CN115071829B - Floating chassis and robot - Google Patents

Abstract

The application provides a floating chassis and robot belongs to motion platform technical field. The floating chassis comprises a frame, a plurality of groups of wheel assemblies and a horizontal shock absorption 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 the rocker arm is fixedly provided with a rotating piece, and the rotating piece is rotatably connected with the supporting seat, so that wheels can be close to or far away from the frame when the rocker arm swings around the rotating piece. The horizontal damping component comprises a mounting seat and a damping element; the mounting seat is connected with the frame, and the damping element is connected with the mounting seat; the damper element is configured to output a linear motion accompanying rotation of the rotary member, and the linear motion is capable of damping rotation of the rotary 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 used as a motion platform of the robot and is one of the most important execution components of the robot. A chassis with good movement performance is of critical importance in the design of robots. 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 used for ideal work surfaces, but the second chassis is more widely used in practical engineering applications. The current floating chassis is high in chassis height, so that the overall gravity center of the robot is high.

Disclosure of Invention

An object of the application is to provide a floating chassis and robot, reduce the vertical space that hangs and occupy, can effectively reduce the height on chassis to effectively reduce the focus of robot.

Embodiments of the present application are implemented as follows:

in a first aspect, embodiments of the present application provide a floating chassis including a frame, a plurality of sets of wheel assemblies, and a horizontal shock absorbing 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 the rocker arm is fixedly provided with a rotating piece, and the rotating piece is rotatably connected with the supporting seat, so that wheels can be close to or far away from the frame when the rocker arm swings around the rotating piece.

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

In the technical scheme, the two ends of the rocker arm are respectively connected with the rotating piece and the wheels, so that the wheels can be close to or far away from the frame when the rocker arm swings around the rotating piece, and the rocker arm can be used for converting jolting of the wheels when encountering obstacles into swinging of the rocker arm. The horizontal damping element outputs linear motion along with rotation of the rotating member, and the damping of the rotation of the rotating member is realized through damping of the linear motion, so that the damping effect on swing of the rocker arm is realized. The vibration damping element converts the rotation of the rotating piece into translation when the rocker swings, can utilize the space in the horizontal direction to realize vibration damping movement, reduces the vertical space occupied by suspension, can effectively reduce the height of the chassis, and is beneficial to improving the moving stability of the floating chassis.

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

In the technical scheme, the screw rod and the nut are matched, so that the rotation of the rotating piece can be effectively converted into linear motion in the axial direction of the rotating piece. The connecting strength of the screw rod and the nut is high, the stability is good and the precision is high when the screw rod and the nut output linear motion in a rotating way, 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 base 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 connected to the mounting base plate, and the first mounting plate and the second mounting plate are respectively positioned 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 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.

In the technical scheme, 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, so that the screw rod can be stably mounted on the mounting seat. Meanwhile, the installation of the installation plate is convenient for connecting the elastic piece; the elastic piece is used for buffering in the horizontal damping component, and is also beneficial to respectively configuring the horizontal damping component and other structures in 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, which are integrally formed and fixed with the nut.

According to the technical scheme, the elastic restoring force can be generated on the nut through the first elastic part and the second elastic part on two sides of the nut, and the damping effect is improved. The first elastic part and the second elastic part adopt an integrated forming mode, so that the structure is stable and the setting is convenient.

In some possible embodiments, the nut and the mount are slidably connected in the axial direction of the screw by means of mutually engaging slide grooves and slide rails.

According to the technical scheme, the nut and the mounting seat are slidably connected through the mutually embedded sliding groove and the sliding rail, so that when the screw rod rotates along with the rotating piece, the nut can stably move along the axial direction of the rotating piece relative to the screw rod.

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 link drive comprising a front swivel arm and/or a rear swivel arm.

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

Each rotating part is respectively and rotatably connected to the bottom of the frame, and enables one support arm of the rotating arm to swing towards the front of the running direction and the other support arm to swing towards the rear of the running direction when the other support arm swings towards the front of the running 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.

