CN218875455U - Mobile projection operation robot - Google Patents

Abstract

A mobile projection operation robot comprises a mechanical arm assembly and a chassis assembly arranged below the mechanical arm assembly, wherein the chassis assembly comprises a chassis body and a chassis shell arranged on the outer side of the chassis body, the chassis body comprises a frame, a driving wheel, a first wheel set and a second wheel set, the first wheel set comprises a first universal wheel and a first connecting plate, the second wheel set comprises a second universal wheel and a second connecting plate, the first universal wheel is rotatably connected with the frame through the first connecting plate, the second universal wheel is rotatably connected with the frame through the second connecting plate, the first universal wheel and the second universal wheel are respectively positioned at two ends of the frame, and the driving wheel is positioned in the middle of the frame; the chassis body further comprises a notch fitting piece, and the notch fitting piece is connected between the first connecting plate and the second connecting plate.

Description

Mobile projection operation robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a remove projection operation robot.

Background

The Robot that independently navigates and traveles includes types such as AGV (Automated Guide Vehicle) or AMR (Automated Mobile Robot), and its chassis structure design has a set of drive wheel and two sets of universal wheels usually, and two sets of universal wheels set up respectively at the front and back end of chassis body, and the drive wheel then sets up between two sets of universal wheels. However, the design of the chassis structure is not ideal, and it is difficult to ensure the consistency of the front and back walking of the robot in the walking process of the robot, thereby affecting the positioning and navigation functions of the robot.

SUMMERY OF THE UTILITY MODEL

The utility model provides a remove projection operation robot can carry out swing joint through the notch fitting piece between first connecting plate and the second connecting plate, can be according to the height of robot at the first universal wheel of walking in-process automatically regulated and second universal wheel to ensure the uniformity of robot walking in the front and back.

The utility model provides a remove projection operation robot, including mechanical arm subassembly and the chassis subassembly of setting in the mechanical arm subassembly below, the chassis subassembly includes chassis body and the chassis shell of setting in the chassis body outside, the chassis body includes frame and suspension, suspension includes action wheel, first wheelset and second wheelset, first wheelset includes first universal wheel and first connecting plate, the second wheelset includes second universal wheel and second connecting plate, first universal wheel passes through the first connecting plate with the frame is rotated and is connected, the second universal wheel passes through the second connecting plate with the frame is rotated and is connected, and just the first universal wheel with the second universal wheel is located respectively the both ends of frame, the action wheel is located the middle part of frame;

the chassis body further comprises a notch fitting piece, one of the first connecting plate and the second connecting plate is fixedly connected with one end of the notch fitting piece, and the other of the first connecting plate and the second connecting plate is rotatably connected with the other end of the notch fitting piece.

The utility model discloses an among the robot of embodiment, the notch fitting piece includes fitting piece and locating part, the one end of fitting piece has the fitting piece stiff end, the other end of fitting piece has fitting piece notch end, the fitting piece stiff end is fixed on the tip of first connecting plate, the second connecting plate passes through the locating part rotates to be installed in the fitting piece notch end.

The utility model relates to an embodiment's robot, the action wheel includes driving motor and wheel, first connecting plate is being close to the one end of fitting piece is equipped with dodges the breach, driving motor's output shaft passes after dodging the breach with the wheel is connected, is used for the drive the wheel rotates.

In an embodiment of the present invention, the first wheel set includes a first rotating shaft fixed to the frame, a first rotating hole is formed in a middle portion of the first connecting plate, and the first connecting plate is rotatably mounted in the first rotating shaft through the first rotating hole; and/or the presence of a gas in the gas,

the second wheel set comprises a second rotating shaft fixed on the frame, a second rotating hole is formed in the middle of the second connecting plate, and the second connecting plate is rotatably installed in the second rotating shaft through the second rotating hole.

