The invention discloses a robot chassis and a robot. The robot chassis comprises a frame; the rocker arms are arranged on the two opposite sides of the frame, and differential rotation is achieved between the rocker arms; the steering engines are connected with the rocker arms, and the steering engines can rotate synchronously; the hub motor is connected with the rocker arm through a steering engine, and the hub motor rotates according to a preset speed proportion; and the connecting rod mechanism is arranged on the frame, is connected with the rocker arms, and is matched with the rocker arms, so that the rocker arms rotate at differential speed. The hub motor is connected with the rocker arm through the steering engine, the steering engines of the front wheel and the rear wheel rotate synchronously, the front wheel and the rear wheel deflect by a certain angle, it is guaranteed that the hub motor can rotate according to a certain speed proportion, and therefore the whole machine is driven to steer during advancing and steer in situ. Meanwhile, the pitch angle of the chassis is located at the middle value of the dip angles of the left rocker arm and the right rocker arm through a differential rotating connecting rod mechanism between the left rocker arm and the right rocker arm, and the obstacle crossing capacity and the anti-roll capacity of the chassis are effectively improved.
本发明公开了一种机器人底盘及机器人,机器人底盘包括:车架;摇臂,摇臂设在车架的相对两侧,摇臂之间差速旋转;舵机,舵机与摇臂连接,舵机之间可同步旋转;轮毂电机,轮毂电机通过舵机与摇臂连接,轮毂电机按照预设速度比例旋转;连杆机构,连杆机构设在车架上,连杆机构与摇臂连接,连杆机构与摇臂相配合,以使摇臂之间差速旋转。本发明的轮毂电机通过舵机与摇臂连接,前后轮的舵机同步旋转,使前后轮偏转一定角度,保证轮毂电机能够按照一定速度比例旋转,从而带动整机行进间转向和原地转向。同时,通过左右两个摇臂之间的差速旋转连杆机构,使底盘俯仰角处于左右摇臂倾角的中间值,有效提高底盘的越障能力和防侧倾能力。
Robot chassis and robot
机器人底盘及机器人
2024-02-06
Patent
Electronic Resource
Chinese
Robot chassis, robot chassis steering adjusting method and robot
European Patent Office | 2021
|