WO2023045091A1

WO2023045091A1 - Locomotion chassis for robot

Info

Publication number: WO2023045091A1
Application number: PCT/CN2021/135941
Authority: WO
Inventors: 刘洋
Original assignee: 江苏奇捷机器人智能科技有限公司
Priority date: 2021-09-23
Filing date: 2021-12-07
Publication date: 2023-03-30
Also published as: CN113650703A

Abstract

A locomotion chassis for a robot, comprising a chassis (1), a rack (2), adjustment mechanisms (4), follower wheel sets (5), and a steering mechanism (6). The rack (2) is fixedly connected to the upper end of the chassis (1). By means of the provision of the adjustment mechanisms (4), propulsion cylinders (42) are used to drive fixing frames (43) to deflect, so that the state of first rollers (45) and anti-skid wheels (44) is transitioned from the first rollers (45) being in contact with the ground and the anti-skid wheels (44) being in a suspended state to the first rollers (45) leaving the ground and the anti-skid wheels (44) being in contact with the ground. When the propulsion cylinders (42) work, the first rollers (45) gradually deflect upwards along with the deflection of the fixing frames (43) and then leave the ground, and the anti-skid wheels (44) gradually approach the ground along with the deflection of the fixing frames (43) until the anti-skid wheels (44) are in contact with the ground, thereby completing an adjustment function, and in this case, the first rollers (45) are suspended and the anti-skid wheels (44) work, thereby avoiding the problem that a robot may skid when moving to the ground having water stains; moreover, by means of the adjustment mechanisms (4), the first rollers (45) and the anti-skid wheels (44) can be switched at any time, so as to adapt to more environments in actual use.

Description

A walking chassis for a robot

technical field

The invention relates to the technical field of robots, in particular to a walking chassis for a robot.

Background technique

With the development of science and technology, many small robots appear on the market, and the fields of small robots are different.

The more common robot is the handling robot. Its main function is to carry objects or equipment, which can greatly reduce the burden on the operator to carry the machine or objects. When in use, place the objects on the handling robot. After starting the robot, the robot will It can perform reciprocating motion according to a predetermined path, thereby reducing the burden on the operator.

In the prior art, although the handling robot can greatly reduce the burden on the operator to carry the items, in the process of actual use, when the handling robot moves the items to the water-stained epoxy floor, due to the existence of water stains , causing the handling robot to slip, which will cause the risk of violent shaking or even falling of the item, thus causing losses; therefore, a walking chassis for the robot is proposed to solve the above problems.

technical problem

In order to make up for the deficiencies of the existing technology, in the actual use process, when the handling robot moves the items to the epoxy floor with water stains, due to the existence of water stains, the handling robot will slip, which will cause the items to shake violently or even The risk of falling and therefore the problem of loss.

technical solution

A walking chassis for a robot proposed by the present invention includes a chassis, a frame, an adjustment mechanism, a follower wheel set, and a steering mechanism; the frame is fixedly connected to the upper end of the chassis; The adjustment mechanism is symmetrically arranged at one end of the chassis; two sets of follower wheels are arranged, and the two sets of follower wheels are symmetrically arranged at the other end of the chassis; the steering mechanism is arranged at the center of the bottom surface of the chassis; The follower wheel set is arranged between the two sets of adjustment mechanisms, and the steering mechanism is arranged between the two sets of follower wheel sets and the two sets of adjustment mechanisms; When lifting objects, the chassis is cushioned to avoid the vibration generated at the follower wheel set from being transmitted to the chassis, thereby affecting the stability of the devices and objects on the chassis. The steering mechanism can cooperate with the adjustment mechanism and the follower wheel set to drive the robot when the robot needs to turn. The robot performs steering, which increases the adaptability of the robot.

Preferably, the adjustment mechanism is composed of a No. 2 cylinder cover, a propulsion cylinder, a fixed frame, an anti-slip wheel, a No. 1 roller, and a torsion spring; the No. 2 cylinder cover is fixedly connected to the surface of the chassis, and the No. Inside the cylinder cover; one end of the fixed mount is hinged at the end of the propelling cylinder; the anti-skid wheel is rotatably connected to one side of the fixed mount, and the No. 1 roller is arranged at the other end of the fixed mount; the top of the fixed mount Hinged in the chassis, and the torsion spring is sleeved on the shaft connecting the fixed frame and the chassis; when the push cylinder works, the No. The deflection of the fixed frame gradually approaches the ground until the anti-skid wheel touches the ground to complete the adjustment function.