In an embodiment of the present invention, the first wheel set includes a first bushing, and the first bushing is installed in the first rotating hole of the first connecting plate and is used for contacting with the first rotating shaft fixed on the frame; and/or the presence of a gas in the atmosphere,

the second wheel set comprises a second shaft sleeve, and the second shaft sleeve is installed in a second rotating hole of the second connecting plate and is used for being in contact with a second rotating shaft fixed on the frame.

In an embodiment of the present invention, a first oil storage tank is disposed inside a first axle sleeve of the first wheel set; and/or a second oil storage tank is arranged inside a second shaft sleeve of the second wheel set.

The utility model discloses an in the robot of embodiment, the driving motor of action wheel is followed the length direction of first connecting plate sets up and fixes on the first connecting plate, driving motor is located between first rotating-hole and the fitting piece.

In the robot according to an embodiment of the present invention, a first fixing plate is disposed on the first connecting plate, a first reinforcing rib and a first limiting member for cooperating with a first limiting plate on the frame are disposed on an upper end surface of the first fixing plate, and the first universal wheel is fixed to a lower end surface of the first fixing plate; and/or the presence of a gas in the gas,

the second connecting plate is provided with a second fixing plate, the upper end face of the first fixing plate is provided with a second reinforcing rib and a second limiting part matched with a second limiting plate on the frame, and the second universal wheel is fixed on the lower end face of the second fixing plate.

The utility model discloses an in the robot of embodiment, the chassis body includes the damper, the one end of damper is fixed on the frame, the other end of damper with first connecting plate is connected.

The utility model discloses an in the robot of embodiment, the damping piece includes first linking bridge, damping spring and second linking bridge, first linking bridge is in on the frame, the second linking bridge is in on the first linking bridge, damping spring sets up between first linking bridge and the second linking bridge.

The technical scheme provided by the embodiment of the application can have the following beneficial effects: the application designs a remove projection operation robot, including mechanical arm subassembly and the chassis subassembly of setting in mechanical arm subassembly below, the chassis subassembly includes frame, action wheel, first wheelset and second wheelset, and first wheelset and second wheelset set up respectively at the front and back end of frame, and the action wheel setting is between first wheelset and second wheelset, and the action wheel provides power for the operation of robot, and first wheelset then plays with the second wheelset and supports and turn to the effect.

Specifically, first wheelset includes first universal wheel and first connecting plate, the second wheelset includes second universal wheel and second connecting plate, first universal wheel is connected through first connecting plate and frame rotation, the second universal wheel passes through the second connecting plate and is connected with frame rotation, and first connecting plate passes through notch fitting piece swing joint with the second connecting plate, the uniformity problem of robot walking in the front and back in-process has been solved, be favorable to the realization of robot location and navigation feature, the maintenance of the robot of also being convenient for simultaneously, directly with the action wheel, first wheelset and second wheelset are dismantled from the frame and are safeguarded, moreover, the steam generator is simple in structure, and convenient operation.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a mobile projection operation robot according to an embodiment of the present application;

FIG. 2 is an exploded schematic view of the robot of FIG. 1;

FIG. 3 is an exploded schematic view of the undercarriage assembly of FIG. 1;

FIG. 4 is a schematic structural view of the chassis body of FIG. 3;

FIG. 5 is an exploded schematic view of the chassis body of FIG. 4;

FIG. 6 is an exploded view of the second wheel set and notch adaptor of FIG. 4;

FIG. 7 is an exploded view of the first wheel set and drive motor of FIG. 4;

fig. 8 is a schematic structural view of the first rotating shaft in fig. 4;

FIG. 9 is an exploded view of the shock absorbing member of FIG. 4;

fig. 10 is a schematic structural view of the vehicle frame in fig. 4.