According to the technical scheme, the two front support arms of the front rotating arm are respectively connected with the two front wheel assemblies in a transmission manner through the two ball head connecting rods, and the front rotating part between the two front support arms can enable one support arm to swing towards the rear of the running direction when the other support arm swings towards the front of the running direction, so that when one front wheel assembly swings, the adjacent other front wheel assembly swings in the opposite direction. Similarly, the rear arms are arranged such that when one of the rear wheel assemblies oscillates, the adjacent other rear wheel assembly oscillates in the opposite direction. The arrangement of the front rotating arm and the rear rotating arm can reduce jolting caused by the swing of a single wheel set, so that the stability of obstacle crossing is improved; meanwhile, the swing of the other adjacent front wheel assembly in the opposite direction distributes the blocking effect of the barrier, increases the limit height of the chassis obstacle crossing, and improves the adaptability of complex terrain. 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 the function of reducing the gravity center can be achieved.

In some possible embodiments, the bottom of the frame is provided with a swivel seat, the swivel seat being between sets of wheel assemblies; the front rotating part and the rear rotating part are rotatably connected with the rotating seat.

In the technical scheme, the front rotating part and the rear rotating part are conveniently connected by the rotating seat, so that the structure is simpler and more concentrated.

In some possible embodiments, 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 is rotated, the other can be rotated in the same direction.

In the technical scheme, the elastic connecting piece is arranged so that one rotating part can rotate in the same direction when the other rotating part rotates, 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 good 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 travelling 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.

In the technical scheme, the top of the cross beam is arranged on the base plate, and the two ends of the cross beam are respectively connected with the first side plate and the second side plate, so that the cross beam has better strength. The supporting seat and the mounting seat are arranged on the cross beam, so that stable support can be provided for the supporting seat and the mounting seat.

In a second aspect, embodiments of the present application provide a robot equipped with a floating chassis as provided by the 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 assembled on the robot; and the chassis occupies small space, and is also beneficial to respectively carrying out modularized design on the chassis and other structures of the robot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view 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 illustration of a wheel assembly of a floating chassis according to an embodiment of the present application;

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

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

Icon: 100-floating chassis; 110-a frame; 111-a supporting seat; 112-a substrate; 113-a first side plate; 114-a second side panel; 115-a first beam; 116-a second cross beam; 117-rotating the seat; 120-wheel assembly; 121-a rocker arm; 122-rotating member; 1221-pin shaft; 1222-coupling; 123-a transmission connecting seat; 124-wheels; 125-motor; 126-speed reducer; 130-a horizontal shock absorbing assembly; 131-mounting seats; 1311-mounting a backplane; 1312-sliding grooves; 1313-a first mounting plate; 1314-a second mounting plate; 132-a shock absorbing element; 1321-lead screw; 1322-nut; 1323-slide rail; 1324-elastic member; 1325-angular contact bearings; 140-a link transmission mechanism; 141-front boom; 1411-a first front arm; 1412—a forward rotation section; 1413-a second front arm; 142-rear swivel arm; 1421-a first rear arm; 1422-rear rotation section; 1423-a second rear arm; 143-ball head connecting rod.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of 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 apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

The current floating chassis often occupies more vertical space due to the suspension structure, so that the chassis height is higher. Because the chassis is high, when the chassis is applied to a robot, the gravity center of the whole robot can be deviated; and the chassis occupies large space, and is not beneficial to modular design of the chassis and other structures on the robot.

Referring to fig. 1-5, 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 for mounting the wheel assembly 120 and the horizontal damper 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 for mounting other upper mounting structures in the mobile device.

The frame 110 is provided with a support base 111. Each set of wheel assemblies 120 includes a rocker arm 121 and a wheel 124, the wheel 124 being rotatably mounted to a first end of the rocker arm 121. A rotating member 122 is fixed to a second end of the swing arm 121, and the rotating member 122 is rotatably connected to the support base 111, so that the wheel 124 can be moved closer to or farther from the frame 110 when the swing arm 121 swings around the rotating member 122. In this application, connect rotation piece 122 and wheel 124 respectively at the both ends of rocking arm 121, when wheel 124 met the obstacle, can become the rocking motion of rocking arm 121 with the jolting of wheel 124 when meeting the obstacle.

