CN111605643A

CN111605643A - Robot chassis and robot

Info

Publication number: CN111605643A
Application number: CN202010417798.5A
Authority: CN
Inventors: 朱卫波
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2020-09-01

Abstract

The invention provides a robot chassis and a robot, which relate to the field of transportation and comprise: the device comprises a frame, wheels and side bending arms connected between the frame and the wheels; the two side bending arms are arranged, and the frame is arranged between the two side bending arms; the middle part of each side bent arm is hinged with the frame through a first hinge shaft, two ends of each side bent arm are respectively connected with wheels, and the wheels and the connected side bent arms can move around the axis of the first hinge shaft in the vertical direction relative to the frame. By the aid of the robot, the problem that the robot in the prior art is difficult to move due to low obstacle passing capability when the robot runs on an uneven road surface in the field or encounters a road obstacle is solved.

Description

Robot chassis and robot

Technical Field

The invention relates to the field of transportation, in particular to a robot chassis and a robot.

Background

The Robot (Robot) is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

Various robots are now on the market to meet the diverse needs of consumers in life and work. Because human beings have certain factors such as danger in field work, the robot of field work produces according to field work's needs. However, the road surface in the field is uneven, and when the existing robot runs on the uneven road surface in the field or encounters a road block, the problem of difficult movement and the like easily occurs due to low obstacle passing capability.

Disclosure of Invention

The invention aims to provide a robot chassis and a robot, which are used for solving the problems that the robot in the prior art is difficult to move due to low obstacle passing capability when the robot runs on an uneven road surface in the field or encounters a road obstacle.

A first aspect of the present invention provides a robot chassis comprising: the device comprises a frame, wheels and side bending arms connected between the frame and the wheels; the two side bending arms are arranged, and the frame is arranged between the two side bending arms; the middle part of each side bent arm is hinged with the frame through a first hinge shaft, two ends of each side bent arm are respectively connected with wheels, and the wheels and the connected side bent arms can move around the axis of the first hinge shaft in the vertical direction relative to the frame.

Furthermore, the middle part of the side bent arm is a flat shoulder part which is horizontally arranged, the two ends of the side bent arm are respectively a connecting end which is used for being connected with wheels, and the height of the connecting end is higher than that of the flat shoulder part.

Further, the link is the arc setting, and the centre of a circle of curved link is located the one side that is close to ground of link.

Furthermore, the lateral bending arms are symmetrically arranged along the vertical line where the first hinge shaft is located.

Furthermore, a baffle plate used for limiting the swing amplitude of the side bent arm is arranged above each side bent arm, the baffle plate is fixedly connected with the frame, and the distance between the baffle plate and the side bent arm is smaller than the length of the side bent arm.

Furthermore, the below parallel of baffle is equipped with two mount pads, forms the clearance that is used for placing the side bent arm between two mount pads, and first articulated shaft passes a mount pad, the middle part of side bent arm and another mount pad in proper order to realize that the middle part of side bent arm is articulated with the baffle.

Further, the extending direction of the baffle is the same as the extending direction of the side bent arm, and the length of the baffle in the extending direction is smaller than that of the side bent arm in the extending direction.

Further, the chassis also comprises a cross beam arranged between the two side bent arms, and two ends of the cross beam are respectively and correspondingly connected with the end parts of the two side bent arms.

Furthermore, two ends of the cross beam are respectively and universally connected with the end parts of the corresponding side bending arms.

Furthermore, the universal connection is a spherical corner connection.

Furthermore, the chassis also comprises a ball head connecting rod group, and two ends of the cross beam are respectively connected with the end parts of the side bending arms through the ball head connecting rod group; the ball head connecting rod group comprises two ball head connecting rods, wherein the head of one ball head connecting rod is hinged with the end part of the side bent arm, the head of the other ball head connecting rod is hinged with the cross beam, and the rod parts of the two ball head connecting rods are fixedly connected through threads.

Furthermore, the crossbeam is T shape, including root and two tip, and the root is connected with the frame, and the tip is connected with the tip of the lateral bending arm that corresponds.

Further, the chassis further comprises a cross beam hinged support fixedly arranged on the frame, the root of the cross beam is hinged to the middle of the cross beam hinged support through a second hinged shaft, and the cross beam can swing around the axis of the second hinged shaft.

