CN115071829A

CN115071829A - Floating chassis and robot

Info

Publication number: CN115071829A
Application number: CN202110258769.3A
Authority: CN
Inventors: 吕军军; 赵兵; 刘士伟
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2022-09-20
Anticipated expiration: 2041-03-10
Also published as: CN115071829B

Abstract

The application provides a floating chassis and a robot, and belongs to the technical field of motion platforms. The floating chassis comprises a frame, a plurality of groups of wheel assemblies and a horizontal damping assembly. The frame is provided with a supporting seat. Each group of wheel components comprises a rocker arm and wheels; the wheel is rotatably arranged at the first end of the rocker arm; the second end of rocking arm is fixed with the rotation piece, rotates the piece and is connected with the supporting seat rotationally to make the rocking arm around rotating the piece swing time wheel can be close to or keep away from the frame. The horizontal damping component comprises a mounting seat and a damping element; the mounting seat is connected to the frame, and the damping element is connected to the mounting seat; the damping element is configured to output a linear motion along with the rotation of the rotation member, and the linear motion is capable of damping the rotation of the rotation member. The robot is equipped with the floating chassis described above. The vertical space occupied by the suspension is reduced, and the height of the chassis and the gravity center of the robot can be effectively reduced.

Description

Floating chassis and robot

Technical Field

The application relates to the technical field of motion platforms, in particular to a floating chassis and a robot.

Background

The chassis is one of the most important executing parts of the robot as a moving platform of the robot. A chassis with good motion performance is of vital importance in robot design. The existing robot chassis mainly comprises two types, namely a rigid chassis without suspension and a floating chassis with suspension. The first chassis is generally applied to an ideal working surface, but in practical engineering applications, the second chassis is more widely applied. The existing floating chassis is high in chassis height generally, so that the overall gravity center of the robot is higher.

Disclosure of Invention

The utility model provides a chassis and robot float reduces and hangs the vertical space that occupies, can effectively reduce the height on chassis to effectively reduce the focus of robot.

The embodiment of the application is realized as follows:

in a first aspect, an embodiment of the present application provides a floating chassis, which includes a frame, a plurality of sets of wheel assemblies, and a horizontal damping assembly.

The frame is provided with a supporting seat.

Each group of wheel components comprises a rocker arm and wheels; the wheel is rotatably arranged at the first end of the rocker arm; the second end of rocking arm is fixed with the rotation piece, rotates the piece and is connected with the supporting seat rotationally to make the rocking arm around rotating the piece swing time wheel can be close to or keep away from the frame.

The horizontal damping component comprises a mounting seat and a damping element; the mounting seat is connected to the frame, and the damping element is connected to the mounting seat; the damping element is configured to output a linear motion along with the rotation of the rotation member, and the linear motion is capable of damping the rotation of the rotation member.

Among the above-mentioned technical scheme, connect rotation piece and wheel respectively at the both ends of rocking arm to make the rocking arm revolve the rotation piece when swing wheel can be close to or keep away from the frame, can be used for changing into the swing of rocking arm with the jolt of wheel when meetting the barrier. The horizontal damping element outputs linear motion along with the rotation of the rotating piece, and the rotation of the rotating piece is buffered through the buffering of the linear motion, so that the swinging of the rocker arm is damped. The damping element converts rotation of a rotating part into translation when the rocker arm swings, can utilize the space in the horizontal direction to realize damping movement, reduces the vertical space occupied by suspension, can effectively reduce the height of the chassis, and is favorable for improving the moving stability of the floating chassis.

In some possible embodiments, the damping element comprises a screw, a nut, and an elastic member; the lead screw is rotatably arranged on the mounting seat and is in transmission connection with the rotating piece, so that the lead screw can rotate along with the rotating piece; the nut is in threaded connection with the lead screw, and can move in the axial direction of the lead screw when the lead screw rotates; the elastic member is connected to the nut and is used for providing elastic restoring force for the nut to buffer when the nut moves in the axial direction of the lead screw.

Among the above-mentioned technical scheme, adopt the cooperation of lead screw and nut, can convert the rotation of rotating the piece into the ascending linear motion of axial of rotating the piece effectively. The connecting strength of the screw rod and the nut is high, the stability during linear motion output through rotation is good, the precision is high, and meanwhile, the elastic piece can be conveniently arranged to buffer the elastic restoring force provided by the nut.

