CN114560027A - Robot chassis and robot - Google Patents

Robot chassis and robot Download PDF

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Publication number
CN114560027A
CN114560027A CN202210129005.9A CN202210129005A CN114560027A CN 114560027 A CN114560027 A CN 114560027A CN 202210129005 A CN202210129005 A CN 202210129005A CN 114560027 A CN114560027 A CN 114560027A
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China
Prior art keywords
wheel
ground
robot
connecting rod
driving
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Granted
Application number
CN202210129005.9A
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Chinese (zh)
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CN114560027B (en
Inventor
张云龙
马学思
杨伟聪
林佳福
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Xiamen Comfort Science and Technology Group Co Ltd
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Xiamen Comfort Science and Technology Group Co Ltd
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Priority to CN202210129005.9A priority Critical patent/CN114560027B/en
Publication of CN114560027A publication Critical patent/CN114560027A/en
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Publication of CN114560027B publication Critical patent/CN114560027B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Abstract

The application provides a robot chassis and a robot, which comprise a fixed chassis, a first motion module, a second motion module and a driving module, wherein the first motion module comprises a first supporting wheel and a first connecting rod; the second supporting wheel is rotatably connected to one end of a second connecting rod, and the middle part of the second connecting rod is rotatably connected with the fixed chassis; the driving module comprises a driving wheel, and the driving wheel is rotatably connected with the other end of the second connecting rod. The application provides a robot chassis and robot with drive wheel and supporting wheel linkage, when the robot hinders more, supporting wheel and fixed chassis, drive wheel relative motion have avoided the unilateral supporting wheel to lift and lead to drive wheel and ground stiction to reduce and unsettled or the phenomenon of skidding, have improved the ability of hindering more of robot.

Description

Robot chassis and robot
Technical Field
The application belongs to the technical field of robots, and particularly relates to a robot chassis and a robot.
Background
The existing mobile robot mostly adopts a differential gear train configuration, the configuration requires a combination of two driving wheels and one or more supporting wheels as a gear train, the driving wheels adopt hub motors under normal conditions, and the supporting wheels adopt universal wheels. The wheels are arranged on the fixed chassis through a certain structural design, and play a role in driving, supporting and pose control on the robot.
In order to realize the in-situ rotation of the robot and avoid head or tail flicking, the common arrangement is that the driving wheels are arranged in the middle, one or more universal wheels are respectively adopted at the front and the back as the layout of the support, meanwhile, in order to improve the running stability and obstacle crossing capability of the robot when encountering an obstacle, a suspension and damping device is designed on the driving wheels or the supporting wheels, and the current situation is mostly a single scheme of the suspension of the driving wheels. This causes the following problems: when the load of the machine is increased, the maximum friction force between the driving wheel and the ground is not increased, so that the situation of skidding is easy to occur; when the obstacle is crossed, the driving wheel is also lifted due to the lifting of the supporting wheel on one side, so that the maximum static friction between the driving wheel and the ground is reduced, and the problem of insufficient driving force is caused. Therefore, the design of the suspension system of the robot is improved, and the suspension system is an effective mode for improving the obstacle crossing capability of the robot and increasing the load of the robot.
Disclosure of Invention
An object of the embodiment of the application is to provide a robot chassis and a robot, so as to solve the technical problems of insufficient driving force and easy slipping of a mobile robot in the prior art.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: providing a robot chassis comprising:
the fixed chassis comprises a first ear seat and a second ear seat which are arranged at intervals;
the first motion module comprises a first supporting wheel and a first connecting rod, the first supporting wheel is rotatably connected to one end of the first connecting rod, and the middle part of the first connecting rod is rotatably connected with the first ear seat;
the second motion module comprises a second support wheel and a second connecting rod, the second support wheel is rotatably connected to one end of the second connecting rod, and the middle part of the second connecting rod is rotatably connected with the second ear seat; and
the driving module comprises a driving wheel, and the driving wheel is rotatably connected with the other end of the second connecting rod;
the other end of the first connecting rod is connected with the other end of the second connecting rod in a sliding and rotating fit manner; the fixed chassis is supported by the first motion module and the second motion module through the first ear seat and the second ear seat and is driven to move.