The horizontal shock absorbing assembly 130 comprises a mounting base 131 and a shock absorbing element 132, wherein the mounting base 131 is connected to the frame 110, and the shock absorbing element 132 is connected to the mounting base 131. The damper element 132 is configured to output a linear motion accompanying rotation of the rotary member 122, and the linear motion can damp rotation of the rotary member 122. In this application, the damping element 132 converts the rotation of the rotating member 122 into the translation when the rocker arm 121 swings, and can utilize the space in the horizontal direction to realize the damping motion, reduce the vertical space occupied by suspension, effectively reduce the height of the chassis, and be favorable to improving the stability of the floating chassis 100.

It should be noted that, in the description of the present application, the azimuth or positional relationship indicated by "upper", "lower", "front", "rear", "vertical", "horizontal", etc. is based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship that the product of the application is conventionally put in use, only for convenience of describing the present application and simplifying the description, and is not to indicate or imply that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Considering that in this application, by converting jolting of the wheel 124 when encountering an obstacle into up-and-down swinging of the rocker arm 121, and then converting rotation of the rotating member 122 into translational motion for suspension when swinging the rocker arm 121 through the shock absorbing element 132, the frame 110 is required to provide stable supporting action for the supporting seat 111 and the mounting seat 131, so as to ensure that the wheel assembly 120 and the horizontal shock absorbing assembly 130 can be well matched for horizontal suspension shock absorption.

As an example, the frame 110 provided in the embodiment of the present application has all the structures that are welded to form a whole, so as to ensure that the whole has better overall strength.

Referring to fig. 2, in some exemplary embodiments, the frame 110 includes a base 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 travelling 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 has better strength. The supporting seat 111 and the mounting seat 131 are arranged on the cross beam, so that stable support can be provided for the supporting seat 111 and the mounting seat 131, and the wheel assembly 120 and the horizontal damping assembly 130 can be stably mounted and normally work.

It is understood 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.

It is considered that the front wheel assemblies 120 and the horizontal shock absorbing assemblies 130 matched thereto are individually installed in front of the floating chassis 100 in the traveling direction, and the rear wheel assemblies 120 and the horizontal shock absorbing assemblies 130 matched thereto are individually installed in rear of the floating chassis 100 in the traveling direction, so that the installation of the multiple sets of wheel assemblies 120 and the horizontal shock absorbing assemblies 130 matched thereto is facilitated.

As an example, the cross beams are 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 traveling direction of the floating chassis 100. Wherein, the first 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 supporting 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 beam 115; the second cross member 116 is connected to rear 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 base 111 of the rear wheel assembly 120 and the mounting base 131 of the horizontal shock absorbing assembly 130 matched with the rear wheel assembly 120 are fixed to the second cross member 116.

With continued reference to fig. 2, to facilitate the fixing of the support bases 111 to the cross beam, each support base 111 is disposed along the length of the beam. In view of the fact that the rotary member 122 is rotatably mounted on the supporting seats 111 for convenience, each supporting seat 111 illustratively includes a first supporting lug and a second supporting lug spaced apart along the length direction of the cross beam, each supporting lug being provided with a rotation hole for rotatably engaging with the rotary member 122.

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

Further, considering that the swing arm 121 is provided in an inclined manner in a non-obstacle surmounting state, on the one hand, the height of the floating chassis 100 can be reduced, and on the other hand, swinging in an inclined direction is facilitated.

As an example, the swing arms of each set of front wheel assemblies 120 are disposed obliquely, and the first ends of the swing arms are located in front of the second ends of the swing arms in the traveling direction of the floating chassis 100; the swing arms of each set of rear wheel assemblies 120 are disposed obliquely, and the first ends of the swing arms are located rearward of the second ends of the swing arms in the traveling direction of the floating chassis 100.