In some possible embodiments, the mounting seat includes a mounting base plate, a first mounting plate and a second mounting plate, the mounting base plate is connected to the frame, the first mounting plate and the second mounting plate are both connected to the mounting base plate and are respectively located at two ends of the mounting base plate in the axial direction of the rotating member; the two ends of the screw rod in the axial direction are respectively and rotatably connected with the first mounting plate and the second mounting plate; the nut is slidably matched with the mounting bottom plate; the resilient member includes a first resilient portion connected between the nut and the first mounting plate, and/or the resilient member includes a second resilient portion connected between the nut and the second mounting plate.

Among the above-mentioned technical scheme, the lead screw is rotationally connected with first mounting panel and second mounting panel respectively at the ascending both ends of axial for the lead screw can be installed at the mount pad steadily. Meanwhile, the installation plate is convenient for connecting the elastic pieces; the elastic part buffers in the horizontal damping assembly, and is also beneficial to respectively configuring other structures in the horizontal damping assembly and the chassis.

In some possible embodiments, the elastic member is a spring, and the elastic member includes a first elastic portion and a second elastic portion, and the first elastic portion and the second elastic portion are integrally formed and fixed to the nut.

Among the above-mentioned technical scheme, can all produce elastic restoring force to it in the both sides of nut through first elastic component and second elastic component, be favorable to improving the cushioning effect. First elastic component and second elastic component adopt integrated into one piece's mode, still make stable in structure, set up the convenience.

In some possible embodiments, the nut and the mounting seat are slidably connected through a sliding groove and a sliding rail which are mutually embedded in the axial direction of the screw rod.

Among the above-mentioned technical scheme, the nut is connected through the spout and the slide rail slidable of mutual gomphosis with the mount pad, guarantees that the lead screw when rotating along with rotating, and the nut can move along the relative lead screw of the axial of rotating the piece steadily.

In some possible embodiments, the plurality of sets of wheel assemblies includes a first front wheel assembly, a second front wheel assembly, a first rear wheel assembly, and a second rear wheel assembly.

The floating chassis further comprises a connecting rod transmission mechanism, and the connecting rod transmission mechanism comprises a front rotating arm and/or a rear rotating arm.

The front rotating arm comprises a first front supporting arm, a front rotating part and a second front supporting arm which are connected in sequence; the first front support arm corresponds to the first front wheel assembly, and the second front support arm corresponds to the second front wheel assembly.

The rear rotating arm comprises a first rear supporting arm, a rear rotating part and a second rear supporting arm which are connected in sequence; the first rear support arm corresponds to the first rear wheel assembly and the second rear support arm corresponds to the second rear wheel assembly.

Each rotating part is respectively and rotatably connected to the bottom of the frame, and when one support arm of the rotating arm swings towards the front of the driving direction, the other support arm swings towards the back of the driving direction; each support arm is in transmission connection with the second end of the rocker arm of the corresponding wheel assembly through a ball head connecting rod.

In the technical scheme, the two front support arms of the front rotating arm are in transmission connection with the two front wheel assemblies through the two ball-head connecting rods respectively, and the front rotating part between the two front support arms can enable one support arm to swing towards the rear of the driving direction when the other support arm swings towards the front of the driving direction, so that when one front wheel assembly swings, the other adjacent front wheel assembly swings in the opposite direction. Similarly, the rear pivot arm is configured such that when one of the rear wheel assemblies is pivoted, the adjacent other rear wheel assembly pivots in the opposite direction. The arrangement of the front rotating arm and the rear rotating arm can reduce jolts caused by the swing of a single wheel set, thereby improving the stability of obstacle crossing; meanwhile, the blocking effect of the obstacle is shared by the swinging of the other adjacent front wheel component in the opposite direction, the limit height of the chassis obstacle crossing is increased, and the adaptability of the complex terrain is improved. Moreover, after the swing of the wheel assembly is transmitted through the ball head connecting rod, the swing can be converted into the rotation of the rotating arm on the horizontal plane through the rotating part, the structure is simple, and meanwhile, the gravity center can be lowered.

In some possible embodiments, the bottom of the frame is provided with a rotating seat, and the rotating seat is positioned between the plurality of groups of wheel assemblies; the front rotating part and the rear rotating part are both rotatably connected with the rotating seat.

Among the above-mentioned technical scheme, the setting of rotating the seat makes things convenient for preceding rotation portion and the connection of back rotation portion for the structure is succinct more, concentrated.

In some possible embodiments, an elastic coupling member is connected between the front rotating part and the rear rotating part such that when one of the front rotating part and the rear rotating part rotates, the other thereof can rotate in the same direction.

In the technical scheme, the elastic connecting piece enables one of the rotating parts to rotate while the other rotating part can rotate in the same direction, and when one rotating arm is forced to rotate, the other rotating arm rotates in the same direction, so that the movement of each wheel assembly of the floating chassis has better synchronism.