Further, when the driving wheel meets a ground obstacle and moves upwards relative to the ground, the other end of the first connecting rod slides relative to the other end of the second connecting rod, so that the first supporting wheel and the second supporting wheel are both supported with the ground.
Furthermore, a sliding groove is formed in the other end of the second connecting rod, a sliding rod is arranged at the other end of the first connecting rod, the sliding rod is arranged in the sliding groove, and when the driving wheel, the first supporting wheel and the second supporting wheel are located on the ground at the same height, the sliding rod is located in the middle of the sliding groove.
Further, when the first supporting wheel encounters an obstacle higher than the ground and moves upwards, the sliding rod slides in the sliding groove, so that the driving wheel and the second supporting wheel are both in contact with the ground; and/or
When the second supporting wheel meets an obstacle higher than the ground and moves upwards, the sliding rod slides in the sliding groove, so that the driving wheel and the first supporting wheel are both in contact with the ground.
Furthermore, the driving module further comprises two driving motors, the driving wheels are connected with the driving motors, and the driving wheels are respectively arranged on the left side and the right side of the fixed chassis.
Furthermore, the driving wheel is positioned between the first supporting wheel and the second supporting wheel, so that when the first supporting wheel encounters an obstacle higher than the ground and moves upwards, the tilting angle of the first supporting wheel relative to the ground is larger than that of the fixed chassis relative to the ground; and/or
When the second supporting wheel runs into an obstacle higher than the ground and moves upwards, the tilting angle of the second supporting wheel relative to the ground is larger than the tilting angle of the fixed chassis relative to the ground.
Further, the rotation central axes of the first support wheel, the first connecting rod, the second support wheel and the second connecting rod are parallel to each other.
Further, the first motion module further comprises a first spring, and the first spring is connected with the fixed chassis and the first connecting rod.
Further, the second motion module further comprises a second spring, and the second spring is connected with the fixed chassis and the second connecting rod.
The application also provides a robot, which comprises the robot chassis.
The application provides a robot chassis and robot's beneficial effect lies in: compared with the prior art, the mobile robot has the advantages that the driving wheels are linked with the supporting wheels through the first connecting rods and the second connecting rods, when the robot gets over obstacles, the supporting wheels move relative to the fixed chassis and the driving wheels, the phenomenon that static friction between the driving wheels and the ground is reduced and the driving wheels are suspended or slip due to lifting of the supporting wheels on one side is avoided, and the obstacle-crossing capability of the robot is improved; the driving wheel sets up on first connecting rod and second connecting rod, and the stiction force on driving wheel and ground can increase along with the increase of load, has avoided the not enough condition of robot drive power under big load, has improved the stability of robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a robot chassis provided in an embodiment of the present application;
FIG. 2 is a side view of a robot chassis provided by an embodiment of the present application;
fig. 3 is a partial structural schematic diagram of a chassis driving module of a robot provided in an embodiment of the present application;
FIG. 4 is a force diagram of a robot chassis provided by an embodiment of the present application when loaded;
fig. 5 is a schematic view of a fixed chassis configuration when a second motion module of a robot chassis provided in an embodiment of the present application is obstacle-crossing;
fig. 6 is a movement direction and a force diagram of a second movement module of the robot chassis when the second movement module crosses an obstacle according to the embodiment of the application;
fig. 7 is a movement direction and a force diagram of a driving module of a robot chassis provided by an embodiment of the application when the driving module crosses an obstacle;
fig. 8 is a schematic view of a fixed chassis configuration when a drive module of a robot chassis according to an embodiment of the present application is obstacle detouring.
