CN209064233U - Protective tube suit, chassis and mobile robot - Google Patents

Abstract

The utility model provides a kind of protective tube suit, chassis and mobile robot, and protective tube suit includes hole sprue, tracheae and insurance tube body；Insure one end sealing of tube body, the other end for insuring tube body is connect with there is hole sprue；There is hole sprue to offer through-hole, insures tube body by there is the through-hole of hole sprue to be connected to one end of tracheae, the other end of tracheae is for connecting sensor.By the utility model, alleviating mobile robot in the prior art, cumbersome, the low problem of maintenance efficiency is replaced in maintenance after protective tube damage when colliding emergency stop.

Description

Protective tube suit, chassis and mobile robot

Technical field

The utility model relates to robot fields, more particularly, to a kind of protective tube suit, chassis and mobile robot.

Background technique

Automatic guide vehicle (Automated Guided Vehicle, abbreviation AGV) refers to and magnetically or optically waits automatically equipped with electricity Guiding device, can automatic running, the transport vehicle with safeguard protection and various transfer functions.

It is widely applied the AGV mobile robot in fields such as electric business, intelligent plants at present, collision emergency stop protective tube exists After damage, maintenance replacement is cumbersome, influences maintenance efficiency.

Utility model content

The purpose of this utility model includes providing a kind of protective tube suit, chassis and mobile robot, the chassis and movement Mobile robot in the prior art can be alleviated in robot, and when colliding emergency stop, maintenance replacement is cumbersome after protective tube damage, maintenance effect The low problem of rate.

To achieve the above object, the utility model the following technical schemes are provided:

The utility model first aspect provides a kind of protective tube suit, includes hole sprue, tracheae and for being disposed around bottom The insurance tube body of disk ontology periphery；Insure one end sealing of tube body, the other end for insuring tube body is connect with there is hole sprue； There is hole sprue to offer through-hole, insurance tube body is by there is the through-hole of hole sprue to be connected to one end of tracheae, the other end of tracheae For connecting sensor.

Further, protective tube suit includes the non-porous sprue sealed for that will insure one end of tube body, non-porous sprue With one end grafting of insurance tube body.

Further, protective tube suit includes locking member, has hole sprue and the other end of insurance tube body to pass through locking member Locking.

Further, hole sprue periphery is equipped with groove, locking member locks the other end for insuring tube body in groove.

Further, groove along have hole sprue circumferentially around the outer wall for having hole sprue.

Further, the one side wall for insuring tube body is L shape, and the L-shaped side wall for insuring tube body is protected for being mounted on The edges and corners that the edge of two adjacent surfaces of protection unit is formed.

The utility model second aspect provides a kind of chassis, is used for mobile robot, including chassis body and above-mentioned Protective tube suit；Insurance tube body is disposed around the periphery of chassis body, and chassis body offers the other end with insurance tube body Adaptation is used to insure the first passage that tube body plugs, and tracheae is threaded through first passage and docks with through-hole.

Further, chassis body offers second channel, and the both ends for insuring tube body are logical with first passage and second respectively Road corresponds grafting.

Further, protective tube suit is two groups, wherein the insurance tube body of one group of protective tube suit is disposed around chassis body Side outer wall, the insurance tube body of another group of protective tube suit is disposed around the bottom surface outer wall of chassis body.

Further, the step for stopping the other end of insurance tube body to run through first passage is equipped in first passage, step is opened The hole passed through equipped with air supply pipe.

Further, the side wall of first passage offers the first screw hole, and the other end for insuring tube body passes through insertion first First screw of screw hole is fixed in first passage.

Further, the periphery of chassis body is equipped with the fixed structure for fixed insurance tube body, for example, the fixed structure It can be fixed ring, insurance tube body is threaded through in fixed ring.

Further, fixed structure is fixed on chassis by the second screw.

The utility model third aspect provides a kind of mobile robot, including robot body, is set to robot body On control system and carrying robot body chassis, chassis be above-mentioned chassis, control system be located at chassis body on Sensor connection.

The utility model provides a kind of protective tube suit, chassis and mobile robot, and protective tube suit includes that hole is stifled Block, tracheae and insurance tube body；Insure one end sealing of tube body, the other end for insuring tube body is connect with there is hole sprue；Have Hole sprue offers through-hole, insures tube body by there is the through-hole of hole sprue to be connected to one end of tracheae, the other end of tracheae is used In connection sensor.When occurring to insure tube body breakage, due to insurance tube body one end by it is stifled set have hole sprue with Therefore tracheae connection only need to will have hole sprue to remove from the other end extraction of damaged insurance tube body, change new protective tube Ontology.By the utility model, alleviates mobile robot in the prior art and repaired more after protective tube damage when colliding emergency stop Change cumbersome, the low problem of maintenance efficiency.