In some possible embodiments, the frame comprises a base plate, a first side plate, a second side plate and a cross beam, wherein the first side plate and the second side plate are respectively connected to two sides of the base plate in the walking direction of the floating chassis; the top of crossbeam is connected in the base plate, and the both ends of crossbeam are connected with first curb plate and second curb plate respectively, and supporting seat and mount pad all set up in the crossbeam.

Among the above-mentioned technical scheme, the top of crossbeam is in the base plate, and the both ends of crossbeam are connected with first curb plate and second curb plate respectively for the crossbeam has better intensity. All set up supporting seat and mount pad in the crossbeam, guarantee to all provide stable support for supporting seat and mount pad.

In a second aspect, embodiments of the present application provide a robot equipped with a floating chassis as provided in embodiments of the first aspect.

According to the technical scheme, the height of the chassis is effectively reduced, the gravity center of the robot can be effectively reduced, the moving stability of the robot is improved, and meanwhile, a large amount of space is saved for other structures mounted on the robot; and the chassis occupies small space, and is beneficial to respectively carrying out modular design on the chassis and other structures on the robot.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a schematic structural diagram of a floating chassis according to an embodiment of the present application;

FIG. 2 is a schematic structural view of a frame of a floating chassis according to an embodiment of the present application;

FIG. 3 is a schematic diagram of one configuration of a wheel assembly of the floating chassis of an embodiment of the present application;

FIG. 4 is a schematic diagram of a horizontal shock assembly of the floating chassis according to an embodiment of the present application;

FIG. 5 is a partial cross-sectional view of a horizontal shock absorbing assembly of the floating chassis of the present application;

fig. 6 is a schematic structural diagram of a link transmission mechanism of a floating chassis according to an embodiment of the present application.

Icon: 100-a floating chassis; 110-a frame; 111-a support base; 112-a substrate; 113-a first side panel; 114-a second side panel; 115-a first beam; 116-a second beam; 117-rotating seat; 120-a wheel assembly; 121-a rocker arm; 122-a rotating member; 1221-pin roll; 1222-a coupling; 123-a transmission connecting seat; 124-wheel; 125-motor; 126-a speed reducer; 130-a horizontal shock absorbing assembly; 131-a mounting seat; 1311-mounting a base plate; 1312-a chute; 1313-a first mounting plate; 1314-a second mounting plate; 132-a shock absorbing element; 1321-lead screw; 1322-nut; 1323-a sled; 1324-an elastic member; 1325-angular contact bearing; 140-link transmission mechanism; 141-front rotating arm; 1411-first front support arm; 1412-front rotary part; 1413-a second front support arm; 142-rear swivel arm; 1421 — first rear arm; 1422-rear rotating part; 1423 — second rear arm; 143-ball head link.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The existing floating type chassis is higher in height due to the fact that a suspension structure usually needs to occupy more vertical space. Due to the fact that the height of the chassis is high, when the chassis is applied to a robot, the center of gravity of the whole robot can be deviated; and the chassis occupies a large space, and is not beneficial to modular design of the chassis and other structures of the robot upper part respectively.

Referring to fig. 1 to 5, a floating chassis 100 includes a frame 110, a plurality of sets of wheel assemblies 120, and a horizontal shock absorbing assembly 130.

The frame 110 is used to mount the wheel assembly 120 and the horizontal shock-absorbing assembly 130, and when the floating chassis 100 is applied to a mobile device such as a robot, the frame 110 can also be used to mount other mounting structures in the mobile device.

The frame 110 is provided with a support base 111. Each set of wheel assemblies 120 includes a swing arm 121 and a wheel 124, the wheel 124 being rotatably mounted to a first end of the swing arm 121. The second end of the swing arm 121 is fixed with a rotating member 122, and the rotating member 122 is rotatably connected with the supporting base 111, so that the wheel 124 can approach or leave the frame 110 when the swing arm 121 swings around the rotating member 122. In the present application, the rotating member 122 and the wheel 124 are respectively connected to two ends of the swing arm 121, so that when the wheel 124 encounters an obstacle, the jolt of the wheel 124 when the wheel encounters the obstacle can be converted into the up-and-down swing of the swing arm 121.

Horizontal shock assembly 130 includes a mounting base 131 and a shock absorbing member 132, mounting base 131 is connected to frame 110, and shock absorbing member 132 is connected to mounting base 131. The damping element 132 is configured to output a linear motion along with the rotation of the rotation member 122, and the linear motion can damp the rotation of the rotation member 122. In this application, rotation that shock-absorbing element 132 rotated piece 122 when with rocking arm 121 swing converts the translation into, can utilize the ascending space of horizontal direction to realize absorbing motion, reduces the vertical space that hangs and occupy, can effectively reduce the height on chassis, is favorable to improving the stability that the chassis 100 that floats removed.

