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CN-115571243-B - Robot chassis and operation robot

CN115571243BCN 115571243 BCN115571243 BCN 115571243BCN-115571243-B

Abstract

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 movably connected with the first 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 located at two ends of the frame, the driving wheel is located in the middle of the frame, and the chassis body further comprises a notch matching piece connected between the first connecting plate and the second connecting plate.

Inventors

  • HUANG ZONGYONG
  • ZHANG TAO

Assignees

  • 深圳优艾智合机器人科技有限公司

Dates

Publication Date
20260512
Application Date
20220928

Claims (8)

  1. 1. The robot chassis is characterized by comprising a chassis 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, the suspension systems comprise 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 movably connected with the first 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 matching piece, the notch matching piece comprises a matching piece and a limiting piece, one end of the matching piece is provided with a matching piece fixing end, the other end of the matching piece is provided with a matching piece notch end, the matching piece fixing end is fixed on the end part of the first connecting plate, and the second connecting plate is rotatably installed in the matching piece notch end through the limiting piece, so that the first connecting plate and the second connecting plate are linked; The driving wheel comprises a driving motor and wheels, wherein the driving motor is arranged along the length direction of the first connecting plate, is fixed on the first connecting plate and is positioned between the first rotating hole of the first connecting plate and the notch matching piece; The first connecting plate and/or the second connecting plate are/is connected with a damping piece, one end of the damping piece is fixed on the frame, the other end of the damping piece is connected with the side surface, far away from the frame, of the first connecting plate and/or the second connecting plate, and the damping piece and the notch matching piece are respectively arranged on two sides of the driving wheel.
  2. 2. The robot chassis according to claim 1, wherein the first connecting plate is provided with a avoidance gap at one end near the mating member, and an output shaft of the driving motor passes through the avoidance gap and is connected with the wheel for driving the wheel to rotate.
  3. 3. The robot chassis of claim 1, wherein the first wheel set comprises a first rotation shaft fixed to the frame, a first rotation hole is provided in a middle portion of the first connection plate, the first connection plate is rotatably installed in the first rotation shaft through the first rotation hole, and/or, The second wheel group 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.
  4. 4. The robot chassis of claim 3, wherein the first wheel set comprises a first axle sleeve mounted in a first rotation hole of the first connection plate for contacting a first rotation shaft fixed to the frame, and/or, The second wheel set comprises a second shaft sleeve which is arranged 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.
  5. 5. The robot chassis of claim 4, wherein a first oil reservoir is provided inside a first sleeve of the first wheelset and/or a second oil reservoir is provided inside a second sleeve of the second wheelset.
  6. 6. The robot chassis of claim 1, wherein the first connecting plate is provided with a first fixing plate, the upper end surface of the first fixing plate is provided with a first reinforcing rib and a first limiting piece matched with the first limiting plate on the frame, the first universal wheel is fixed on the lower end surface of the first fixing plate, and/or, The second connecting plate is provided with a second fixing plate, the upper end face of the second fixing plate is provided with a second reinforcing rib and a second limiting piece matched with the second limiting plate on the frame, and the second universal wheel is fixed on the lower end face of the second fixing plate.
  7. 7. The robot chassis of claim 1, wherein the shock absorbing member comprises a first connection bracket, a shock absorbing spring and a second connection bracket, the first connection bracket being connected to the frame, the second connection bracket being connected to the first connection plate and/or the second connection plate, the shock absorbing spring being disposed between the first connection bracket and the second connection bracket.
  8. 8. An operating robot comprising an actuator and a robot chassis according to any of claims 1-7, said actuator being arranged above the robot chassis.

Description

Robot chassis and operation robot Technical Field The invention relates to the technical field of robots, in particular to a robot chassis and an operating robot. Background The autonomous navigation running robot comprises AGVs (Automated Guide Vehicle, automatic guided vehicles), AMRs (Autonomous Mobile Robot, autonomous mobile robots) and the like, a chassis structure of the autonomous navigation running robot is generally designed with a group of driving wheels and two groups of universal wheels, the two groups of universal wheels are respectively arranged at the front end and the rear end of the chassis body, and the driving wheels are arranged between the two groups of universal wheels. However, the design of the chassis structure is not ideal, and consistency of forward and backward walking of the robot is difficult to ensure in the running process of the robot. Disclosure of Invention The invention provides a robot chassis and an operating robot, which can be movably connected through a notch matching piece between a first connecting plate and a second connecting plate, and can automatically adjust the heights of a first universal wheel and a second universal wheel according to the walking process of the robot so as to ensure the consistency of the robot in the front-back walking process. The invention provides a robot chassis, which 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 outside the chassis body, the chassis body comprises a frame and a suspension system, the suspension system comprises 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 movably connected with the first 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 matching piece, one of the first connecting plate and the second connecting plate is fixedly connected with one end of the notch matching piece, and the other of the first connecting plate and the second connecting plate is rotatably connected with the other end of the notch matching piece. In the robot chassis according to an embodiment of the present invention, the notch fitting includes a fitting and a limiting member, one end of the fitting has a fitting fixed end, the other end of the fitting has a fitting notch end, the fitting fixed end is fixed on an end of the first connecting plate, and the second connecting plate is rotatably mounted in the fitting notch end through the limiting member. In the robot chassis according to an embodiment of the present invention, the driving wheel includes a driving motor and a wheel, the first connecting plate is provided with an avoidance gap at one end near the mating member, and an output shaft of the driving motor passes through the avoidance gap and is connected with the wheel, so as to drive the wheel to rotate. In the robot chassis according to an embodiment of the present invention, the first wheel group includes a first rotation shaft fixed to the frame, a first rotation hole is provided at a middle portion of the first connection plate, the first connection plate is rotatably installed in the first rotation shaft through the first rotation hole, and/or, The second wheel group 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 the robot chassis according to an embodiment of the present invention, the first wheel set includes a first shaft sleeve installed in the first rotation hole of the first connection plate for contacting with a first rotation shaft fixed to the frame, and/or, The second wheel set comprises a second shaft sleeve which is arranged 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 the robot chassis of an embodiment of the invention, a first oil storage tank is arranged in a first shaft sleeve of the first wheel set, and/or a second oil storage tank is arranged in a second shaft sleeve of the second wheel set. In the robot chassis according to an embodiment of the present invention, the driving motor of the driving wheel is disposed along the length direction of the first connecting plate and is fixed to the first connecting pla