod transmission modules in the first group of transmission modules;

the second driving module is connected with all the connecting rod transmission modules in the second group of transmission modules.

7. The floor assembly of claim 6,

the first driving module and the second driving module are symmetrically arranged relative to the axial direction of the push rod;

at least two of the connecting rod transmission modules in the first group of transmission modules are positioned along the axial direction of the push rod,

at least two of the connecting rod transmission modules in the second group of transmission modules are positioned along the axial direction of the push rod.

8. The floor assembly of claim 6,

the first group of transmission modules comprises two connecting rod transmission modules, and the two motion wheels respectively connected with the two connecting rod transmission modules are symmetrically arranged relative to the direction vertical to the push rod;

the second group of transmission modules comprises two connecting rod transmission modules, and the two motion wheels respectively connected with the two connecting rod transmission modules are symmetrically arranged relative to the direction vertical to the push rod.

9. The floor assembly of claim 6, wherein each of said motion wheels includes a drive motor and a wheel body drivingly connected to said drive motor.

10. A construction robot, comprising: the floor assembly according to any one of claims 1 to 9.