Wherein, in the figures, the respective reference numerals:
100-fixing the chassis; 11-a first ear mount; 12-a second ear mount;
200-driving wheels;
300-a first motion module; 31-a slide bar; 32-a first support wheel; 33-a first link; 34-a first rotating shaft; 35-a first spring; 36-a first bracket;
400-a second motion module; 41-a chute; 42-a second support wheel; 43-a second link; 44-a second shaft; 45-a second spring; 46-second support.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1, 2 and 3 together, a robot chassis and a robot provided in an embodiment of the present application will now be described. The robot chassis provided by the present application includes a fixed chassis 100, a driving module, a first motion module 300, and a second motion module 400, wherein the driving module includes a driving wheel 200, and the first motion module 300 and the second motion module 400 are respectively disposed at two sides of the fixed chassis 100. The first motion module 300 further includes a first support wheel 32 and a first link 33, and the second motion module 400 further includes a second support wheel 42 and a second link 43. The first support wheel 32 is rotatably connected to one end of the first link 33, and the second support wheel 42 is rotatably connected to one end of the second link 43. The other end of the second link 43 is rotatably connected to the driving wheel 200, and the other end of the first link 33 is slidably and rotatably connected to the other end of the second link 43. When the robot chassis needs to cross the obstacle, the first motion module 300, the driving wheel 200 and the second motion module 400 sequentially cross the obstacle or the second motion module 400, the driving wheel 200 and the first motion module 300 sequentially cross the obstacle.
Alternatively, the fixing base plate 100 may be a circular fixing base plate or an elongated fixing base plate.
Wherein the axes of the centers of rotation of the first support wheel 32, the second support wheel 42 and the drive wheel 200 are horizontal and parallel to each other.
Further, the driving module further includes a driving motor (not shown), and the driving wheel 200 is connected to the driving motor. In the present embodiment, the number of the driving wheels 200 is two, and the driving wheels 200 are respectively disposed at the left and right sides of the fixed chassis 100.
In one embodiment, the first motion module 300 further includes a slide bar 31, and the second motion module 400 further includes a slide slot 41. The second connecting rod 43 is rotatably connected with the driving wheel 200, and the chute 41 is arranged at the position of the second connecting rod 43 close to the driving wheel 200; the slide bar 31 is disposed at a position where the first link 33 is close to the driving wheel 200, the slide bar 31 can slide freely in the slide groove 41, and the first link 33 is connected with the second link 43 through the slide bar 31 in a sliding and rotating manner. In this way, the driving wheel 200 is indirectly rotationally connected to the first link 33 by the engagement of the slide bar 31 and the slide groove 41.
Specifically, when the driving wheel 200, the first support wheel 32 and the second support wheel 42 are located on the ground at the same height, the slide bar 31 is located at a middle position of the slide groove 41.
Through the structure, when the robot chassis moves, the sliding chute 41 on the second connecting rod 43 is connected with the sliding rod 31 on the first connecting rod 33 to rotate and slide, and further the first connecting rod 33 and the second connecting rod 43 are linked with the driving wheel 200. When the driving wheel 200 moves up and down, corresponding actions can be generated through the cooperation of the sliding groove 41 and the sliding rod 31 in the first connecting rod 33 and the second connecting rod 43.
Specifically, when the first support wheel 32 moves upward, the second support wheel 42 moves upward, and the drive wheel 200 moves downward, the slide bar 31 slides from the middle of the slide groove 41 in a direction approaching the drive wheel 200.
Conversely, when the driving wheel 200 moves upward, the slide bar 31 slides from the middle of the slide groove 41 in a direction away from the driving wheel 200.
In the present embodiment, the first link 33 and the second link 43 are each of a V-shaped configuration facing downward, which allows the center axis of rotation to be far enough from the ground that the fixed chassis 100 can be far enough from the ground without affecting the rotation of the driving wheel 200, the first supporting wheel 32 and the second supporting wheel 42 on the ground. In the specific drawings of the present application, only the first link 33 and the second link 43 are shown in the V-shaped configuration, but of course, similar arc-shaped configurations are also possible to achieve the technical objects and effects of the present application.
In this embodiment, as shown in fig. 1 and 2, the first moving module 300 further includes a first bracket 36, the first support wheel 32 is rotatably mounted on the first bracket 36, the first bracket 36 is mounted on the first connecting rod 33, and when the robot chassis moves, the first connecting rod 33 drives the first bracket 36 and the first support wheel 32 to move.
Similarly, the second moving module 400 further includes a second bracket 46, the second supporting wheel 42 is rotatably mounted on the second bracket 46, the second bracket 46 is mounted on the second connecting rod 43, and when the robot chassis moves, the second connecting rod 43 drives the second bracket 46 and the second supporting wheel 42 to move.