It should be noted that in the description of the present application, the directions or positional relationships indicated by "upper", "lower", "front", "rear", "vertical", "horizontal", and the like are based on the directions or positional relationships shown in the drawings, or the directions or positional relationships which are usually placed when the products of the application are used, and are only for convenience of describing the present application and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed in a specific direction and be operated, and thus, cannot be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Considering that in the present application, the suspension is performed by converting the jolt of the wheel 124 when encountering an obstacle into the up-and-down swing of the swing arm 121, and then converting the rotation of the rotating member 122 when the swing arm 121 swings into the translational motion through the damping element 132, the vehicle frame 110 is required to provide a stable supporting function for the supporting seat 111 and the mounting seat 131 so as to ensure that the wheel assembly 120 and the horizontal damping assembly 130 can be well matched for damping the horizontal suspension.

As an example, the frame 110 provided by the embodiment of the present application has various structures that are welded together to form a whole, so as to ensure that the frame has good overall strength.

Referring to fig. 2, in some exemplary embodiments, the frame 110 includes a base plate 112, a first side plate 113, a second side plate 114, and a cross member. The first side plate 113 and the second side plate 114 are respectively connected to two sides of the base plate 112 in the walking direction of the floating chassis 100, the top of the cross beam is connected to the base plate 112, and two ends of the cross beam are respectively connected with the first side plate 113 and the second side plate 114, so that the cross beam can be reinforced, and the cross beam has better strength. Supporting seat 111 and mount pad 131 all set up in the crossbeam, guarantee to all provide stable support for supporting seat 111 and mount pad 131, guarantee that wheel subassembly 120 and horizontal damper 130 can stabilize installation and normal work.

It will be appreciated that in embodiments of the present application, multiple sets of wheel assemblies 120 may be provided in a manner known in the art, dividing the multiple sets of wheel assemblies 120 into a front wheel assembly 120 located forward of the floating chassis 100 in the direction of travel and a rear wheel assembly 120 located rearward of the floating chassis 100 in the direction of travel. Illustratively, the plurality of sets of wheel assemblies 120 includes a first front wheel assembly 120, a second front wheel assembly 120, a first rear wheel assembly 120, and a second rear wheel assembly 120.

The installation of multiple sets of wheel assemblies 120 and horizontal shock-absorbing assemblies 130 matched thereto is facilitated in view of separately installing the front wheel assemblies 120 and horizontal shock-absorbing assemblies 130 matched thereto in front of the floating chassis 100 in the traveling direction and separately installing the rear wheel assemblies 120 and horizontal shock-absorbing assemblies 130 matched thereto in rear of the floating chassis 100 in the traveling direction.

As an example, the cross beam is divided into a first cross beam 115 and a second cross beam 116, and the first cross beam 115 and the second cross beam 116 are spaced apart along the walking direction of the floating chassis 100. The first cross beam 115 is connected to the front ends of the base plate 112, the first side plate 113 and the second side plate 114 in the traveling direction of the floating chassis 100, and the support seat 111 of the front wheel assembly 120 and the mounting seat 131 of the horizontal shock-absorbing assembly 130 matched with the front wheel assembly 120 are fixed to the first cross beam 115; the second cross member 116 is connected to the base plate 112, the first side plate 113 and the second side plate 114 at the rear end of the floating chassis 100 in the traveling direction, and the supporting seat 111 of the rear wheel assembly 120 and the mounting seat 131 of the horizontal shock absorbing assembly 130 matched with the rear wheel assembly 120 are fixed to the second cross member 116.

Referring to fig. 2, in order to fix the supporting seat 111 on the cross beam, each supporting seat 111 is disposed along the length direction of the beam. Considering that the rotation member 122 is rotatably mounted on the support base 111 in a convenient manner, each support base 111 illustratively includes first and second support lugs spaced apart along the length of the cross member, each support lug being provided with a rotation hole for rotatably engaging with the rotation member 122.

Referring to fig. 1 and 3, the rotating member 122 is disposed along the length direction of the cross beam, and the axial direction of the rotating member 122 extends along the horizontal direction and is parallel to the axial direction of the wheel 124. The second end of the swing arm 121 is rotatably received between the first supporting lug and the second supporting lug, and is rotatably engaged with the supporting seat 111 through a rotating member 122 rotatably coupled to the rotating hole, so that the swing arm 121 can swing back and forth relative to the frame 110 when swinging up and down around the supporting seat 111.