Preferably, the top of the chassis is fixedly connected with bolts; the bolts are arranged in three groups, and the three groups of bolts are arranged at equal intervals; the frame is sleeved on the three groups of bolts; when the chassis of the robot needs to be overhauled , through human action, the chassis is separated from the frame, which is beneficial to the problems of the chassis, as well as the problems of the adjustment mechanism, the follower wheel group and the steering mechanism.

Preferably, the chassis is provided with a groove near one end of the follower wheel set, and the top of the follower wheel set is perforated and connected in the groove; by adjusting the installation of the follower wheel set and the chassis to the upper side of the chassis, the When it is necessary to replace or disassemble the follower wheel set, it can be disassembled directly, avoiding the problem of "turning over" the robot when disassembling the wheel set traditionally.

Preferably, the follower wheel set is composed of a connecting arm, a connecting frame, a No. 2 roller and a No. 2 spring; the connecting arm is perforated and connected to the chassis; the middle part of the connecting frame is hinged in the connecting arm, and the two The No. 2 roller is rotatably connected to one end of the connecting arm; the No. 2 spring is fixedly connected to the other end of the connecting arm, and the other end of the No. 2 spring is fixedly connected to the bottom of the chassis; therefore, buffer deformation occurs when it passes through the deceleration belt , the No. 2 spring is compressed by force and generates elastic potential energy, and then under the action of the elastic potential energy of the No. 2 spring, the connecting frame is driven to return to the initial state.

Preferably, the steering mechanism is composed of a drive plate, a motor, a fixing piece and a third roller; the drive plate is fixedly connected to the chassis through a cylinder, and the motor is fixedly connected to the drive plate; the third roller rotates Connected to one end of the motor; the fixed part is fixedly connected to the drive plate, and the motor is located between the drive plate and the fixed part; the motors are arranged in three groups, and the three groups of motors are symmetrically fixedly connected to the drive plate The No. 3 roller and the fixing parts are correspondingly provided with three groups; after the No. 3 roller is in contact with the ground, the motor is used to drive the No. 3 roller to rotate, thereby cooperating with the adjustment mechanism and the follower wheel group, and the robot can control its steering during use. , thereby increasing the adaptability of the robot chassis.

Preferably, the fixed frame is a "cross-shaped" structure, and the top end of the "cross-shaped" structure of the fixed frame is hinged in the chassis; The two ends of the propulsion cylinder; the stroke end of the propulsion cylinder is hinged on the fixed frame near the end of the propulsion cylinder; in actual use, the switch between the No. 1 roller and the anti-skid wheel can be realized, so that it can adapt to different ground environments When the ground is stained, the use of anti-skid wheels can effectively prevent the robot from slipping.

Preferably, the side walls at both ends of the connecting arm in the groove are fixedly connected with fixed pieces, and the bottom of the fixed piece is fixedly connected in the chassis; in order to facilitate the installation of the follower wheel set, the two follower wheel sets The end-connected connecting arm runs through the chassis, and the connecting arm is fixed on the upper surface of the chassis by the fixing piece, so that the follower wheel set can be replaced quickly during later maintenance or when the follower wheel set is replaced.

Preferably, the middle part of the chassis is provided with a No. 1 cylinder cover, and the cylinder on the top of the steering mechanism is fixed in the No. 1 cylinder cover; the No. 1 cylinder cover is arranged at the bottom of the frame; The inner cylinder drives the driving disc to move down until the No. 3 roller touches the ground, and the No. 1 cylinder cover can protect the cylinder.

Preferably, a through hole corresponding to the connecting arm is opened inside the groove, and the connecting arm is perforated in the through hole.