In the embodiment of the present application, as shown in fig. 1 and 3, the fixed chassis 100 is provided with a first ear seat 11, the first link 33 is provided with a first rotating shaft 34, and the first link 33 is mounted on the first ear seat 11 through the first rotating shaft 34. The first link 33 is further provided with a first spring 35, and the first spring 35 is connected with the first link 33 and the first ear seat 11. The first spring 35 may be used to provide a restoring force for the rotation of the first link 33.
Similarly, the fixed chassis 100 is further provided with a second ear seat 12, the second link 43 is provided with a second rotating shaft 44, the second link 43 is mounted on the second ear seat 12 through the second rotating shaft 44, the second link 43 is further provided with a second spring 45, and the second spring 45 is connected with the second link 43 and the second ear seat 12. The second spring 45 may be used to provide a restoring force for the rotation of the second link 43.
Further, in the embodiment shown in the drawings of the present application, the first rotating shaft 34 and the second rotating shaft 44 are axes of the rotation centers of the first connecting rod 33 and the second connecting rod 43, respectively, and in this embodiment, the axes of the first rotating shaft 34 and the second rotating shaft 44, the axes of the rotation centers of the first supporting wheel 32 and the second supporting wheel 42, and the axis of the rotation center of the driving wheel 200 are all parallel to each other.
Furthermore, in other embodiments, the rotational center axes of the first support wheel 32, the first link 33, the second support wheel 42, and the second link 43 may not be parallel.
In another embodiment of the present application, the first and second shafts 34, 44 may be diagonal, i.e., horizontal but not parallel to the axis of the centers of rotation of the first and second support wheels 32, 42 and the drive wheel 200.
The embodiment of the application also provides a robot, which comprises the structures in the robot chassis. The robot further includes a body, and the fixed base plate 100 may be a part of the body of the robot, or may be a structure independent from the body and located below the body.
Referring to fig. 1, 4 to 8, a description will now be given of a robot chassis and a movement manner and a stress condition of a robot in an obstacle crossing process according to an embodiment of the present application.
As shown in fig. 4, when the robot chassis in this embodiment is in normal traveling, the fixed chassis 100 is loaded, and the robot chassis is subjected to the pressure G1And G2While the robot chassis is subjected to a supporting force F from the ground1，F2And F3Together under pressure. When the load of the robot chassis increases and the pressure increases, the supporting force will also increase along with the increase of the pressure, so as to increase the maximum friction force of the driving wheel 200, that is, the maximum static friction of the driving wheel 200 is increased along with the increase of the load.
Before the robot chassis in this embodiment encounters an obstacle, the line connecting the first support wheel 32 and the second support wheel 42 with the driving wheel 200 is parallel to the ground, and at this time, no relative movement occurs between the first link 33 and the second link 43.
When the robot chassis in this embodiment encounters an obstacle, both the first motion module 300 and the second motion module 400 can perform obstacle crossing first. The second motion module 400 first passes over an obstacle as shown in fig. 5 and 6. When the second support is usedWhen the wheel 42 passes over an obstacle, the second support wheel 42 moves vertically upward, as indicated by T in FIG. 61As shown. At this time, the second connecting rod 43 will rotate around the second rotating shaft 44 along with the first bracket 46, and the moving direction is r in fig. 61As shown. At the same time, the second spring 45 is stretched, and the driving wheel 200 is moved downward by the force from the second link 43, as indicated by T in fig. 63As shown.
Further, when the second link 43 rotates, the sliding rod 31 slides in the sliding slot 41 of the second link 43, and the moving direction is shown as T in fig. 6.
Further, the first motion module 300 is moved by the influence of the movement of the second motion module 400 and the driving wheel 200. The first link 33 rotates about a first rotation axis 34 in the direction r in fig. 62As shown. At this time, the first spring 35 is stretched, and the first supporting wheel 32 is moved upward, as shown by T in fig. 62As shown.