Further, considering that the swing arm 121 is disposed in an inclined manner in a non-obstacle-crossing state, it is possible to reduce the height of the floating chassis 100 on the one hand and also facilitate the swing in an inclined direction on the other hand.

As an example, the swing arm of each set of front wheel assemblies 120 is disposed obliquely, and the first end of the swing arm is located in front of the second end of the swing arm in the walking direction of the floating chassis 100; the swing arms of each set of rear wheel assemblies 120 are arranged obliquely, and the first ends of the swing arms are located behind the second ends of the swing arms in the walking direction of the floating chassis 100.

It is to be understood that, in the embodiment of the present application, the swinging direction of the swing arm 121 swinging around the rotating member 122 is not limited, and as long as the axial direction of the rotating member 122 extends in the horizontal direction, the swinging of the swing arm 121 around the rotating member 122 can be realized such that the wheel 124 approaches or separates from the vehicle frame 110.

The axial direction of the rotating part 122 is parallel to the axial direction of the wheel 124, so that the wheel 124 swings back and forth, the forward moving stability in the swinging process is better, and the swinging space is large. In other embodiments, the axis of the rotating member 122 may extend along the traveling direction of the floating chassis 100, for example, so that the swing arm 121 can swing laterally with respect to the frame 110 when swinging up and down around the supporting seat 111.

In addition, in the embodiment of the present application, the arrangement manner of the rotating member 122 is not limited, and may be selected according to a manner known in the art. As an example, the second end of the rocker arm 121 has a fixed hole formed therethrough, and the rotating member 122 includes a coupling 1222 and a pin 1221. The coupler 1222 is accommodated in the fixing hole, so as to conveniently perform shaft transmission with the horizontal damping component 130; the pin 1221 is engaged with the coupling 1222 to fix the coupling 1222 in the fixing hole, so as to ensure that the swing arm 121 can swing along with the rotation of the coupling 1222 relative to the supporting seat 111.

Further, in the embodiment of the present application, the kind of the wheel 124 of the wheel assembly 120 is not limited, such as a rubber wheel, a steering wheel, a mecanum wheel, and the like. The manner in which the wheels 124 of the wheel assembly 120 are driven is also not limited and may be selected according to methods known in the art.

As an example, each set of wheel assemblies 120 is provided with a drive element. The driving elements comprise a motor 125 and a speed reducer 126, the speed reducer 126 is in transmission connection between the wheels 124 and the motor 125, and each group of wheel assemblies 120 are driven independently through one driving element, so that the driving is reliable and the arrangement is convenient.

It is to be understood that, in the embodiment of the present application, the damping element 132 is not limited to be disposed in any way as long as it can convert the rotation of the rotation member 122 when the swing arm 121 swings into a linear motion in the horizontal direction and can damp the linear motion so that the linear motion can rotate the rotation member 122. In which the rotation of the rotating member 122 is converted into a linear motion in the horizontal direction, such as, but not limited to, a screw transmission mechanism, a rack and pinion transmission mechanism, a cam mechanism, and a slider-crank mechanism.

Referring to fig. 4, in view of the high connection strength of the screw transmission mechanism, the good stability and the high precision when outputting the rotational motion to the linear motion, as an example, the damping element 132 includes a screw 1321, a nut 1322, and an elastic member 1324. The lead screw 1321 is rotatably disposed on the mounting seat 131 and is in transmission connection with the rotating member 122, for example, in transmission connection with a coupling 1222 of the rotating member 122, so that the lead screw 1321 can rotate along with the rotating member 122. The nut 1322 is screwed to the screw 1321, and the nut 1322 can move in the axial direction of the screw 1321 when the screw 1321 rotates.

It should be understood that, in the embodiment of the present application, when the screw 1321 rotates, the nut 1322 can move in the axial direction of the screw 1321, which means that the mounting seat 131 has a certain limiting effect on the rotation of the nut 1322, and the nut 1322 is prevented from outputting a linear motion relative to the screw 1321 along with the rotation of the screw 1321 when the screw 1321 rotates.

As an example, the nut 1322 and the mount 131 are slidably coupled to each other in the axial direction of the screw 1321 by a slide groove 1312 and a slide rail 1323 that are fitted to each other. Illustratively, the side walls of the front and rear sides of the mounting seat 131 in the traveling direction of the floating chassis 100 are each concavely provided with a sliding groove 1312, and the nut 1322 is convexly provided with a sliding rail 1323 for slidably fitting in the sliding groove 1312.