Description of the reference numerals:

100. a chassis assembly; 101. a chassis body; 102. a chassis housing;

10. a frame; 11. a first rotational mounting portion; 12. a second rotation mounting part; 13. a motor accommodating groove; 14. a first wheel body accommodating groove; 16. a second wheel body accommodating groove; 15. a first limit plate; 17. a second limiting plate;

20. a first wheel set; 21. a first connecting plate; 211. a first rotation hole; 212. avoiding the notch; 213. a first fixing plate; 22. a first universal wheel; 23. a first shaft sleeve; 24. a first reinforcing rib; 25. a first limit piece;

30. a second wheel set; 31. a second connecting plate; 311. a second rotation hole; 312. a fitting rotation hole; 313. a second fixing plate; 314. a buffer section; 32. a second universal wheel; 33. a second shaft sleeve; 34. a second reinforcing rib; 35. a second limiting member;

40. a driving wheel; 41. a drive motor; 411. an output shaft; 42. a wheel;

50. a shock absorbing member; 51. a first connecting bracket; 511. an extension rod; 52. a second connecting bracket; 53. a damping spring; 54. a bearing member;

60. a notch fitting piece; 61. a mating member; 611. the notch end of the fitting; 612. a fitting piece fixing end; 62. a stopper;

70. a first rotating shaft; 71. a fixed part; 72. a rotating shaft part; 73. a positioning part;

80. a second rotating shaft;

200. a robot arm assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only, and it is to be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for the purpose of convenience and simplicity of description only, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

As shown in fig. 1 to 10, the present application provides a mobile projection operation robot, which includes a robot arm assembly and a chassis assembly 100 disposed below the robot arm assembly, wherein the chassis assembly 100 includes a chassis body 101 and a chassis housing 102 disposed outside the chassis body 101, and the chassis body 101 includes a frame 10 and suspension systems disposed on both sides of the frame 10. In the present embodiment, the suspension system includes a driving wheel 40, a first wheel set 20 and a second wheel set 30, the first wheel set 20 includes a first universal wheel 22 and a first connecting plate 21, the second wheel set 30 includes a second universal wheel 32 and a second connecting plate 31, the first universal wheel 22 is rotatably connected to the frame 10 through the first connecting plate 21, the second universal wheel 32 is rotatably connected to the frame 10 through the second connecting plate 31, and two opposite ends of the first connecting plate 21 and the second connecting plate 31 are movably connected. The first universal wheel 22 and the second universal wheel 32 are respectively located at the front end and the rear end of the frame 10, the driving wheel 40 is located in the middle of the frame 10, the driving wheel 40 is mainly used for providing power for the operation of the robot, and the first wheel set 20 and the second wheel set 30 play a role in supporting and steering.

After the technical scheme is adopted, the first universal wheel 22 and the second universal wheel 32 are respectively positioned at the front end and the rear end of the frame 10, and the first universal wheel 22 and the second universal wheel 32 are linked through the first connecting plate 21 and the second connecting plate 31. Wherein, first universal wheel 22 is installed at the one end of first connecting plate 21, and the one end at second connecting plate 31 is installed to second universal wheel 32, and the other end of first connecting plate 21 and the other end swing joint of second connecting plate 31, and the middle part of first connecting plate 21 and second connecting plate 31 articulates on frame 10 for the robot is in the course of traveling, and it can have the fore-and-aft running performance of uniformity.

For example, when the driving wheel 40 drives the robot to move forward, the first universal wheel 22 can perform fine adjustment of height according to a contact surface in contact with the robot, so that the driving wheel 40 and the first universal wheel 22 of the robot can maintain a contact state with the contact surface, and the first universal wheel 22 is prevented from being suspended due to uneven contact surface; similarly, when the driving wheel 40 drives the robot to move backwards, the second universal wheel 32 can perform fine adjustment of height according to the contact surface in contact with the robot, so that the driving wheel 40 and the second universal wheel 32 of the robot can be ensured to be in a contact state with the contact surface, the suspension of the second universal wheel 32 caused by the uneven contact surface is reduced, and the front and back running performances of the robot can be kept consistent when the robot moves forwards.