As shown in fig. 5, when the second support wheels 42 pass over an obstacle, the robot chassis is tilted to form a fixed chassis 100. At this time, the line L connecting the bottom of the second supporting wheel 42 and the bottom of the driving wheel 2001A straight line L in the direction of the fixed base plate 1002Form an included angle alpha1And the ground L3Form an included angle alpha2. In this state, the driving wheel 200 and the first supporting wheel 32 are on the ground, and the line connecting the bottom of the driving wheel and the line L along the direction of the fixed chassis 1002Form an included angle alpha3。
Further, as second support wheel 42 passes over an obstacle, included angle α1、α2、α3The pressure applied to the second support wheel 42 is gradually increased, and the pressure applied to the driving wheel 200 is gradually decreased. Therefore, the driving wheel 200 does not rise along with the rise of the second supporting wheel 42, the driving force of the robot chassis is not reduced in the obstacle crossing process, and the obstacle crossing capability of the robot chassis is improved.
As shown in fig. 7 and 8, the obstacle crossing of the second motion module 400 is completed, and the driving wheel 200 performs the obstacle crossing. Similar to before the obstacle crossing of the second motion module 400, before the obstacle crossing of the driving wheel 200, the whole robot chassis is horizontal, and the connecting line of the first supporting wheel 32, the driving wheel 200 and the second supporting wheel 42 is parallel to the ground, at this time, no relative motion occurs between the first connecting rod 33 and the second connecting rod 43.
When the driving wheel 200 gets over the obstacle, the driving wheel 200 moves vertically upward, as shown by T in FIG. 73As shown. At this time, the second link 43 will rotate around the second rotation axis 44 in the manner r in fig. 71At the same time, the second support wheel 42 will move downwards, as indicated by T in fig. 71As shown.
Further, the driving wheel 200 rotates the second link 43, and the sliding rod 31 of the first supporting wheel 32 slides in the sliding slot 41 of the second supporting wheel 42, the moving direction is shown as T in fig. 7.
Further, the driving wheel 200 drives the first link 33 to rotate around the first rotation axis 34, and the direction of the rotation is r in fig. 72As shown, the first spring is now compressed and the first support wheel 32 moves downwardly, as indicated by T in FIG. 72As shown.
In this embodiment, as shown in fig. 8, when the driving wheel 200 gets over the obstacle, the first supporting wheel 32 and the second supporting wheel 42 are located on the ground, the fixed chassis 100 is balanced, and the first supporting wheel 32 and the second supporting wheel 42 both generate downward movement. At this time, the first support wheel 32 and the second support wheel 42 are acted by downward force, the pressure of the drive wheel 200 is reduced, the drive force is enhanced, and the obstacle crossing capability of the robot chassis is improved.
When the driving wheel 200 crosses an obstacle, the driving wheel 200 moves downwards, the stress condition and the movement condition of each component of the robot chassis are similar to those of the first movement module 300 when crossing the obstacle, the first spring 35 and the second spring 45 are stretched, the first connecting rod 33 and the second connecting rod 43 respectively rotate around the first rotating shaft 34 and the second rotating shaft 44, the pressure on the first supporting wheel 32 and the second supporting wheel 42 is reduced, the pressure on the driving wheel 200 is increased, and the driving wheel 200 can move close to the obstacle and the ground, so that the robot chassis provides enough driving force, and the robot chassis can stably cross the obstacle.
The above embodiment provides a process in which the second motion module 400 first crosses the obstacle, and the last portion that crosses the obstacle is the first motion module 300 (this obstacle crossing process is not shown).
Similarly, the process of the first motion module 300 crossing the obstacle first is similar to the process of the second motion module 400 crossing the obstacle first, and is not repeated herein.
Further, in the embodiment of the present application, when the first motion module 300 and the second motion module 400 get over the obstacle, the first support wheel 32 and the second support wheel 42 move upward, and the first link 33 and the second link 43 are driven to rotate around the first rotating shaft 34 and the second rotating shaft 44, and the rotating direction is r in fig. 62And r1As shown, the slide bar 31 slides in the slide groove 41 in a direction approaching the driving wheel 200, and the driving wheel 200 is forced downward.
Similarly, when the driving wheel 200 gets over the obstacle, the driving wheel 200 moves upward, and the first link 33 and the second link 43 are rotated around the first rotating shaft 34 and the second rotating shaft 44, and the rotating direction is r in fig. 72And r1As shown, the sliding rod 31 slides in the sliding slot 41 away from the driving wheel 200, and the first supporting wheel 32 and the second supporting wheel 42 are forced downwards.