Beneficial effect

1. The present invention uses the propulsion cylinder to drive the fixed frame to deflect by setting the adjustment mechanism, so that the state of the No. 1 roller and the anti-skid wheel is changed from the No. 1 roller to the ground, while the anti-skid wheel is suspended, and the No. 1 roller is separated from the ground. And the anti-skid wheel is in contact with the ground; when the propulsion cylinder is working, the No. 1 roller will gradually deflect upwards and leave the ground with the deflection of the fixed frame, and the anti-skid wheel will gradually approach the ground with the deflection of the fixed frame until the anti-skid wheel touches the ground, complete Adjustment function, at this time, the No. 1 roller is suspended in the air and the anti-skid wheel is working, so as to avoid the problem of robot slipping when moving to the ground with water stains, and the No. 1 roller and anti-skid wheel can be replaced at any time through the adjustment mechanism, so that it can be used in actual In the process, it can adapt to more environments.

2. The present invention utilizes the No. 2 spring arranged on one side of the connecting frame by setting the follower wheel group. When the follower wheel group moves to the deceleration belt, the connecting frame is deflected by the drive of the No. 2 roller. At this time, the end of the connecting frame moves toward Moving down, the No. 2 spring is stretched, and the vibration is gradually reduced by the deformation of the No. 2 spring, so that the vibration transmitted to the chassis is very weak, so the vibration generated when the robot passes through the deceleration belt is avoided. make an impact.

Description of drawings

Fig. 1 is the first perspective view of Embodiment 1 of the present invention;

2 is a second perspective view of Embodiment 1 of the present invention;

Fig. 3 is the 3rd perspective view of embodiment 1 of the present invention;

Fig. 4 is the sectional view of embodiment one of the present invention;

Figure 5 is an enlarged schematic view of the structure of part A of Figure 3 in the present invention;

Fig. 6 is the perspective view of adjusting mechanism in the embodiment of the present invention one;

Figure 7 is a perspective view of the follower wheel set in Embodiment 1 of the present invention;

Fig. 8 is a schematic structural diagram of Embodiment 2 of the present invention;

FIG. 9 is a schematic structural diagram of the rack in Embodiment 3 of the present invention.

Among the figure: 1, chassis; 11, bolt; 12, groove; 13, fixed plate; 14, through hole; 2, frame; 21, movable groove; 231, buffering part; Spring; 3, No. 1 cylinder cover; 4, adjustment mechanism; 41, No. 2 cylinder cover; 42, propulsion cylinder; 43, fixed frame; 44, anti-skid wheel; 45, No. 1 roller; 46, torsion spring; No. articulated seat; 48, connecting spring; 49, No. 2 articulated seat; 5, follower wheel group; 51, connecting arm; 52, connecting frame; 53, No. 2 roller; 54, No. 2 spring; 6, steering mechanism; 61 , drive plate; 62, motor; 63, fixing piece; 64, No. 3 roller.

Embodiments of the present invention

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Embodiment one:

Please refer to Fig. 1-7, a walking chassis for a robot includes a chassis 1, a frame 2, an adjustment mechanism 4, a follower wheel set 5 and a steering mechanism 6; the frame 2 is fixedly connected to the upper end of the chassis 1; The adjustment mechanism 4 is provided in two groups, and the two groups of adjustment mechanisms 4 are arranged symmetrically at one end of the chassis 1; The other end; the steering mechanism 6 is arranged at the center of the bottom surface of the chassis 1; two groups of follower wheel sets 5 are arranged between the two groups of adjustment mechanisms 4, and the steering mechanism 6 is arranged at the two groups of follower wheels Between group 5 and the two groups of adjustment mechanisms 4 .

When working, use the adjustment mechanism 4, when the robot walks on the ground with water stains, through the conversion and adjustment of the adjustment mechanism 4, the device can move on the ground with water stains, and there will be no slippage problem, so It avoids the risk of the robot slipping on the ground with water stains, and further avoids the falling of devices or objects installed on the chassis 1, and the follower wheel set 5 can be used when the robot moves to bumps such as speed bumps. , to buffer the chassis 1 to prevent the vibration generated at the follower wheel set 5 from being transmitted to the chassis 1, thereby affecting the stability of the devices and objects on the chassis 1, wherein the steering mechanism 6 can cooperate with the adjustment mechanism 4 and follow-up when the robot needs to turn. The moving wheel set 5 drives the robot to turn, thereby improving the adaptability of the robot.

