CN-117508351-B - Robot chassis and robot

CN117508351BCN 117508351 BCN117508351 BCN 117508351BCN-117508351-B

Abstract

The invention discloses a robot chassis and a robot, wherein the robot chassis comprises a frame; the steering engine is connected with the rocker arms, the steering engines can synchronously rotate, the hub motor is connected with the rocker arms through the steering engines, the hub motor rotates according to a preset speed proportion, the connecting rod mechanism is arranged on the frame and connected with the rocker arms, and the connecting rod mechanism is matched with the rocker arms to enable the rocker arms to rotate in a differential mode. The wheel hub motor is connected with the rocker arm through the steering engine, and the steering engines of the front wheel and the rear wheel synchronously rotate, so that the front wheel and the rear wheel deflect a certain angle, and the wheel hub motor can rotate according to a certain speed proportion, thereby driving the whole machine to steer between advancing and in-situ. Meanwhile, through the differential rotation connecting rod mechanism between the left rocker arm and the right rocker arm, the pitch angle of the chassis is positioned at the middle value of the inclination angles of the left rocker arm and the right rocker arm, and the obstacle surmounting capacity and the anti-rolling capacity of the chassis are effectively improved.

Inventors

ZHOU YUXIANG
CHEN QINGGE
LIN JIANGFENG
Shen Chuangyun
BAI LIN
LIU BIAO

Assignees

广州高新兴机器人有限公司

Dates

Publication Date: 20260508
Application Date: 20231222

Claims (7)

1. A robotic chassis, comprising: A frame; the rocker arms are arranged on two opposite sides of the frame, and the rocker arms rotate in a differential speed manner; the steering engine is connected with the rocker arm, and the steering engines can synchronously rotate; The hub motor is connected with the rocker arm through the steering engine and rotates according to a preset speed proportion so as to drive the whole machine to steer or rotate in situ during running; the connecting rod mechanism is arranged on the frame and connected with the rocker arms, and the connecting rod mechanism is matched with the rocker arms so as to enable the rocker arms to rotate in a differential speed; The rocker arm comprises a main swing arm rear arm rod, a main swing arm front arm rod, an auxiliary swing arm rear arm rod and an auxiliary swing arm front arm rod, wherein the main swing arm rear arm rod and the main swing arm front arm rod are connected with the connecting rod mechanism through a main swing arm four-way joint, the auxiliary swing arm front arm rod, the auxiliary swing arm rear arm rod and the main swing arm front arm rod are connected through an auxiliary swing arm three-way joint, the main swing arm rear arm rod, the main swing arm front arm rod, the auxiliary swing arm rear arm rod and the auxiliary swing arm front arm rod form a six-wheel rocker arm, and the other ends of the main swing arm rear arm rod, the auxiliary swing arm rear arm rod and the auxiliary swing arm front arm rod are respectively connected with one hub motor; The connecting rod mechanism comprises a first rod end joint bearing, a threaded pull rod, a second rod end joint bearing and a transverse swinging rod, wherein positive and negative teeth are formed by the insections in the first rod end joint bearing and the second rod end joint bearing, the first rod end joint bearing is connected with the main swinging arm in a four-way manner, one end of the threaded pull rod is connected with the first rod end joint bearing, the other end of the threaded pull rod is connected with the second rod end joint bearing, the rod end threads of the second rod end joint bearing are connected with the transverse swinging rod, and the transverse swinging rod is fixed on the frame through a slewing bearing; The shock absorber is arranged between the frame and the shock absorber shaft, the main swing arm four-way joint is connected with the shock absorber shaft, and the shock absorber shaft and the shock absorber are matched to form a longitudinal swing arm non-independent suspension shock absorption structure.
2. The robot chassis of claim 1, wherein the frame includes an under-wheel fixing plate and a wheel fixing frame, and the wheel hub motor clamps a fixing core shaft of the wheel hub motor through shaft holes of the under-wheel fixing plate and the wheel fixing frame so that the wheel hub motor rotates relative to the fixing core shaft after being electrified.
3. The robot chassis of claim 2, further comprising a rear steering housing and a front steering housing, wherein the steering engine is disposed in the rear steering housing and the front steering housing, respectively, and the steering engine in the rear steering housing and the front steering housing is connected to the corresponding wheel mount, respectively.
4. A robot chassis according to claim 3, wherein the rear steering housing and the front steering housing are each provided with a steering module end cap.
5. A robot chassis according to claim 3, wherein the main swing arm rear arm lever is fixed between the rear steering housing and the main swing arm four-way through a shaft hole, the auxiliary swing arm front arm lever is fixed between the auxiliary swing arm three-way and the front steering housing through shaft hole fitting, and the auxiliary swing arm rear arm lever is fixed between the auxiliary swing arm three-way and the intermediate wheel coupling through shaft hole connection.
6. The robot chassis of claim 1, further comprising a battery and an electric cabinet, wherein the battery and the electric cabinet are arranged on the frame at intervals.
7. A robot comprising the robot chassis of any one of claims 1-6.