Further, the chassis also comprises a walking motor reducer and a wheel bracket; the walking motor reducer is fixedly arranged on the wheel bracket, and the output end of the walking motor reducer is in transmission connection with the wheel; the wheels, the walking motor reducer and the wheel bracket jointly form a power assembly; and power components are respectively arranged at two ends of each side bent arm, and the two ends of each side bent arm are fixedly connected with the corresponding wheel bracket.

Furthermore, each group of power components also comprises a steering engine and a steering engine mounting seat; the steering engine is arranged on the steering engine mounting seat; the steering engine mounting seat is fixedly mounted with the wheel support and the side bending arm at the same time.

Furthermore, the steering engine is connected with the wheel bracket through a flange.

The invention provides a robot, which comprises the robot chassis.

The invention provides a robot chassis, comprising: the device comprises a frame, wheels and side bending arms connected between the frame and the wheels; the two side bending arms are arranged, and the frame is arranged between the two side bending arms; the middle part of each side bent arm is hinged with the frame through a first hinge shaft, two ends of each side bent arm are respectively connected with wheels, and the wheels and the connected side bent arms can move around the axis of the first hinge shaft in the vertical direction relative to the frame. When the robot runs to a road surface with an obstacle, one wheel runs to the upper part of the obstacle, and the wheel drives the corresponding side bending arm to rotate around the axis of the first hinge shaft and move a certain amplitude in the vertical direction relative to the frame; meanwhile, one wheel is lifted upwards and gives a downward component force to the wheel connected with the other end part of the side bent arm, so that the wheel is always in a ground gripping state, the obstacle crossing capability of the robot is improved, and the problem of difficulty in driving caused by low obstacle crossing capability of the robot is solved.

The robot provided by the invention comprises the robot chassis, so that the technical advantages and effects achieved by the robot also comprise the technical advantages and effects achieved by the robot chassis, and the details are not repeated herein.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a robot chassis provided in an embodiment of the present application;

fig. 2 is a front view of a robot chassis provided in an embodiment of the present application;

fig. 3 is a rear view of a robot chassis provided in an embodiment of the present application;

FIG. 4 is a top view of a robot chassis provided in an embodiment of the present application;

FIG. 5 is a schematic diagram of a clockwise diff turn of a robot chassis provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a turning with turning radius of a robot chassis according to an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of a robot chassis according to an embodiment of the present disclosure with one wheel passing through an obstacle;

fig. 8 is a schematic diagram illustrating two wheels of a robot chassis passing through an obstacle according to an embodiment of the present application;

fig. 9 is a partially enlarged view of a hinge joint between a mounting seat and a lateral bending arm of the robot provided by the embodiment of the application.

Icon:

100-a robot chassis; 110-a frame; 111-a baffle; 112-a mount; 120-lateral bending arm; 121-flat shoulder; 122-a connection end; 123-a first articulation axis; 130-a cross beam; 131-root; 132-a fixed end; 140-beam hinged support; 141-a second articulated shaft; 150-ball-head link; 210-a wheel; 220-wheel carrier; 230-a walking motor reducer; 240-steering engine mounting seat; 250-steering engine; 200-obstacle.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are used only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements to be referred to must have specific orientations, be constructed in specific orientations, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the invention are 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.

The robot for field work is popular among a plurality of field workers because the robot can replace human beings to carry out work in the field. However, the field working environment is very complex, which brings uncontrollable factors to the normal working development of the robot. For example, the road surface in the field is uneven, and often has obstacles, and when a robot working in the field passes through the obstacles, the vehicle body may incline and roll over. Therefore, whether the robot can smoothly pass through a rough road surface or an obstacle is a prerequisite for the robot to continue working. The obstacle passing capability of the robot also becomes a key factor for the smooth work development of the robot working in the field.

Based on this, the robot chassis and the robot that this application embodiment provided to promote the robot and cross barrier ability and the adaptability in complicated environment, satisfy the needs of robot field work.

For the understanding of the present embodiment, a detailed description of a robot chassis disclosed in the embodiments of the present application will be given first.