Therefore, compared with the prior art, the robot chassis and the robot provided by the embodiment of the application have the advantages that the driving wheel 200 is linked with the first supporting wheel 32 and the second supporting wheel 42 through the first connecting rod 33 and the second connecting rod 43, when the robot gets over obstacles, the first supporting wheel 32 and the second supporting wheel 42 move relative to the fixed chassis 100 and the driving wheel 200, the phenomenon that the static friction between the driving wheel 200 and the ground is reduced and the driving wheel hangs or slips due to the lifting of the supporting wheel at one side is avoided, and the obstacle crossing capability of the robot is improved; the driving wheel sets up the one end at first connecting rod and second connecting rod, and the stiction of driving wheel 200 and ground can increase along with the increase of load, and does not reduce along with lifting up of two supporting wheels, has avoided the not enough condition of robot drive power, has improved the stability of robot.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A robot chassis, comprising:
the fixed chassis comprises a first ear seat and a second ear seat which are arranged at intervals;
the first motion module comprises a first support wheel and a first connecting rod, the first support wheel is rotatably connected to one end of the first connecting rod, and the middle part of the first connecting rod is rotatably connected with the first ear seat;
the second motion module comprises a second support wheel and a second connecting rod, the second support wheel is rotatably connected to one end of the second connecting rod, and the middle part of the second connecting rod is rotatably connected with the second ear seat; and
the driving module comprises a driving wheel, and the driving wheel is rotatably connected with the other end of the second connecting rod;
the other end of the first connecting rod is connected with the other end of the second connecting rod in a sliding and rotating fit manner; the fixed chassis is supported by the first motion module and the second motion module through the first ear seat and the second ear seat and is driven to move.
2. The robot chassis of claim 1, wherein the other end of the first link slides relative to the other end of the second link when the drive wheel moves upward relative to the ground while encountering a ground obstacle such that the first support wheel and the second support wheel are both supported from the ground.
3. The robot chassis of claim 2, wherein a sliding groove is formed at the other end of the second link, a sliding rod is formed at the other end of the first link, the sliding rod is disposed in the sliding groove, and when the driving wheel, the first supporting wheel and the second supporting wheel are located on the ground at the same height, the sliding rod is located at the middle of the sliding groove.
4. The robot chassis of claim 3,
when the first supporting wheel meets an obstacle higher than the ground and moves upwards, the sliding rod slides in the sliding groove, so that the driving wheel and the second supporting wheel are both in contact with the ground; and/or
When the second supporting wheel meets an obstacle higher than the ground and moves upwards, the sliding rod slides in the sliding groove, so that the driving wheel and the first supporting wheel are both in contact with the ground.
5. The robot chassis of claim 1, wherein the driving module further comprises two driving motors, the two driving wheels are connected with the driving motors, and the driving wheels are respectively arranged on the left side and the right side of the fixed chassis.
6. The robot chassis of claim 1, wherein the drive wheel is disposed between the first support wheel and the second support wheel such that
When the first supporting wheel encounters an obstacle higher than the ground and moves upwards, the tilting angle of the first supporting wheel relative to the ground is larger than the tilting angle of the fixed chassis relative to the ground; and/or
When the second supporting wheel runs into an obstacle higher than the ground and moves upwards, the tilting angle of the second supporting wheel relative to the ground is larger than the tilting angle of the fixed chassis relative to the ground.
7. The robot chassis of any of claims 1 to 6, wherein the central axes of rotation of the first support wheel, the first link, the second support wheel and the second link are parallel to one another.
8. The robot chassis of any of claims 1-6, wherein the first motion module further comprises a first spring connecting the fixed chassis and the first link.
9. The robot chassis of any of claims 1 to 6, wherein the second motion module further comprises a second spring connecting the fixed chassis and the second link.
10. A robot, characterized by comprising a robot chassis according to any of claims 1-9.
CN202210129005.9A 2022-02-11 2022-02-11 Robot chassis and robot Active CN114560027B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117341408A (en) * 2023-12-06 2024-01-05 成都睿乐达机器人科技有限公司 Buffering suspension and robot

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