Description

Robot chassis and robot Technical Field The invention relates to the technical field of robot manufacturing, in particular to a robot chassis and a robot. Background The parameters of the existing robot chassis are not finely adjusted, the obstacle crossing passing capability of the six-wheel chassis cannot be brought into full play, and the adaptability of the chassis to rugged roads is reduced to different degrees. And the chassis has insufficient anti-roll capability for uneven road surfaces with uneven heights on the left and right sides. Disclosure of Invention The invention aims to provide a novel technical scheme of a robot chassis and a robot, which at least can solve the problems of insufficient obstacle surmounting capability and anti-roll capability of the robot chassis in the prior art. The invention provides a robot chassis which comprises a frame, rocker arms, steering gears, a hub motor, a connecting rod mechanism and a connecting rod mechanism, wherein the rocker arms are arranged on two opposite sides of the frame, the rocker arms rotate in a differential mode, the steering gears are connected with the rocker arms, the steering gears can synchronously rotate, the hub motor is connected with the rocker arms through the steering gears, the hub motor rotates according to a preset speed proportion to drive the whole robot to steer or rotate in situ during running, the connecting rod mechanism is arranged on the frame, the connecting rod mechanism is connected with the rocker arms, and the connecting rod mechanism is matched with the rocker arms to enable the rocker arms to rotate in a differential mode. The rocker arm comprises a main swing arm rear arm rod, a main swing arm front arm rod, an auxiliary swing arm rear arm rod and an auxiliary swing arm front arm rod, wherein the main swing arm rear arm rod and the main swing arm front arm rod are connected with the connecting rod mechanism through a main swing arm four-way joint, the auxiliary swing arm front arm rod, the auxiliary swing arm rear arm rod and the main swing arm front arm rod are connected through an auxiliary swing arm three-way joint, the main swing arm rear arm rod, the main swing arm front arm rod, the auxiliary swing arm rear arm rod and the auxiliary swing arm front arm rod form a six-wheel rocker arm, and the other ends of the main swing arm rear arm rod, the auxiliary swing arm rear arm rod and the auxiliary swing arm front arm rod are respectively connected with one hub motor. Optionally, the frame comprises an under-wheel fixing plate and a wheel fixing frame, wherein the wheel hub motor clamps a fixing mandrel of the wheel hub motor through shaft holes of the under-wheel fixing plate and the wheel fixing frame so that the wheel hub motor rotates relative to the fixing mandrel after being electrified. Optionally, the robot chassis further comprises a rear steering shell and a front steering shell, wherein steering engines are respectively arranged in the rear steering shell and the front steering shell, and the steering engines in the rear steering shell and the front steering shell are respectively connected with the corresponding wheel fixing frames. Optionally, steering module end covers are respectively arranged on the rear steering housing and the front steering housing. Optionally, the main swing arm rear arm rod is fixed between the rear steering shell and the main swing arm four-way through a shaft hole, the auxiliary swing arm front arm rod is fixed between the auxiliary swing arm three-way and the front steering shell through shaft hole matching, and the auxiliary swing arm rear arm rod is fixed between the auxiliary swing arm three-way and the middle wheel rotating seat through shaft hole connection. Optionally, the connecting rod mechanism comprises a first rod end joint bearing, a threaded pull rod, a second rod end joint bearing and a transverse swinging rod, positive and negative teeth are formed on the first rod end joint bearing and the teeth in the second rod end joint bearing, the first rod end joint bearing is connected with the main swinging arm in a four-way mode, one end of the threaded pull rod is connected with the first rod end joint bearing, the other end of the threaded pull rod is connected with the second rod end joint bearing, rod end threads of the second rod end joint bearing are connected with the transverse swinging rod, and the transverse swinging rod is fixed on the frame through a slewing bearing. Optionally, the robot chassis further comprises a shock absorption shaft and a shock absorber, wherein the shock absorber is arranged between the frame and the shock absorption shaft, the main swing arm four-way joint is connected with the shock absorption shaft, and the shock absorption shaft and the shock absorber are matched to form a longitudinal swing arm non-independent suspension shock absorption structure. Optionally, the robot chassis further comprises a battery and an electric cab