As shown in fig. 1, the robot chassis 100 includes a frame 110, wheels 210, and a side-bending arm 120 connected between the frame 110 and the wheels 210; the number of the side bent arms 120 is two, and the frame 110 is arranged between the two side bent arms 120; the middle portion of each side bent arm 120 is hinged to the frame 110 through a first hinge shaft 123, and both ends of each side bent arm 120 are respectively connected with a wheel 210, and the wheel 210 can move in a vertical direction with the connected side bent arm 120 around the axis of the first hinge shaft 123 relative to the frame 110.

In the robot chassis 100 according to the embodiment of the present application, when the robot travels to a road surface with an obstacle, as shown in fig. 7, one of the wheels 210 travels to an upper portion of the obstacle, the wheel 210 drives the corresponding side-bent arm 120 to rotate around the axis of the first hinge shaft 123, the wheel 210 and an end portion of the side-bent arm 120 move in a vertical direction with respect to the frame 110, and the wheel 210 connected to the other end portion of the side-bent arm 120 always maintains a ground-catching state; further, since the wheel 210 is not directly connected to the frame 110 but connected to the side-bent arm 120, the lifting of the wheel 210 has little influence on the frame 110, and the frame 110 can maintain a constant stable state. The design improves the obstacle crossing capability of the robot and reduces the problem of difficulty in driving caused by low obstacle crossing capability of the robot.

The frame 110 is a chassis body, and is used for supporting and mounting structural components of the robot and simultaneously connected with the wheels 210 so as to meet the normal running of the robot. The structure of the frame 110 may be various types, and as one implementation, the frame 110 may be a hollow frame, and the hollow space of the frame and the exterior of the frame may be provided with structural components of the robot. An advantage of such a frame is that it provides sufficient space for the mounting of the structural parts of the robot. As another implementation, the frame 110 may be a plate-shaped structure, such as: a rectangular plate body. The frame has the advantages of more stable structure and stronger capacity of bearing weight. The upper part of the frame 110 is used for carrying structural components of the robot, and the lower part or periphery is used for installing wheels of the robot. The frame 110 of one embodiment of the present application is a rectangular plate-like structure.

The function of the side arm 120 mainly includes connecting between the wheel 210 and the frame 110, and damping the tilting force applied to the frame 110 by the wheel 210. The structure of the side bent arm 120 may be an arm structure, or may be other structures as long as the two ends are connected to the wheels 210, and the middle portion may be hinged to the frame 110, and the side bent arm 120 of this embodiment is an arm structure. Specifically, as shown in fig. 1 and 2, the middle of the side-bent arm 120 is a flat shoulder 121 horizontally disposed, the two ends of the side-bent arm 120 are respectively a connection end 122 for connecting with the wheel 210, and the height of the connection end 122 is higher than the flat shoulder 121. For example, the connecting ends may be arranged in an arc shape, and the center of the arc-shaped connecting end 122 is located on the side of the connecting end 122 close to the ground. The height of the connecting end 122 is higher than the flat shoulder 121, that is, the height of the connecting end 122 is higher than the height of the first hinge shaft 123, and the highest point of the arc-shaped connecting end 122 and the horizontal plane where the first hinge shaft 123 is located form an included angle. On one hand, when one wheel 210 connected with the arc-shaped connecting end 122 is jacked up by an obstacle, the component force of the arc-shaped connecting end 122 in the vertical downward direction transferred to the flat shoulder 121 and the other arc-shaped connecting end 122 is larger, so that the wheel 210 connected with the other arc-shaped connecting end 122 can be more stably contacted with the ground; on the other hand, the curved connecting end 122 is set to increase the size of the wheel 210 appropriately without increasing the height of the frame 110, so as to increase the traveling speed of the robot chassis 100. It should be noted that the center of arc-shaped connecting end 122 is located on the side of connecting end 122 close to the ground, and it can be understood that when side link 120 is installed on frame 110, arc-shaped connecting end 122 is an upward convex arc, that is, the center of arc-shaped connecting end 122 is located on the side of connecting end 122 close to the ground.