In an alternative embodiment, referring to fig. 6, the chassis body 101 further includes a notch fitting 60, the notch fitting 60 is connected to both ends of the first connecting plate 21 opposite to the second connecting plate 31, and the driving wheel 40 is disposed at one side of the notch fitting 60 to facilitate the mounting and dismounting of the notch fitting 60. In the embodiment, one of the first connecting plate 21 and the second connecting plate 31 is fixedly connected with one end of the notch fitting piece 60, and the other of the first connecting plate 21 and the second connecting plate 31 is rotatably connected with the other end of the notch fitting piece 60, so that the first connecting plate 21 can be movably connected with the second connecting plate 31, and the swing amplitude of the first universal wheel 22 and the second universal wheel 32 is limited when the robot travels forward, and the linkage and limiting effects are achieved.

It should be noted that the driving wheel 40, the first wheel set 20 and the second wheel set 30 are disposed on two sides of the frame 10, and the present application is described with reference to one side of the frame 10, and the driving wheel 40, the first wheel set 20 and the second wheel set 30 on the other side of the frame 10 are symmetrically disposed with respect to the central axis of the frame 10. Wherein, set up action wheel 40, first wheelset 20 and second wheelset 30 in the both sides of frame 10, the maintenance of chassis body 101 can be convenient for, only need to dismantle the chassis shell 102 in the chassis body 101 outside and can maintain action wheel 40, first wheelset 20 and second wheelset 30, perhaps to dismantle from frame 10 action wheel 40, first wheelset 20 and second wheelset 30 correspondence and maintain, have simple structure, advantages such as easy and simple to handle and operating property are good.

In an alternative embodiment, the notch engaging element 60 includes an engaging element 61 and a limiting element 62, wherein one end of the engaging element 61 has an engaging element 61 fixing end, the other end of the engaging element 61 has an engaging element 61 notch end, the engaging element 61 fixing end is fixed on the end of the first connecting plate 21, the second connecting plate 31 is rotatably installed in the engaging element 61 notch end through the limiting element 62, so that the second connecting plate 31 can rotate relative to the first connecting plate 21, and the limiting element 62 mainly serves to limit the radial position of the second connecting plate 31 at the notch end of the engaging element 61.

The second connecting plate 31 is provided with a fitting 61 rotation hole 312 and a buffer portion 314, the fitting rotation hole 312 is disposed in a strip shape, the length direction of the fitting rotation hole is consistent with the length direction of the second connecting plate 31, and the buffer portion 314 is disposed at an end portion of the second connecting plate 31. The second connecting plate 31 is movably connected with the limiting member 62 through the fitting member rotating hole 312, and the buffer portion 314 is matched with the end face of the notch end of the fitting member 61 to play a role in buffering, so that direct collision between the second connecting plate 31 and the notch end of the fitting member 61 is avoided.

In an alternative embodiment, referring to fig. 5, the driving wheel 40 includes a driving motor 41 and a wheel 42, wherein the first connecting plate 21 is provided with an avoiding notch 212 at an end near the matching member 61, and an output shaft 411 of the driving motor 41 passes through the avoiding notch 212 and then is connected with the wheel 42 for driving the wheel 42 to rotate, so that the robot can move under the driving of the driving motor 41.

The driving motor 41 is arranged along the length direction of the first connection plate 21 and fixed on the first connection plate 21, and the driving motor 41 is located between the first rotation hole 211 and the mating member 61, so that the driving wheel 40 and the first wheel set 20 can form a complete modularization, and subsequent maintenance of the robot can be facilitated, that is, the first wheel set 20 and the driving wheel 40 can be maintained only by detaching the first wheel set 20 from the frame 10; meanwhile, the driving motor 41 is installed on the first connecting plate 21 and between the first rotating hole 211 and the fitting piece 61, so that the balance among the driving wheel 40, the first wheel set 20 and the second wheel set 30 can be ensured, that is, when the driving wheel 40 drives the robot to move forward, the driving wheel 40 and the first universal wheel 22 can swing relative to the middle part of the first connecting plate 21, so that the positions of the driving wheel 40 and the first universal wheel 22 can be adjusted in the moving process, and the positions of the driving wheel 40 and the first universal wheel 22 can be limited by the second universal wheel 32; similarly, when the driving wheel 40 drives the robot to move backwards, the driving wheel 40 and the second universal wheel 32 can swing relative to the middle of the second connecting plate 31 to adjust the positions of the driving wheel 40 and the second universal wheel 32 during the moving process, and the first universal wheel 22 can limit the positions of the driving wheel 40 and the second universal wheel 32, so as to ensure the consistency of the robot when the robot moves forwards and backwards.