As an embodiment of the present invention, the adjustment mechanism 4 is composed of a No. 2 cylinder cover 41, a propulsion cylinder 42, a fixed frame 43, an anti-skid wheel 44, a No. 1 roller 45, and a torsion spring 46; the No. 2 cylinder cover 41 is fixedly connected On the surface of the chassis 1, and the propelling cylinder 42 is arranged in the No. 2 cylinder cover 41; one end of the fixed mount 43 is hinged at the end of the propelling cylinder 42; , and the No. 1 roller 45 is arranged on the other end of the fixed frame 43; the top end of the fixed frame 43 is hinged in the chassis 1, and the torsion spring 46 is sleeved on the shaft connecting the fixed frame 43 and the chassis 1;

During work, when the robot walks on the ground with water stains, the propulsion cylinder 42 drives the fixed mount 43 to deflect, and when the No. 1 roller 45 and the anti-skid wheel 44 provided on the fixed mount 43 are in the initial state, the No. 1 roller 45 is in contact with the ground, and the anti-skid wheel 44 is in a suspended state. When the propulsion cylinder 42 works, the No. 1 roller 45 gradually deflects upwards and breaks away from the ground along with the deflection of the fixed mount 43, and the anti-skid wheel 44 follows the deflection of the fixed mount 43. Gradually approach the ground until the anti-skid wheel 44 touches the ground to complete the adjustment function.

As an embodiment of the present invention, the top of the chassis 1 is fixedly connected with bolts 11; the bolts 11 are arranged in three groups, and the three groups of bolts 11 are arranged at equal intervals; the frame 2 is set in three groups on the bolt 11.

During work, the installation of the frame 2 is realized by clamping it on three sets of bolts 11 arranged on the top of the chassis 1, and the frame 2 fixed by the bolts 11 can be disassembled under human action, and the robot needs to be repaired When the chassis 1 is used, the chassis 1 is separated from the frame 2 by man-made actions, which is beneficial to overhaul the problems in the chassis 1, as well as the existing problems in the adjustment mechanism 4, the follower wheel set 5 and the steering mechanism 6.

As an embodiment of the present invention, a groove 12 is defined at one end of the chassis 1 close to the follower wheel set 5 , and the top of the follower wheel set 5 is perforated and connected in the groove 12 .

During work, the groove 12 that one end of chassis 1 is provided with is used for fixing follower wheel set 5, and when in use, the service life of follower wheel set 5 is limited, therefore, by adjusting follower wheel set 5 and chassis 1 installation to chassis 1 On the upper side, when the follower wheel set 5 needs to be replaced or disassembled, it can be disassembled directly, avoiding the problem of “turning over” the robot when disassembling the wheel set traditionally.

As an embodiment of the present invention, the follower wheel set 5 is composed of a connecting arm 51, a connecting frame 52, a No. 2 roller 53 and a No. 2 spring 54; the connecting arm 51 is perforated and connected to the chassis 1; the connecting The middle part of the frame 52 is hinged in the connecting arm 51, and the No. 2 roller 53 is rotatably connected to one end of the connecting arm 51; the No. 2 spring 54 is fixedly connected to the other end of the connecting arm 51, and the No. 2 spring 54 The other end is fixedly connected to the bottom of the chassis 1.

During work, during the moving process of the robot, it will pass through part of the deceleration belt, and when the follower wheel set 5 contacts the deceleration belt, since one end of the connecting frame 52 outside the follower wheel set 5 is provided with a No. 2 spring 54, so when it passes through When the deceleration belt produces buffer deformation, the No. 2 spring 54 is compressed by force and generates elastic potential energy, and then under the action of the elastic potential energy of the No. 2 spring 54, the connecting frame 52 is driven to return to the initial state.

As an embodiment of the present invention, the steering mechanism 6 is composed of a drive plate 61, a motor 62, a fixing member 63 and a third roller 64; the drive plate 61 is fixedly connected to the chassis 1 through a cylinder, and the motor 62 is fixedly connected to the driving disc 61; the third roller 64 is rotatably connected to one end of the motor 62; the fixing member 63 is fixedly connected to the driving disc 61, and the motor 62 is located between the driving disc 61 and the fixing member 63 There are three groups of motors 62, and the three groups of motors 62 are symmetrically fixedly connected to the drive plate 61; the third roller 64 and the fixing member 63 are correspondingly arranged in three groups.