Further, in order to ensure stability of the wheel 210 connected to both ends of the side bent arm 120 and the entire frame 110 during driving, the side bent arm 120 is symmetrically disposed along the vertical line where the first hinge shaft 123 is located, in a general case, the size and the type of the wheel 210 are substantially the same. Specifically, after the side arm 120 is mounted on the frame 110, the wheels 210 mounted at both ends of the side arm 120 are front and rear wheels of the robot, and the distances from the front and rear wheels to the first hinge shaft 123 may be the same when the front and rear wheels are the same in size and model. Assuming that the hinge shaft has a virtual vertical line in the vertical direction, the lateral bent arms 120 are axisymmetrically arranged along the vertical line where the first hinge shaft 123 is located.

It should be noted that the frame 110 is disposed between the two side bent arms 120, and the case where the middle part of the side bent arm 120 is hinged to the outer peripheral wall of the frame 110 is included, and the case where the middle part of the side bent arm 120 is hinged to the inside of the frame 110 is also included. Illustratively, when the frame 110 is a rectangular plate, a rectangular space is defined inside each of two opposite sides of the rectangular plate, the lateral bending arms 120 are installed in the rectangular space, and the middle portions of the lateral bending arms 120 are hinged to two opposite inner sidewalls of the rectangular space.

In some embodiments, in order to avoid instability of the robot chassis 100 caused by an excessively large swing amplitude of the side bent arms 120 around the first hinge shaft 123, as shown in fig. 1 and 2, a baffle 111 for limiting the swing amplitude of the side bent arms 120 is arranged above each side bent arm 120, the baffle 111 is fixedly connected with the frame 110, and the distance between the baffle 111 and the side bent arms 120 is smaller than the length of the side bent arms 120. This arrangement prevents one wheel 210 at the end of the side arm 120 from lifting too high and the other wheel 210 from lowering too low to cause the robot chassis 100 to function properly in extreme situations. The extending direction of the baffle 111 is the same as the extending direction of the side bent arm 120, and the length of the baffle 111 is smaller than that of the side bent arm 120. The extending direction, that is, the longitudinal direction of the baffle 111 after being fixed, is also the longitudinal direction of the side bent arm 120 after being fixed. Specifically, a vertical plate is vertically arranged between the frame 110 and the baffle 111, the baffle 111 is horizontally arranged on the vertical plate, one side of the baffle 111 is fixedly connected with the upper end of the vertical plate, the side bending arm 120 is arranged below the baffle 111, and the middle part of the side bending arm 120 is hinged to the baffle 111. Two mounting seats 112 arranged in parallel are arranged below the baffle 111, as shown in fig. 9, a set gap for placing the side bent arm 120 is formed between the two mounting seats 112, and the first hinge shaft 123 sequentially passes through one mounting seat 112, the middle part of the side bent arm 120 and the other mounting seat 112, so that the middle part of the side bent arm 120 is hinged to the baffle 111. Specifically, as shown in fig. 9, a protrusion is provided on a middle portion (i.e., the flat shoulder 121) of the side-bent arm 120, the protrusion is installed in a gap formed between the two mounting seats 112, through holes are provided at corresponding positions on the protrusion and the mounting seats 112, and the first hinge shaft 123 passes through one mounting seat 112, the protrusion on the flat shoulder 121, and the other mounting seat 112 in sequence, so that the middle portion of the side-bent arm 120 is hinged to the baffle plate 111. The protrusion and the flat shoulder 121 may be integrally formed, or the protrusion is connected by a connector, or the protrusion is fixedly connected to the flat shoulder 121 by welding, adhering, or the like.

In order to improve the stability of the baffle 111, the baffle 111 is fixedly connected with the frame 110, and optionally, the baffle 111 is integrally and fixedly formed with the frame 110. Specifically, vertical plates are vertically extended upwards from two sides of the frame 110, and a baffle 111 is horizontally extended from the upper ends of the vertical plates in a direction away from the frame 110. In general, since the first hinge shaft 123 passes through the side bent arm 120 and the two mounting seats 112 and is rotated to a certain degree, the first hinge shaft 123 may move to a certain degree in the axial direction and may rub against the vertical plate. Therefore, the vertical plate is opened with a large through hole at a position facing the first hinge shaft 123 to leave a certain space for the movement of the first hinge shaft 123.