Detailed description of the invention

It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art Under the premise of labour, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is the structural schematic diagram of protective tube suit provided by the embodiment of the utility model；

Fig. 2 is the structural schematic diagram of the first direction on chassis provided by the embodiment of the utility model；

Fig. 3 is the structural schematic diagram of the second direction on chassis provided by the embodiment of the utility model；

Fig. 4 is the structural schematic diagram provided by the embodiment of the utility model for having hole sprue；

Fig. 5 is a kind of structural schematic diagram of fixed structure provided by the embodiment of the utility model；

Fig. 6 is the structural representation of protective tube suit and a kind of connection type on chassis provided by the embodiment of the utility model Figure；

Fig. 7 is that protective tube suit provided by the embodiment of the utility model and the section of another connection type on chassis are illustrated Figure.

Appended drawing reference:

The chassis 1-；11- chassis body；111- fixed stop；112- first passage；113- fixed ring；The first screw of 114-； The second screw of 115-；116- second channel；12- protective tube suit；121- insures tube body；122- has hole sprue；123- is non-porous Sprue；A- through-hole；B- groove；The first face c-；The second face d-；124- tracheae；125- sensor；126- metal locking member.

Specific embodiment

The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical Novel protected range.

Specific embodiment of the present utility model is described in detail below in conjunction with attached drawing.It should be understood that herein Described specific embodiment is only used for describing and explaining the present invention, and is not intended to limit the utility model.

The safeguard function of AGV mobile robot can be realized by setting collision emergency stop device, and collide emergency stop device It may include protective tube, protective tube can be set on chassis, for protecting entire mobile robot.Protective tube alternatively referred to as insures Thick stick (bumper).The collision scene of AGV mobile robot are as follows: the guarantor when mobile robot collision, on mobile robot chassis Dangerous pipe collides, and therefore, protective tube becomes the easily-consumed products of AGV mobile robot, it is often necessary to replace.

In some embodiments, the end of protective tube is connect by fixing piece with tracheae, fixing piece be fixed on chassis top and Position is motionless, when protective tube, which collides, to be needed replacing, needs to be first turned on the shell of AGV mobile robot, will be on chassis The fixing piece of side exposes, then dismantles protective tube；And fixing piece and tracheae be by clamp connection, protective tube and tracheae are disconnected or Connection needs opening or jointing clip, not convenient enough.

In order to alleviate the above problem, present embodiments provide for a kind of protective tube suit, chassis and mobile robots, there is hole One end removable plug of sprue and insurance tube body can will have hole sprue when protective tube failure needs to dismantle or install Self-protective tube body is quickly extracted, and the replacement efficiency of protective tube is promoted.

The structural schematic diagram of the suit of protective tube provided by the embodiment of the utility model shown in referring to Fig.1, the insurance pipe sleeve Filling 12 includes hole sprue 122, tracheae 124 and insurance tube body 121；One end sealing for insuring tube body 121, insures tube body 121 other end is connect with there is hole sprue 122；There is hole sprue 122 to offer through-hole a, insures tube body 121 by there is hole sprue 122 through-hole a is connected to one end of tracheae 124, and the other end of tracheae 124 is for connecting sensor 125.

When occurring to insure tube body breakage, operator pulls out the other end for having hole sprue from damaged insurance tube body Out, new insurance tube body is fetched, by the other end for the insurance tube body for having sprue insertion in hole new.By the utility model, delay Having solved mobile robot in the prior art, maintenance replacement is cumbersome after protective tube damage when colliding emergency stop, and maintenance efficiency is low to ask Topic.

Above-mentioned insurance tube body 121 can be made of rubber material, and rubber material has preferable elasticity and toughness, be examined Considering insurance tube body 121 as the collision body that is specially arranged in order to protect the component such as robot chassis, is collided Region is concentrated mainly at insurance tube body 121, so the present embodiment can increase guarantor using the insurance tube body of rubber material The elasticity of dangerous tube body 121 gives insurance tube body 121 buffering certain in collision, reduces insurance tube body 121 and touches Hit the damage degree for the component (such as chassis) that rear protective tube is protected.