During work, the steering mechanism 6 drives the drive plate 61 to move downward by the cylinder arranged on the top of the drive plate 61 when it is working, until the third roller 64 contacts the ground, stops the output of the cylinder, and when the third roller 64 contacts the ground Finally, the motor 62 is used to drive the No. 3 roller 64 to rotate, thereby cooperating with the adjustment mechanism 4 and the follower wheel set 5, and the steering of the robot can be controlled during the use of the robot, thereby increasing the adaptability of the robot chassis 1 .

As an embodiment of the present invention, the fixed frame 43 is a "cross-shaped" structure, and the top end of the "cross-shaped" structure of the fixed frame 43 is hinged in the chassis 1; the anti-slip wheel 44 and the first roller 45 The two ends of the "cross" structure of the fixed frame 43 are respectively rotatably connected;

When working, the structure of the fixed frame 43 is "cross-shaped", and the fixed frame 43 of the "cross-shaped" structure will deflect under the drive of the propulsion cylinder 42, so as to drive the first roller 45 off the ground and make the anti-skid wheel 44 touch the ground , that is, through the propulsion of the propulsion cylinder 42 and the special structure of the fixed frame 43, in actual use, the switch between the first roller 45 and the anti-skid wheel 44 can be realized, so that it can adapt to different ground environments, such as on the ground containing water stains When using the anti-skid wheel 44, it can effectively prevent the robot from slipping.

As an embodiment of the present invention, the sidewalls at both ends of the connecting arm 51 located in the groove 12 are fixedly connected with the fixing piece 13 , and the bottom of the fixing piece 13 is fixedly connected in the chassis 1 .

During work, in order to facilitate the installation of the follower wheel set 5, the connecting arm 51 connected to the two ends of the follower wheel set 5 is penetrated through the chassis 1, and the connecting arm 51 is fixed on the upper surface of the chassis 1 by using the fixing piece 13. Or when changing the follower wheel set 5, the follower wheel set 5 can be replaced quickly.

As an embodiment of the present invention, the middle part of the chassis 1 is provided with a No. 1 cylinder cover 3, and the cylinder at the top of the steering mechanism 6 is fixed in the No. 1 cylinder cover 3; bottom of shelf 2.

During work, the inside of the No. 1 cylinder cover 3 is provided with a cylinder that drives the drive disc 61 to move. When the steering mechanism 6 needs to drive the chassis 1 to rotate, the cylinder that is arranged in the No. 1 cylinder cover 3 is used to drive the drive disc 61 to move downward. And until the No. 3 roller 64 touches the ground, wherein the No. 1 cylinder cover 3 can protect the cylinder.

As an embodiment of the present invention, a through hole 14 corresponding to the connecting arm 51 is opened inside the groove 12 , and the connecting arm 51 is perforated in the through hole 14 .

Embodiment two:

As shown in Figure 8, compared with the above-mentioned first embodiment, one side of the adjustment mechanism 4 in the above-mentioned first embodiment is also provided with a buffer assembly; The No. 1 hinged seat 47 is fixedly connected to the chassis 1; the No. 2 hinged seat 49 is fixedly connected to the fixed frame 43; the two ends of the connecting spring 48 are respectively hinged on the No. 1 hinged seat 47 and the No. 2 hinged seat 47. In the hinged seat 49; during work, when the push cylinder 42 acts on the deflection of the fixed mount 43, one end of the fixed mount 43 drives the connecting spring 48 to deform and extrude the connecting spring 48, so that the connecting spring 48 is hinged on the first hinged seat 47 and the second hinged seat 47. Elastic potential energy is generated between the hinged seats 49, so as to further buffer the adjustment process of the adjustment assembly. The elastic potential energy generated by the connecting spring 48 and the elastic potential energy generated by the torsion spring 46 are conducive to the state recovery of the fixed frame 43.