In order to make the running of the robot chassis 100 more stable, as shown in fig. 1 and 3, the robot chassis 100 further includes a cross beam 130 disposed between the two side bent arms 120, and two ends of the cross beam 130 are respectively connected to the ends of the two side bent arms 120. Further, as shown in fig. 1, the position of the cross beam 130 is the "rear" portion of the robot chassis, the direction opposite to the "rear" portion is the "front", and both ends of the cross beam 130 are connected to the rear ends of the corresponding side bending arms 120, respectively. The cross beam 130 serves to balance the forces exerted by the wheels on the left and right sides of the robot chassis 100 in the forward direction when the robot chassis 100 travels over an obstacle, so that the robot chassis 100 is more stable.

Specifically, the cross member 130 is T-shaped and includes a root portion 131 and two fixing ends 132 (as shown in fig. 3), the root portion 131 is connected to the frame 110, and the fixing ends 132 are connected to the ends of the corresponding side bent arms 120. In order to further increase the flexibility of the cross beam 130 between the two side bent arms 120 and better balance the interaction force between the two side bent arms 120, so that the robot chassis 100 can run more stably, the robot chassis 100 further comprises a cross beam hinge support 140 fixedly arranged on the frame 110, the root 131 of the cross beam 130 is hinged to the middle of the cross beam hinge support 140 through a second hinge shaft 141, and the cross beam 130 can swing around the axis of the second hinge shaft 141.

Further, the T-shaped beam 130 includes a root 131 vertically disposed, and a beam portion horizontally disposed, and two fixed ends 132 are respectively disposed at two ends of the beam portion. The root of the T-shaped cross beam 130 is provided with a vertically arranged oblong hole, and the beam part of the T-shaped cross beam 130 is provided with a horizontally arranged oblong hole, so that the self weight of the cross beam 130 is reduced. The two fixing ends 132 have arc-shaped outer circumferential walls, respectively, to reduce the possibility that the fixing ends 132 are scratched with external objects in a field environment, and the like.

The cross member hinge bracket 140 is attached to the rear portion of the vehicle frame 110, and is centered in the left-right direction (the left-right direction is the left-right direction with respect to the forward traveling direction of the robot chassis 100). The lower part of the cross beam hinged support 140 is fixedly connected with the frame 110, and the upper part is hinged with the root 131 of the cross beam 130.

In order to further improve the balance performance of the cross beam 130, two ends of the cross beam 130 are respectively connected with the ends of the corresponding side bent arms 120 in a universal manner. The universal connection is achieved in many ways, and for example, both ends of the cross beam 130 are connected to the end spherical angles of the corresponding side bent arms 120. As another example, the robot chassis 100 further includes a ball head linkage, and two ends of the cross beam 130 are respectively connected to the ends of the side bending arms 120 through the ball head linkage; each ball connecting rod group comprises two ball connecting rods 150, wherein the head of one ball connecting rod 150 is hinged with the end part of the side bent arm 120 through a third hinge shaft, the head of the other ball connecting rod 150 is hinged with the cross beam 130 through a fourth hinge shaft, and the rod parts of the two ball connecting rods 150 are fixedly connected through threads. Specifically, a hinge hole is formed in the center of the head of one ball head connecting rod 150, a hinge hole is also formed in the fixed end 132 of the cross beam 130, and a fourth hinge shaft is horizontally arranged and sequentially penetrates through the hinge hole of the ball head and the hinge hole of the fixed end 132. The center of the head of the other ball connecting rod 150 is also provided with a hinge hole, the end of the lateral bending arm 120 is also provided with a hinge hole, and the third hinge shaft is also horizontally arranged and sequentially penetrates through the hinge hole of the ball head and the hinge hole of the end of the lateral bending arm 120. The third hinge shaft and the fourth hinge shaft are arranged in parallel.

As shown in fig. 1, the traveling direction of the robot chassis 100 at this time is set to the front. When the rear wheel 210 on the right side of the robot chassis 100 is lifted up through an obstacle, one end of the side-bent arm 120 connected with the rear wheel 210 is lifted up, one end of the side-bent arm 120 is lifted up through the fixed end 132 of the cross beam 130 connected with the ball head linkage, and the ball head linkage swings counterclockwise as a whole; the cross beam 130 swings around the second hinge shaft 141 of the root 131, and gives a downward component force to the left rear wheel 210, so that the left rear wheel 210 is kept in contact with the ground, and the stability of the robot chassis 100 is improved.