Of course, in the embodiment of the present application, the fitting manner of the mounting seat 131 and the nut 1322 is not limited as long as the mounting seat 131 can have a certain restriction effect on the rotation of the nut 1322. In other embodiments, for example, the mounting seat 131 and the nut 1322 may be retained by a sliding fit through sliding planes that contact each other.

An elastic member 1324 is coupled to the nut 1322 for buffering the nut 1322 by providing an elastic restoring force when the nut 1322 is moved in the axial direction of the lead screw 1321. By the cooperation of the lead screw 1321 and the nut 1322, the rotation of the rotating member 122 can be effectively converted into the linear motion of the rotating member 122 in the axial direction, and the elastic member 1324 can be conveniently arranged to buffer the elastic restoring force provided by the nut 1322.

Referring to fig. 4 and 5, in some exemplary embodiments, the mount 131 includes a mount base 1311, a first mount plate 1313, and a second mount plate 1314. Mounting plate 1311 is attached to frame 110; which illustratively extends in the extension direction of the cross beam and is connected to the cross beam.

The first mounting plate 1313 and the second mounting plate 1314 are spaced apart in the axial direction of the rotary member 122 and are connected to the mounting plate 1311 at both ends in the axial direction of the rotary member 122, respectively. Both ends of the lead screw 1321 in the axial direction are rotatably connected to the first mounting plate 1313 and the second mounting plate 1314, respectively, so that the lead screw 1321 can be stably mounted on the mount 131. Optionally, an angular contact bearing 1325 is provided between the end of the lead screw 1321 and the mounting plate, and the angular contact bearing 1325 axially and radially positions and protects the lead screw 1321.

The nut 1322 is slidably engaged with the mounting plate 1311, and in the embodiment in which the mounting seat 131 is provided with the slide groove 1312, the slide groove 1312 is recessed in side walls of the mounting seat 131 on both front and rear sides in the traveling direction of the floating chassis 100, for example.

The resilient member 1324 includes a first resilient portion coupled between the nut 1322 and the first mounting plate 1313 and/or the resilient member 1324 includes a second resilient portion coupled between the nut 1322 and the second mounting plate 1314. The mounting plate is also arranged to facilitate connection of the elastic member 1324; the resilient member 1324 cushions the interior of the horizontal shock assembly 130 and also facilitates the separate configuration of the horizontal shock assembly 130 and other structures within the chassis.

It should be noted that "and/or" in the description of the present application, such as "feature 1 and/or feature 2", refers to three cases, that may be "feature 1" alone, "feature 2" alone, and "feature 1" plus "feature 2" alone.

Illustratively, the elastic member 1324 includes first and second elastic portions that are integrally formed and fixed with the nut 1322. The first elastic part and the second elastic part can generate elastic restoring force on the two sides of the nut 1322, and the improvement of the damping effect is facilitated. First elastic component and second elastic component adopt integrated into one piece's mode, still make stable in structure, set up the convenience.

It is understood that in the embodiment of the present application, the elastic member 1324 is not limited to be disposed, and an end thereof away from the nut 1322 may be connected to the mounting seat 131 and also connected to the frame 110. In addition, the type of the elastic member 1324 is not limited, and it may be any structure that can provide an elastic restoring force.

Illustratively, the elastic element 1324 is a spring, and the spring is sleeved outside the lead screw 1321. The elastic member 1324 is formed by a spring, which has a large elastic deformation range so that the elastic recovery function is good, and can be conveniently sleeved outside the screw 1321 to effectively apply the elastic recovery force to the nut 1322.

Further, the spring includes a first connection end, a main body portion and a second connection end connected in sequence, the nut 1322 is fixed to the main body portion, the first connection end is connected to the first mounting plate 1313, and the second connection end is connected to the second mounting plate 1314. Wherein, the part of the spring between the nut 1322 and the first mounting plate 1313 is a first elastic part, and the part of the spring between the nut 1322 and the second mounting plate 1314 is a second elastic part. Through being fixed in the main part between the spring both ends with nut 1322, connect the both ends of spring respectively in the mounting panel of both sides simultaneously, it sets up conveniently to make elastic component 1324 all can produce elastic restoring force to it betterly in the both sides of nut 1322, be favorable to improving the cushioning effect.

Referring to fig. 5, optionally, the mounting plate and the nut 1322 are provided with ring mounting grooves matched with the springs, so that the mounting plate and the nut 1322 can be better connected with the springs, and meanwhile, the springs can be effectively prevented from interfering with the movement of other structures in the damping element 132.