In an alternative embodiment, the first wheel set 20 includes a first rotating shaft 70 fixed on the frame 10, a middle portion of the first connecting plate 21 is provided with a first rotating hole 211, the first connecting plate 21 is rotatably mounted in the first rotating shaft 70 through the first rotating hole 211, and the cooperation of the first rotating hole 211 and the first rotating shaft 70 is used for limiting the radial position of the first connecting plate 21 at the first rotating hole 211 and bearing the radial force.

In an alternative embodiment, the second wheel set 30 includes a second rotation shaft 80 fixed on the frame 10, wherein a middle portion of the second connecting plate 31 is provided with a second rotation hole 311, the second connecting plate 31 is rotatably mounted in the second rotation shaft 80 through the second rotation hole 311, and the cooperation of the second rotation hole 311 and the second rotation shaft 80 is used for limiting the radial position of the second connecting plate 31 at the second rotation hole 311 and bearing the radial force.

In an alternative embodiment, referring to fig. 7, the first wheel set 20 includes a first bushing 23, and the first bushing 23 is mounted in the first rotation hole 211 of the first connection plate 21 for contacting the first rotation shaft 70 fixed to the frame 10 to ensure smooth rotation of the first connection plate 21 with respect to the first rotation shaft 70.

In an alternative embodiment, the second wheel set 30 includes a second sleeve 33, and the second sleeve 33 is mounted in the second rotation hole 311 of the second connecting plate 31 for contacting the second rotation shaft 80 fixed to the frame 10 to ensure smooth rotation of the second connecting plate 31 relative to the second rotation shaft 80.

In an alternative embodiment, a first oil storage groove is formed inside the first sleeve 23, and the first oil storage groove is used for storing lubricating oil, so that the lubricating oil can flow in the first sleeve 23, the direct contact between the first rotating shaft 70 and the first sleeve 23 is reduced, and the smoothness of rotation is improved.

In an alternative embodiment, a second oil storage groove is formed inside the second sleeve 33, and the second oil storage groove is used for storing lubricating oil, so that the lubricating oil can flow in the second sleeve 33, the direct contact between the second rotating shaft 80 and the second sleeve 33 is reduced, and the smoothness of rotation is improved.

The first oil reservoirs are disposed on the inner sidewall of the first sleeve 23 in a criss-cross manner, and the second oil reservoirs are disposed on the inner sidewall of the second sleeve 33 in a criss-cross manner.

In an alternative embodiment, referring to fig. 7, the first fixing plate 213 is disposed on the first connecting plate 21, the upper end surface of the first fixing plate 213 is provided with a first reinforcing rib 24 and a first limiting member 6225, and the first limiting member 6225 is configured to cooperate with the first limiting plate 15 on the frame 10 to perform a limiting function. In the present embodiment, the first universal wheel 22 is fixed to the lower end surface of the first fixing plate 213, and the extending direction of the first reinforcing rib 24 is perpendicular to the extending direction of the first connecting plate 21, so as to reinforce the strength of the first fixing plate 213; meanwhile, the first reinforcing rib 24 and the first limiting member 6225 are disposed on two opposite sides of the first connecting plate 21, so that the spatial structure of the first fixing plate 213 can be more reasonably arranged, the strength of the first fixing plate 213 is ensured, and the swing amplitude of the first fixing plate 213 can be limited.