Embodiment three:

As shown in Figure 9, compared with the above-mentioned implementation one, the inside of the frame 2 in the above-mentioned embodiment one is also provided with a movable groove 21, and the inside of the movable groove 21 runs through the limiting assembly; the limiting assembly consists of a buffer portion 231, The straight rod 232 and the No. 3 spring 233 are composed; the straight rod 232 is fixedly connected to the back side of the buffer portion 231, and the straight rod 232 is perforated and connected to the side wall of the frame 2; the buffer portion 231 is located on the frame 2 inside; the No. 3 spring 233 is sleeved on the end of the straight rod 232 outside the frame 2; during work, when the device or article is clamped in the frame 2, the device or article will be in contact with the inside of the frame 2 The limit assembly contacts and resists the buffer part 231, so that the buffer part 231 moves outwards. At this time, the straight rod 232 runs through the frame 2, and the No. 3 spring 233 arranged outside it is stretched to generate elastic potential energy. The elastic potential energy generated by the No. 3 spring 233 further clamps the device or object, thereby avoiding the device or object from falling during the moving process of the robot.

Working principle: Usually the rollers of the robot do not have the anti-skid function, and if the anti-skid rollers are to be replaced, the walking of the robot will be affected to a certain extent on the ground without water stains, and the adjustment mechanism 4 in the device, when encountering When the ground is water-stained, the fixed mount 43 is driven by the propelling cylinder 42 to deflect, and when the No. 1 roller 45 and the anti-skid wheel 44 arranged on the fixed mount 43 are in the initial state, the No. 1 roller 45 is in contact with the ground, and the anti-skid wheel 44 is In the suspended state, when the propulsion cylinder 42 is working, the No. 1 roller 45 gradually deflects upwards with the deflection of the fixed frame 43 and leaves the ground, while the anti-skid wheel 44 gradually approaches the ground with the deflection of the fixed frame 43 until the anti-skid wheel 44 touches the ground , to complete the adjustment function. At this time, the No. 1 roller 45 is suspended in the air and the anti-skid wheel 44 is working, thereby avoiding the problem of the robot slipping when moving to the ground with water stains, and the No. 1 roller 45 and the anti-skid wheel can be replaced at any time through the adjustment mechanism 4 44, so that in the process of actual use, it can adapt to more environments;

When a traditional robot passes through bumps or speed bumps, its rollers rotate directly in the chassis 1, so when passing through the speed bumps, the vibration transmitted to the chassis 1 through the rollers will affect the items or devices carried by the chassis 1 , and even lead to its damage, and in this device, through the No. 2 spring 54 arranged on one side of the connecting frame 52, when the follower wheel set 5 moves to the deceleration belt, the vibration is gradually reduced through the deformation of the No. 2 spring 54, thereby As a result, the vibration transmitted to the chassis 1 is very weak, so the vibration generated when the robot passes the speed bump is prevented from affecting the loaded device or item;

Because the wheels of the traditional robot are all arranged at the bottom of the chassis 1, when it needs to be replaced, the robot needs to be "turned over" and then the wheels are removed. This process is relatively complicated. In this device, the The connecting arm 51 on the top of the moving wheel group 5 that plays a role of fixing and receiving runs through the chassis 1, and a part of the upper end of the connecting arm 51 is fixed on the upper end of the chassis 1 by using the fixing piece 13, that is, the fixing of the following wheel group 5 is realized. When it needs to be disassembled, the follower wheel set 5 can be disassembled without turning the robot over;

Because the traditional robot lacks the steering mechanism 6, when it moves to the specified end, it needs to manually adjust its moving direction, so that the robot can return, lacks autonomous movement and adjustment functions, and utilizes the steering mechanism 6 in the device. When specifying one end, the motor 62 acts on the No. 3 roller 64, so that the three symmetrically arranged No. 3 rollers 64 all rotate synchronously, and cooperate with the adjustment mechanism 4 and the follower wheel set 5 to realize the steering of the robot.

In the description of this specification, descriptions with reference to the terms "one embodiment", "example", "specific example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment of the present invention. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention.