It will be appreciated that in the embodiment of the present application, the swing direction in which the swing arm 121 swings around the rotating member 122 is not limited, and the swing arm 121 can be implemented to move the wheel 124 closer to or farther from the frame 110 when swinging around the rotating member 122 as long as the axial direction of the rotating member 122 extends in the horizontal direction.

The axial direction of the rotating member 122 is parallel to the axial direction of the wheel 124, so that the wheel 124 swings back and forth, the forward 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, for example, in the traveling direction of the floating chassis 100, so that the swing arm 121 can swing laterally with respect to the frame 110 when swinging up and down around the support base 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 swing arm 121 is provided with a fixing hole therethrough, and the rotating member 122 includes a coupling 1222 and a pin 1221. The coupler 1222 is accommodated in the fixing hole, so that the shaft transmission with the horizontal damping component 130 is facilitated; the pin 1221 cooperates with the coupler 1222 to fix the coupler 1222 in the fixing hole, so as to ensure that the swing arm 121 can swing along with the rotation of the coupler 1222 relative to the support base 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 in accordance with manners known in the art.

As one 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 independently driven by one driving element, so that the driving is reliable and the setting is convenient.

It is to be understood that, in the embodiment of the present application, the arrangement manner of the shock absorbing element 132 is not limited, as long as the rotation of the rotating member 122 when the rocker arm 121 swings can be converted into a linear motion in the horizontal direction, and the linear motion can be buffered, so that the linear motion can be used for rotating the rotating member 122. In which the rotation of the rotary member 122 is converted into linear motion in the horizontal direction, such as, but not limited to, a screw drive mechanism, a rack and pinion drive mechanism, a cam mechanism, and a slider-crank mechanism.

Referring to fig. 4, considering that the screw transmission mechanism has high connection strength and high stability and precision when outputting the rotation to the linear motion, the shock absorbing element 132 includes a screw 1321, a nut 1322 and an elastic member 1324 as an example. The screw 1321 is rotatably disposed in the mounting base 131 and is in driving connection with the rotating member 122, such as a coupling 1222 of the rotating member 122, so that the screw 1321 can rotate with the rotating member 122. The nut 1322 is screwed to the screw 1321, and the nut 1322 is movable in the axial direction of the screw 1321 when the screw 1321 is rotated.

It is understood that in the embodiment of the present application, the nut 1322 is capable of moving in the axial direction of the screw 1321 when the screw 1321 rotates, which means that the mounting seat 131 has a certain limiting effect on the rotation of the nut 1322, so as to prevent the nut 1322 from outputting a linear motion relative to the screw 1321 due to the rotation of the screw 1321 when the screw 1321 rotates.

As an example, in the axial direction of the screw 1321, the nut 1322 and the mount 131 are slidably connected through a slide groove 1312 and a slide rail 1323 that are fitted to each other. Illustratively, the side walls of the mounting base 131 on both front and rear sides in the traveling direction of the floating chassis 100 are concavely provided with slide grooves 1312, and the nuts 1322 are convexly provided with slide rails 1323 for slidably fitting in the slide grooves 1312.

Of course, in the embodiment of the present application, the manner of fitting the mounting base 131 and the nut 1322 is not limited, as long as the mounting base 131 can have a certain limiting effect on the rotation of the nut 1322. In other embodiments, for example, the mounting base 131 and the nut 1322 may be slidably engaged with each other by sliding planes that contact each other to achieve the limit.

An elastic member 1324 is connected to the nut 1322 for buffering the elastic restoring force provided to the nut 1322 when the nut 1322 moves in the axial direction of the screw 1321. By adopting the cooperation of the screw rod 1321 and the nut 1322, the rotation of the rotating member 122 can be effectively converted into the linear motion in the axial direction of the rotating member 122, and meanwhile, 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 mounting block 131 includes a mounting plate 1311, a first mounting plate 1313, and a second mounting plate 1314. Mounting plate 1311 is attached to frame 110; which extend, for example, in the direction of extension of the transverse beam and are connected to the transverse beam.