In an alternative embodiment, referring to fig. 6, the second fastening plate 313 is disposed on the second connecting plate 31, the second reinforcing rib 34 and the second stopper 6235 are disposed on the upper end surface of the first fastening plate 213, and the second stopper 6235 is configured to cooperate with the second stopper plate 17 on the frame 10 to perform a stopping function. In the present embodiment, the second universal wheel 32 is fixed to the lower end surface of the second fixing plate 313, and the extending direction of the second reinforcing rib 34 is perpendicular to the extending direction of the second connecting plate 31, thereby reinforcing the strength of the second fixing plate 313; meanwhile, the second reinforcing rib 34 and the second stopper 6235 are disposed on opposite sides of the second connecting plate 31, so that the spatial structure of the second fixing plate 313 can be more reasonably arranged, the strength of the second fixing plate 313 is ensured, and the swing amplitude of the second fixing plate 313 can be limited.

In an alternative embodiment, referring to fig. 10, the frame 10 has a motor receiving groove 13, a first wheel receiving groove 14 and a second wheel receiving groove 16, wherein the motor receiving groove 13 is disposed between the first wheel receiving groove 14 and the second wheel receiving groove 16, when the driving wheel 40, the first wheel set 20 and the second wheel set 30 are mounted on the frame 10, the driving motor 41 can be received in the motor receiving groove 13, the first universal wheel 22 can be received in the first wheel receiving groove 14, and the second universal wheel 32 can be received in the second wheel receiving groove 16. The first limiting plate 15 is disposed above the first wheel body receiving groove 14, and the second limiting plate 17 is disposed above the second wheel body receiving groove 16.

Illustratively, referring to fig. 8 and 10, the frame 10 has a first rotation mounting portion 11 and a second rotation mounting portion 12, the first rotation shaft 70 is fixed on the first rotation mounting portion 11, and the second rotation shaft 80 is fixed on the second rotation mounting portion 12. In the present embodiment, the first rotating shaft 70 includes a fixing portion 71, a rotating shaft portion 72 and a positioning portion 73, the first rotating shaft 70 is mounted in the positioning hole of the first rotation mounting portion 11 through the positioning portion 73, then the fixing portion 71 is fixed on the first rotation mounting portion 11, and the first connecting plate 21 is rotatably mounted on the rotating shaft portion 72. The second rotating shaft 80 has the same structure and installation direction as the first rotating shaft 70.

In an alternative embodiment, the first and second rotating shafts 70 and 80 are provided with end caps at the outer portions thereof for preventing external dust from entering and affecting the operating state of the rotating shafts. When the first and second wheelsets 20 and 30 need to be maintained, the end covers are removed, and then the first and second rotating shafts 70 and 80 may be disassembled.

In an alternative embodiment, referring to fig. 5, the chassis body 101 includes a shock absorbing member 50, wherein one end of the shock absorbing member 50 is fixed to the frame 10, and the other end of the shock absorbing member 50 is connected to the first connection plate 21, so as to limit the lateral direction of the first connection plate 21 and also perform a buffering function.

Illustratively, referring to fig. 9, the shock absorbing member 50 includes a first connecting bracket 51, a shock absorbing spring 53, and a second connecting bracket 52, the first connecting bracket 51 being connected to the frame 10, the second connecting bracket 52 being connected to the first connecting plate 21, the shock absorbing spring 53 being disposed between the first connecting bracket 51 and the second connecting bracket 52.

In the present embodiment, the damping member 50 includes a bearing member 54, the first connecting bracket 51 is provided with an extension rod 511, the extension rod 511 is inserted into the bearing member 54, the bearing member 54 is disposed on the second connecting bracket 52, and the damping spring 53 is disposed outside the extension rod 511.