The structure and connection of the lateral bending arms and the cross beams are described above, and the power assembly for moving the robot chassis 100 is described next.

As shown in fig. 1 and 4, the robot chassis 100 further includes a walking motor reducer 230 and a wheel bracket 220; the walking motor reducer 230 is fixedly installed on the wheel bracket 220, and the output end of the walking motor reducer 230 is in transmission connection with the wheel 210; the wheels 210, the walking motor reducer 230 and the wheel bracket 220 form a power assembly together; the two ends of each side bent arm 120 are respectively provided with a power assembly, and the two ends of each side bent arm 120 are fixedly connected with the corresponding wheel bracket 220. Specifically, each wheel 210 is connected to the walking motor reducer 230, so that each wheel 210 is a driving wheel and is independent from each other, and this design increases flexibility of the robot chassis 100 in the walking process.

In order to further improve the flexibility of the robot chassis 100 in the walking process, each group of power components further comprises a steering engine 250 and a steering engine mounting seat 240; the steering engine 250 is arranged on the steering engine mounting seat 240; the steering engine mounting seat 240 is fixed with the wheel bracket 220 and the side bending arm 120. The steering engine 250 is connected with the wheel bracket 220 through a flange.

It should be noted that the steering actuator 250 is an existing actuator structure, and the direction of the wheel 210 connected to the steering actuator 250 is controlled by the flange connection between the steering actuator 250 and the wheel bracket 220.

Based on the above structure, several movement patterns of the robot chassis 100 are described next.

As shown in fig. 1, when the steering engine is kept still and the four traveling motor reducers rotate forward at the same time, the wheels 210 drive the entire robot chassis 100 to move forward. On the contrary, when the four traveling motor reducers rotate backward at the same time, the wheels 210 drive the entire robot chassis to move backward. The position of the beam 130 is rear, and the position opposite to "rear" is front.

As shown in fig. 5, when the steering engines at the left front and the right rear of the robot rotate a certain angle in a clockwise direction, the steering engines at the right front and the left rear of the robot rotate the same angle in a counterclockwise direction; meanwhile, the walking motor reducers at the left front part and the left rear part of the robot rotate backwards together, the walking motor reducers at the right front part and the right rear part of the robot rotate forwards together, and the chassis of the robot can realize anticlockwise four-wheel differential turning in situ. It should be noted that, the position of the beam 130 is rear, the position corresponding to "rear" is front, and "left and right" are correspondingly indicated.

When the steering engines at the front right and the rear left of the robot rotate a certain angle in the clockwise direction, and the steering engines at the front left and the rear right of the robot rotate the same angle in the counterclockwise direction; meanwhile, the walking motor reducers at the right front and the right rear of the robot rotate backwards together, the walking motor reducers at the left front and the left rear of the robot move forwards together, and the chassis of the robot can realize clockwise four-wheel differential turning in situ.

As shown in fig. 6, when the front two steering actuators rotate a certain angle counterclockwise at the same time and the rear two steering actuators rotate a certain angle clockwise at the same time, and the four walking motor reducers rotate forward at the same time, the robot chassis can realize left-turning with turning radius. Similarly, when two steering engines on the front rotate a certain angle clockwise simultaneously and two steering engines on the back rotate a certain angle anticlockwise simultaneously, and four walking motor reducers rotate forwards simultaneously, the robot chassis can realize right-turning with turning radius.

As shown in fig. 7, when the right front wheel of the chassis of the robot crosses the obstacle 200, the right front wheel is lifted up, and the front end of the side bent arm on the right side of the robot is raised up and the rear end is swung down. Meanwhile, a ball head connecting rod connected with the rear end of the right side bent arm moves upwards and drives the cross beam to incline leftwards. The other three wheels are simultaneously grounded. Therefore, the four wheels of the whole robot are stressed simultaneously, and the chassis of the robot is kept to be very stable in the process of crossing the obstacle. It should be noted that, the position of the beam 130 is rear, the position corresponding to "rear" is front, and "left and right" are correspondingly indicated.