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

The nuts 1322 are slidably engaged with the mounting base plate 1311, and in the embodiment in which the mounting base 131 is provided with the slide grooves 1312, the slide grooves 1312 are illustratively provided in the side walls of the front and rear sides of the mounting base 131 in the traveling direction of the floating chassis 100.

The elastic member 1324 includes a first elastic portion connected between the nut 1322 and the first mounting plate 1313, and/or the elastic member 1324 includes a second elastic portion connected between the nut 1322 and the second mounting plate 1314. The arrangement of the mounting plate also facilitates the connection of the elastic element 1324; the elastic member 1324 cushions the interior of the horizontal shock assembly 130 and also facilitates the configuration of the horizontal shock assembly 130 and other structures within the chassis, respectively.

In the description of the present application, "and/or" such as "feature 1 and/or feature 2" means "feature 1" alone, and "feature 2" alone, and "feature 1" plus "feature 2" alone, which may be the three cases.

Illustratively, the elastic member 1324 includes a first elastic portion and a second elastic portion, which are integrally formed and fixed with the nut 1322. The elastic restoring force can be generated on the nut 1322 by the first elastic part and the second elastic part on both sides of the nut, which is beneficial to improving the shock absorption effect. The first elastic part and the second elastic part adopt an integrated forming mode, so that the structure is stable and the setting is convenient.

It is to be understood that, in the embodiment of the present application, the elastic member 1324 is not limited to be disposed in a manner that an end thereof away from the nut 1322 may be connected to the mounting base 131 or may be 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 member 1324 is a spring, and the spring is sleeved outside the screw 1321. The spring is adopted as the elastic member 1324, which has a larger elastic deformation interval so that the elastic restoring effect is good, and can be conveniently sleeved outside the screw rod 1321 so as to effectively apply elastic restoring force to the nut 1322.

Further, the spring includes a first connection end, a main body, and a second connection end connected in sequence, the nut 1322 is fixed to the main body, 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. The portion of the spring between the nut 1322 and the first mounting plate 1313 is a first elastic portion, and the portion of the spring between the nut 1322 and the second mounting plate 1314 is a second elastic portion. Through the main part that is fixed in the nut 1322 between the spring both ends, connect the both ends of spring in the mounting panel of both sides respectively simultaneously, its setting is convenient to make elastic component 1324 can both produce elastic restoring force to it better in the both sides of nut 1322, be favorable to improving the cushioning effect.

With continued reference to fig. 5, optionally, the mounting plate and the nut 1322 are provided with ring-mounted mounting grooves matching the springs, so that the mounting plate and the nut 1322 can be well 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, in the process of obstacle surmounting of the floating chassis 100, when the wheels 124 of a certain wheel assembly 120 bump when meeting an obstacle to enable the corresponding rocker arm 121 to swing, if only a single wheel assembly 120 performs obstacle surmounting operation, the running stability of the floating chassis 100 will be affected to a certain extent, and if other wheel assemblies 120 correspondingly perform linkage, the running stability of the floating chassis 100 is improved.

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

The front boom 141 includes a first front arm 1411, a front swivel 1412, and a second front arm 1413 connected in sequence, and the rear boom 142 includes a first rear arm 1421, a rear swivel 1422, and a second rear arm 1423 connected in sequence. Each rotating part is rotatably connected to the bottom of the frame 110, and enables the other arm to swing backward in the running direction when the arm of one rotating arm swings forward in the running direction; that is, the front pivot portion 1412 swings one of the front arms 141 forward in the traveling direction and the other front arm rearward in the traveling direction, and the rear pivot portion 1422 swings the other rear arm 142 forward in the traveling direction.

The first front arm 1411 corresponds to the first front wheel assembly 120, the second front arm 1413 corresponds to the second front wheel assembly 120, the first rear arm 1421 corresponds to the first rear wheel assembly 120, and the second rear arm 1423 corresponds to the 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 head connecting rod 143; illustratively, the second end of the swing arm is provided with a drive connection socket 123 (shown in fig. 2) for connecting a ball-head link 143.