Claims

A walking chassis for a robot, characterized in that it includes a chassis (1), a frame (2), an adjustment mechanism (4), a follower wheel set (5) and a steering mechanism (6); the frame (2) is fixed connected to the upper end of the chassis (1); the adjustment mechanism (4) is provided with two groups, and the two groups of adjustment mechanisms (4) are symmetrically arranged at one end of the chassis (1); the follower wheel group (5) is provided with two group, and two sets of follower wheel sets (5) are symmetrically arranged at the other end of the chassis (1); the steering mechanism (6) is arranged at the center of the bottom surface of the chassis (1); two sets of follower wheel sets (5 ) is arranged between two sets of adjustment mechanisms (4), and the steering mechanism (6) is arranged between two sets of follower wheel sets (5) and two sets of adjustment mechanisms (4).
A walking chassis for a robot according to claim 1, characterized in that: the adjustment mechanism (4) is composed of a No. ), No. 1 roller (45) and torsion spring (46);

the

The No. 2 cylinder cover (41) is fixedly connected to the surface of the chassis (1), and the propulsion cylinder (42) is arranged in the No. 2 cylinder cover (41); one end of the fixed frame (43) is hinged on the propulsion The end of the cylinder (42); the anti-skid wheel (44) is rotatably connected to one side of the fixed mount (43), and the No. 1 roller (45) is arranged on the other end of the fixed mount (43); the fixed mount The top end of (43) is hinged in the chassis (1), and the torsion spring (46) is sheathed on the shaft connecting the fixed mount (43) and the chassis (1).
A walking chassis for a robot according to claim 2, characterized in that: the top of the chassis (1) is fixedly connected with bolts (11); the bolts (11) are provided with three groups, and three groups of the bolts (11) Arranged at equal intervals; the frame (2) is sleeved on three sets of bolts (11).
A walking chassis for a robot according to claim 3, characterized in that: the chassis (1) is provided with a groove (12) at one end close to the follower wheel set (5), and the follower wheel set (5 ) top perforation is connected in the groove (12).
A walking chassis for a robot according to claim 4, characterized in that: the follower wheel set (5) consists of a connecting arm (51), a connecting frame (52), a No. 2 roller (53) and a No. 2 spring ( 54) composition; the connecting arm (51) is perforated and connected to the chassis (1); the middle part of the connecting frame (52) is hinged in the connecting arm (51), and the No. 2 roller (53) is rotatably connected to One end of the connecting arm (51); the No. 2 spring (54) is fixedly connected to the other end of the connecting arm (51), and the other end of the No. 2 spring (54) is fixedly connected to the bottom of the chassis (1).
A walking chassis for a robot according to claim 5, characterized in that: the steering mechanism (6) is composed of a drive plate (61), a motor (62), a fixing member (63) and a third roller (64) The drive disc (61) is fixedly connected to the chassis (1) through the cylinder, and the motor (62) is fixedly connected to the drive disc (61); the third roller (64) is rotatably connected to the motor (62) ) of one end; the fixture (63) is fixedly connected to the drive plate (61), and the motor (62) is located between the drive plate (61) and the fixture (63); the motor (62) is set There are three groups, and the three groups of motors (62) are symmetrically and fixedly connected to the drive plate (61); the third roller (64) and the fixing member (63) are correspondingly arranged in three groups.
A walking chassis for a robot according to claim 6, characterized in that: the fixed frame (43) is a "cross-shaped" structure, and the top end of the "cross-shaped" structure of the fixed frame (43) is hinged on the chassis (1); the anti-skid wheel (44) and the No. 1 roller (45) are respectively rotatably connected to the two ends of the "cross" structure of the fixed frame (43); the stroke end of the propulsion cylinder (42) is hinged on the One end near the propelling cylinder (42) on the frame (43).
A walking chassis for a robot according to claim 7, characterized in that: the side walls at both ends of the connecting arm (51) located in the groove (12) are fixedly connected with fixed pieces (13), and the The bottom of the fixed piece (13) is fixedly connected in the chassis (1).
A walking chassis for a robot according to claim 8, characterized in that: a No. 1 cylinder cover (3) is arranged in the middle of the chassis (1), and the cylinder on the top of the steering mechanism (6) is fixed on No. 1 Inside the cylinder cover (3); the No. 1 cylinder cover (3) is arranged at the bottom of the frame (2).
A walking chassis for a robot according to claim 9, wherein a through hole (14) corresponding to the connecting arm (51) is opened inside the groove (12), and the connecting arm (51 ) is perforated in the through hole (14).