Considering that when the wheels 124 of one wheel assembly 120 bump with obstacles to cause the corresponding rocker arm 121 to swing in the obstacle crossing process of the floating chassis 100, if only a single wheel assembly 120 performs obstacle crossing operation, the walking stability of the floating chassis 100 is affected to a certain extent, and if other wheel assemblies 120 perform corresponding linkage, the walking stability of the floating chassis 100 is improved.

Referring to fig. 6, in some exemplary embodiments, the floating chassis 100 further includes a link transmission mechanism 140, and the link transmission mechanism 140 includes a front swivel arm 141 and/or a rear swivel arm 142. Optionally, the link transmission 140 includes a front rotating arm 141 and a rear rotating arm 142.

The front boom 141 includes a first front arm 1411, a front rotating part 1412 and a second front arm 1413 which are connected in sequence, and the rear boom 142 includes a first rear arm 1421, a rear rotating part 1422 and a second rear arm 1423 which are connected in sequence. Each rotating part is respectively and rotatably connected to the bottom of the frame 110, and enables the support arm of one rotating arm to swing towards the front of the driving direction and the other support arm to swing towards the back of the driving direction; that is, the front rotating part 1412 swings one of the front arms of the front boom 141 forward in the traveling direction while the other front arm swings backward in the traveling direction, and the rear rotating part 1422 swings one of the rear arms of the rear boom 142 forward in the traveling direction while the other rear arm swings backward in the traveling direction.

First front support 1411 corresponds to first front wheel assembly 120, second front support 1413 corresponds to second front wheel assembly 120, first rear support 1421 corresponds to first rear wheel assembly 120, and second rear support 1423 corresponds to second rear wheel assembly 120. Each support arm is in transmission connection with the second end of the rocker arm 121 of the corresponding wheel assembly 120 through a ball connecting rod 143; illustratively, the second end of the swing arm is provided with a drive connection seat 123 (shown in fig. 2) for connecting a ball-end connecting rod 143.

The two front arms of the front rotating arm 141 are respectively in transmission connection with the two front wheel assemblies 120 through the two ball-end connecting rods 143, and the front rotating part 1412 between the two front arms can enable one of the front arms to swing towards the rear direction of the driving direction when the other front arm swings towards the front direction of the driving direction, so that when one of the front wheel assemblies 120 swings, the adjacent front wheel assembly 120 swings towards the opposite direction.

The two rear arms of the rear pivot arm 142 are respectively in transmission connection with the two rear wheel assemblies 120 through the two ball-end links 143, and the rear pivot portion 1422 between the two rear arms enables one of the rear arms to swing towards the rear in the driving direction when the other rear arm swings towards the front in the driving direction, so that when one of the rear wheel assemblies 120 swings, the other adjacent rear wheel assembly 120 swings in the opposite direction.

The arrangement of the front rotating arm 141 and the rear rotating arm 142 can reduce the jolt caused by the swing of the single wheel 124 group, thereby improving the stability of obstacle crossing; meanwhile, the swing of the other adjacent front wheel assembly 120 in the opposite direction distributes the blocking effect of the obstacle, the limit height of the obstacle crossing of the chassis is increased, and the adaptability of the complex terrain is improved. Moreover, after the swing of the wheel assembly 120 is transmitted through the ball head connecting rod 143, the swing can be converted into the rotation of the rotating arm on the horizontal plane through the rotating part, the structure is simple, and meanwhile, the gravity center can be lowered.

Optionally, the bottom of the frame 110 is provided with a rotating seat 117 (shown in fig. 2), and the rotating seat 117 is located between the sets of wheel assemblies 120. The front rotating portion 1412 and the rear rotating portion 1422 are rotatably connected to the rotating base 117. The arrangement of the rotating seat 117 facilitates the connection between the front rotating part 1412 and the rear rotating part 1422, so that the structure is more concise and concentrated.

Further, an elastic connection member (not shown) is connected between the front rotation portion 1412 and the rear rotation portion 1422, and the elastic connection member is an elastic connection member having a torsional elastic restoring force, such as a torsion spring sleeved on the rotation seat 117, so that when one of the front rotation portion 1412 and the rear rotation portion 1422 is rotated, the other can rotate in the same direction, and the movement of each wheel assembly 120 of the floating chassis 100 has better synchronization.

The floating chassis 100 provided by the embodiment of the application can convert the jolt of the wheel 124 when the wheel 124 meets an obstacle into the up-and-down swing of the rocker arm 121 when the wheel 124 meets the obstacle. The damping element 132 converts the rotation of the rotating part 122 into translation when the rocker arm 121 swings, so that the damping motion can be realized by using the space in the horizontal direction, the vertical space occupied by suspension is reduced, the height of the chassis can be effectively reduced, and the stability of the floating chassis 100 in moving is improved.