The two front arms of the front arm 141 are respectively connected with the two front wheel assemblies 120 by the two ball-head links 143 in a driving manner, and the front rotating portion 1412 between the two front arms can enable one of the arms to swing forward in the driving direction and the other arm to swing backward in the driving direction, so that when one of the front wheel assemblies 120 swings, the adjacent other front wheel assembly 120 swings in the opposite direction.

The two rear arms of the rear swing arm 142 are respectively connected with the two rear wheel assemblies 120 through the two ball-head connecting rods 143 in a driving manner, and the rear rotating portion 1422 between the two rear arms can enable one of the arms to swing backward in the driving direction when the other arm swings forward in the driving direction, so that when one of the rear wheel assemblies 120 swings, the adjacent other rear wheel assembly 120 swings in the opposite direction.

The arrangement of the front and rear arms 141, 142 can reduce jolting caused by the swinging of the single wheel 124 set, thereby improving stability of obstacle surmounting; at the same time, the opposite-direction swing of the adjacent other front wheel assembly 120 distributes the obstructing effect of the obstacle, increases the limit height of the chassis obstacle surmounting, and improves the adaptability to complex terrain. 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, so that the structure is simple, and the gravity center can be lowered.

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

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

The floating chassis 100 provided in the embodiment of the present application, when the wheel 124 encounters an obstacle, can convert jolting when the wheel 124 encounters an obstacle into up-and-down swing of the rocker arm 121. The vibration absorbing element 132 converts the rotation of the rotating member 122 into the translation when the rocker arm 121 swings, so that the vibration absorbing motion can be realized by utilizing 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 movement of the floating chassis 100 is improved.

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

The robot provided by the embodiment of the application can effectively reduce the height of the chassis, can effectively reduce the gravity center of the robot, is beneficial to improving the moving stability of the robot, and simultaneously saves a large amount of space for other structures assembled on the robot; and the chassis occupies small space, and is also beneficial to respectively carrying out modularized design on the chassis and other structures of the robot.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (10)

1. A floating chassis, comprising:

the vehicle frame is provided with a supporting seat;

a plurality of sets of wheel assemblies, each set of wheel assemblies including a rocker arm and a wheel; the wheel is rotatably mounted at a first end of the rocker arm; a rotating piece is fixed at the second end of the rocker arm, and the rotating piece 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 piece;

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 damper element is configured to output a linear motion accompanying rotation of the rotating member to convert the rotation of the rotating member into a translation in a horizontal direction when the rocker arm swings, and the linear motion is capable of damping the rotation of the rotating member.

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

3. The floating chassis of claim 2, wherein the mount comprises a mounting base plate, a first mounting plate, and a second mounting plate, the mounting base plate being coupled to the frame; the first mounting plate and the second mounting plate are 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 piece; 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 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. A floating chassis according to 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 of claim 2, wherein the nut and the mount are slidably connected in an axial direction of the screw through mutually-fitted slide grooves and slide rails.

6. The floating chassis of claim 1, wherein the plurality of sets of wheel assemblies comprises 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, wherein the connecting rod transmission mechanism comprises a front rotating arm and/or a rear rotating arm;

the front rotating arm comprises a first front support arm, a front rotating part and a second front support arm which are sequentially connected; 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 sequentially connected; 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 rotatably connected to the bottom of the frame, and enables one support arm of the rotating arm to swing towards the front of the running direction, and the other support arm to swing towards the rear of the running 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.

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

8. The floating chassis of claim 7 wherein an elastic connection is connected between the front and rear rotating portions such that when one of the front and rear rotating portions rotates, the other 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, the first side plate and the second side plate being respectively connected to both sides of the base plate in the traveling direction of the floating chassis; the top of the cross beam is connected to the base plate, two ends of the cross beam are connected with the first side plate and the second side plate respectively, and the supporting seat and the mounting seat are both arranged on the cross beam.

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