As shown in fig. 8, when the left and right front wheels of the robot chassis simultaneously cross the obstacle, the left and right front wheels are simultaneously lifted up; the side bent arm at the left side of the robot rotates downwards, and the side bent arm at the right side rotates upwards; the ball head connecting rod connected with the rear end of the side bent arm and the cross beam which is hinged with the ball head connecting rod balance the stress of the four wheels, so that the 4 four driving wheels are simultaneously grounded. It should be noted that, the position of the beam 130 is rear, the position corresponding to "rear" is front, and "left and right" are correspondingly indicated.

The embodiment of the application also provides a robot, which comprises the robot chassis of the embodiment.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot chassis, comprising: the device comprises a frame, wheels and side bent arms;

the number of the side bent arms is two, and the frame is arranged between the two side bent arms; the middle part of each lateral bending arm is hinged with the frame through a first hinge shaft, two ends of each lateral bending arm are respectively connected with the wheels, and the wheels and the connected lateral bending arms can move around the axis of the first hinge shaft in the vertical direction relative to the frame.

2. The robot chassis of claim 1, wherein the middle of the side bent arm is a flat shoulder portion arranged horizontally, two ends of the flat shoulder portion are respectively a connecting end used for being connected with the wheel, and the height of the connecting end is higher than that of the flat shoulder portion.

3. The robot chassis of claim 2, wherein the connecting end is configured in an arc shape, and a center of the arc-shaped connecting end is located on a side of the connecting end close to the ground.

4. The robot chassis of claim 2, wherein the side bent arms are symmetrically arranged along a vertical line axis in which the first hinge axis is located.

5. The robot chassis of claim 1, wherein a baffle is disposed above each side knuckle arm, the baffle is fixedly connected to the frame, and the distance between the baffle and the side knuckle arm is less than the length of the side knuckle arm.

6. The robot chassis of claim 5, wherein two mounting seats are arranged below the baffle in parallel, a gap for placing the side bent arm is formed between the two mounting seats, and the first hinge shaft sequentially passes through one mounting seat, the middle part of the side bent arm and the other mounting seat so as to realize the hinging of the middle part of the side bent arm and the baffle.

7. The robot chassis of claim 5, wherein the baffle extends in the same direction as the sweep arm and has a length in the direction of extension that is less than the length of the sweep arm in the direction of extension.

8. The robot chassis of claim 1, further comprising a cross beam disposed between the two side bent arms, wherein two ends of the cross beam are correspondingly connected to the ends of the two side bent arms, respectively.

9. A robot chassis according to claim 8, characterised in that both ends of the cross beam are each universally connected with the end of a corresponding side bent arm.

10. A robot chassis according to claim 9, characterised in that the universal connection is a ball joint connection.

11. The robot chassis of claim 8, further comprising a ball linkage, wherein two ends of the cross beam are connected to ends of the side bent arms through ball linkages, respectively;

the ball head connecting rod group comprises two ball head connecting rods; the head of one ball head connecting rod is hinged with the end part of the side bent arm, the head of the other ball head connecting rod is hinged with the cross beam, and rod parts of the two ball head connecting rods are fixedly connected through threads.

12. A robot chassis according to claim 8, characterised in that the cross beam is T-shaped and comprises a root connected to the frame and two fixed ends connected to the ends of the respective side bent arms.

13. The robot chassis of claim 12, further comprising a cross beam hinge support fixedly arranged on the frame, wherein the root of the cross beam is hinged to the middle of the cross beam hinge support through a second hinge shaft, and the cross beam can swing around the axis of the second hinge shaft.

14. A robot chassis according to any of claims 1-13, further comprising a walking motor reducer and a wheel support; the walking motor speed reducer is fixedly arranged on the wheel bracket, and the output end of the walking motor speed reducer is in transmission connection with the wheel; the wheels, the walking motor reducer and the wheel support jointly form a power assembly;

and the two ends of each side bent arm are respectively provided with the power assembly, and the two ends of each side bent arm are fixedly connected with the corresponding wheel bracket.

15. The robot chassis of claim 14, wherein each set of power components further comprises a steering engine and a steering engine mount;

the steering engine is arranged on the steering engine mounting seat; the steering engine mounting seat is fixedly mounted with the wheel support and the side bending arm at the same time.

16. The robot chassis of claim 15, wherein the steering engine is flanged to the wheel support.

17. A robot, comprising: the robot chassis of any of claims 1-16.