In a second aspect, embodiments of the present application provide a robot equipped with a floating chassis 100 as provided in embodiments of the first aspect.

The robot provided by the embodiment of the application has the advantages that the height of the chassis is effectively reduced, the gravity center of the robot can be effectively reduced, the moving stability of the robot is favorably improved, and meanwhile, a large amount of space is saved for other structures mounted on the robot; and the chassis occupies small space, and is beneficial to respectively carrying out modular design on the chassis and other structures on the robot.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A floating chassis, comprising:

the frame is provided with a supporting seat;

the device comprises a plurality of groups of wheel assemblies, a control system and a control system, wherein each group of wheel assemblies comprises a rocker arm and a wheel; the wheel is rotatably mounted to the first end of the rocker arm; a rotating part is fixed at the second end of the rocker arm, and the rotating part is rotatably connected with the supporting seat, so that the wheels can be close to or far away from the frame when the rocker arm swings around the rotating part;

the horizontal shock absorption assembly comprises a mounting seat and a shock absorption element; the mounting seat is connected to the frame, and the damping element is connected to the mounting seat; the damping element is configured to output a linear motion along with the rotation of the rotation member, and the linear motion is capable of damping the rotation of the rotation member.

2. The floating chassis of claim 1, wherein the shock absorbing element comprises a lead screw, a nut, and an elastic member; the lead screw is rotatably arranged on the mounting seat and is in transmission connection with the rotating piece, so that the lead screw can rotate along with the rotating piece; the nut is in threaded connection with the lead screw, and can move in the axial direction of the lead screw when the lead screw rotates; the elastic piece is connected to the nut and used for providing elastic restoring force for the nut to buffer when the nut moves in the axial direction of the lead screw.

3. The floating chassis of claim 2, wherein the mounting base includes a mounting base plate, a first mounting plate, and a second mounting plate, the mounting base plate being attached to the frame; the first mounting plate and the second mounting plate are both connected with the mounting bottom plate and are respectively positioned at two ends of the mounting bottom plate in the axial direction of the rotating part; the two ends of the screw rod in the axial direction are respectively and rotatably connected with the first mounting plate and the second mounting plate; the nut is slidably matched with the mounting base plate; the elastic member includes a first elastic portion connected between the nut and the first mounting plate, and/or the elastic member includes a second elastic portion connected between the nut and the second mounting plate.

4. The floating chassis of claim 3, wherein the resilient member comprises the first resilient portion and the second resilient portion, the first resilient portion and the second resilient portion being integrally formed and secured with the nut.

5. The floating chassis according to claim 2, wherein the nut and the mount are slidably connected in an axial direction of the lead screw by a slide groove and a slide rail which are fitted to each other.

6. The floating chassis of claim 1, wherein the plurality of sets of wheel assemblies includes a first front wheel assembly, a second front wheel assembly, a first rear wheel assembly, and a second rear wheel assembly;

the floating chassis further comprises a connecting rod transmission mechanism, and the connecting rod transmission mechanism comprises a front rotating arm and/or a rear rotating arm;

the front rotating arm comprises a first front supporting arm, a front rotating part and a second front supporting arm which are connected in sequence; the first front support arm corresponds to the first front wheel assembly, and the second front support arm corresponds to the second front wheel assembly;

the rear rotating arm comprises a first rear supporting arm, a rear rotating part and a second rear supporting arm which are connected in sequence; the first rear support arm corresponds to the first rear wheel assembly, and the second rear support arm corresponds to the second rear wheel assembly;

7. The floating chassis of claim 6, wherein the bottom of the frame is provided with a rotating seat, the rotating seat being located between the plurality of sets of wheel assemblies; the front rotating part and the rear rotating part are both rotatably connected with the rotating seat.

8. The floating chassis of claim 7, wherein an elastic connection is connected between the front rotating portion and the rear rotating portion such that when one of the front rotating portion and the rear rotating portion rotates, the other one can rotate in the same direction.

9. The floating chassis according to any one of claims 1 to 8, wherein the frame comprises a base plate, a first side plate, a second side plate and a cross beam, wherein the first side plate and the second side plate are respectively connected to two sides of the base plate in the walking direction of the floating chassis; the top of crossbeam connect in the base plate, just the both ends of crossbeam are connected with first curb plate and second curb plate respectively, the supporting seat with the mount pad all set up in the crossbeam.

10. A robot equipped with a floating chassis according to any one of claims 1 to 9.