In the description of the present application, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The above disclosure provides many different embodiments or examples for implementing different structures of the application. The components and arrangements of specific examples are described above to simplify the present disclosure. Of course, they are merely examples and are not intended to limit the present application. Further, the present application may repeat reference numerals and/or reference letters in the various examples for simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or arrangements discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

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

Claims (10)

1. A mobile projection operation robot is characterized by comprising a mechanical arm assembly and a chassis assembly arranged below the mechanical arm assembly, wherein the chassis assembly comprises a chassis body and a chassis shell arranged on the outer side of the chassis body, the chassis body comprises a frame and suspension systems arranged on two sides of the frame, each suspension system comprises a driving wheel, a first wheel set and a second wheel set, each first wheel set comprises a first universal wheel and a first connecting plate, each second wheel set comprises a second universal wheel and a second connecting plate, the first universal wheels are rotationally connected with the frame through the first connecting plates, the second universal wheels are rotationally connected with the frame through the second connecting plates, the first universal wheels and the second universal wheels are respectively positioned at two ends of the frame, and the driving wheels are positioned in the middle of the frame;

the chassis body further comprises a notch fitting piece, one of the first connecting plate and the second connecting plate is fixedly connected with one end of the notch fitting piece, and the other of the first connecting plate and the second connecting plate is rotatably connected with the other end of the notch fitting piece.

2. The robot of claim 1, wherein the notch fitting element comprises a fitting element and a limiting element, one end of the fitting element has a fitting element fixing end, the other end of the fitting element has a fitting element notch end, the fitting element fixing end is fixed on the end portion of the first connecting plate, and the second connecting plate is rotatably installed in the fitting element notch end through the limiting element.

3. The robot of claim 2, wherein the driving wheel comprises a driving motor and a wheel, an avoiding notch is formed at one end of the first connecting plate close to the matching piece, and an output shaft of the driving motor passes through the avoiding notch and then is connected with the wheel for driving the wheel to rotate.

4. The robot of claim 2, wherein the first wheel set includes a first rotating shaft fixed to the frame, and a first rotating hole is provided in a middle portion of the first link plate, and the first link plate is rotatably mounted in the first rotating shaft through the first rotating hole; and/or the presence of a gas in the gas,

the second wheel set comprises a second rotating shaft fixed on the frame, a second rotating hole is formed in the middle of the second connecting plate, and the second connecting plate is rotatably installed in the second rotating shaft through the second rotating hole.

5. The robot of claim 4, wherein said first wheel set includes a first bushing mounted in a first pivot hole of said first link plate for contacting a first pivot shaft fixed to said frame; and/or the presence of a gas in the gas,

the second wheel set comprises a second shaft sleeve, and the second shaft sleeve is installed in a second rotating hole of the second connecting plate and is used for being in contact with a second rotating shaft fixed on the frame.

6. The robot as claimed in claim 5, wherein a first oil reservoir is provided inside the first axle sleeve of the first wheel set; and/or a second oil storage tank is arranged inside a second shaft sleeve of the second wheel set.

7. The robot of claim 5, wherein a driving motor of the driving wheel is disposed along a length direction of the first connecting plate and fixed to the first connecting plate, the driving motor being located between the first rotating hole and the engaging member.

8. The robot according to claim 1, wherein a first fixing plate is arranged on the first connecting plate, a first reinforcing rib and a first limiting member for matching with a first limiting plate on the frame are arranged on the upper end surface of the first fixing plate, and the first universal wheel is fixed on the lower end surface of the first fixing plate; and/or the presence of a gas in the atmosphere,

the second fixing plate is arranged on the second connecting plate, a second reinforcing rib and a second limiting part matched with a second limiting plate on the frame are arranged on the upper end face of the second fixing plate, and the second universal wheel is fixed to the lower end face of the second fixing plate.

9. The robot according to any one of claims 1 to 8, wherein the chassis body includes a shock absorbing member, one end of which is fixed to the frame, and the other end of which is connected to the first connection plate.

10. The robot of claim 9, wherein the shock absorbing member includes a first connecting bracket connected to the frame, a shock absorbing spring connected to the first connecting plate, and a second connecting bracket disposed between the first and second connecting brackets.

Images