The cross-sectional shape of above-mentioned insurance tube body 121 can there are many, cross section can be it is round, semicircle or E word row etc..And the compatible shape with the installation site for the component protected can be made in the outer shape for insuring tube body 121 Shape, just by taking the chassis that protective tube is protected as an example, when the periphery on chassis is the then protective tube towards the concave arc in chassis body The cross section of ontology 121 is using round；When the periphery on chassis is planar arc, then the cross section for insuring tube body 121 uses half It is round；When chassis periphery have three parallel groove structures of upper, middle and lower, then insurance tube body 121 cross section use with The compatible E shape of three groove structures；The benefit of aforesaid operations is the installability and stationarity for increasing insurance tube body 121 Can, prevent insurance tube body 121 to be easy to fall off after colliding.

In some cases, it can more efficiently be protected by protective device to realize that protective tube is set with, it may be considered that Increase insurance tube body protected area, as long as in this way insurance tube body cover region in collide, all can first when Between trigger the sensor that connect with tracheae.In the present embodiment, what the sensitivity of increase protective tube suit was taken is to increase insurance The mode of the quantity in the face of tube body protection.It in the present embodiment, is chassis, under normal circumstances, the side on chassis by protective device Face and bottom surface are easy to happen collision, in order to preferably capture collision information, the present embodiment provides it is a kind of insure tube body structure, As shown in fig. 7, Fig. 7 is that protective tube suit provided by the embodiment of the utility model and the section of another connection type on chassis show It is intended to, the one side wall of insurance tube body 121 is L shape, and the L-shaped side wall of insurance tube body 121 is mounted on by protective device (bottom Disk) the adjacent bottom surface in lower part and the edges and corners that are formed of side.Specifically, the L-shaped side wall for insuring tube body 121 includes being used for It is covered on by the first surface c of the sidewall edge of protective device (for example, chassis) and for covering by protective device (for example, bottom Disk) bottom wall edge second surface d.As shown in fig. 7, the cross sectional shape of insurance tube body can be L shape.But the present embodiment is simultaneously It is without being limited thereto, insure far from that can be in arbitrary shape by the side of protective device on tube body, for example, arc-shaped.

Structure and the material etc. of insurance tube body 121 is described above, next introducing has hole sprue, sensor etc. Structure.

Referring to figure 4., Fig. 4 is the structural schematic diagram provided by the embodiment of the utility model for having hole sprue.There is hole sprue 122 For cylinder, cylindrical axis is parallel with the insurance axis of the other end of tube body 121.Above-mentioned having is set on hole sprue 122 There is through-hole a, through there is hole sprue 122, which extends through-hole a along the axis direction for having hole sprue 122.Insure tube body 121 The other end be set in hole sprue 122, make insure tube body 121 cavity be connected to through-hole a, tracheae 124 is closed to be plugged on The one end of through-hole a far from insurance tube body 121 is docked and connected with through-hole a sealing.In order to facilitate realization tracheae 124 with through-hole a's It is docked and connected, through-hole a is provided with the end face center of hole sprue 122.

In some cases, have hole sprue 122 that can be detached under external force with insurance tube body 121, bring insurance function without Method realizes there is hole sprue 122 in order to prevent and insures the other end generation dislocation movement of tube body 121, will have hole sprue 122 to lean on One end of the other end of nearly insurance tube body 121 is equipped with multiple friction rib (not shown)s in the axial direction.

Insure the other end of tube body 121 and there are sealing means there are many sealed connections of hole sprue 122, for example, there is hole stifled Block 122 is cylindricality and outer diameter is greater than the internal diameter for insuring the end of tube body, when insuring tube body 121 has elasticity, has hole stifled Big, interference fit is supportted behind the end of the insertion insurance tube body of block 122；The present embodiment is by the way of: protective tube suit packet Locking member is included, has the other end of hole sprue 122 and insurance tube body 121 to pass through locking member and locks.Optionally, there is hole sprue 122 Periphery is equipped with groove b, and locking member locks the other end for insuring tube body 121 in groove b.Groove b is along the week for having hole sprue 122 To the outer wall for being surrounded with hole sprue 122.Locking member is metal material, and metal locking member can be clip etc..

Insure one end sealing of tube body 121, the mode of sealing includes that sealing, the sealing of one end imperforation are directly tightened in one end Deng.In the present embodiment, insurance tube body 121 is sealed by non-porous sprue 123.Non-porous sprue 123 and insurance tube body 121 One end seals grafting.Non-porous sprue 123 with have the shape of hole sprue just as.Non-porous sprue is truncated cone-shaped, is inserted into protective tube at first The outer diameter of one end of ontology 121 is less than the outer diameter for being finally inserted one end of insurance tube body 121.The knot of above-mentioned protective tube suit The structure order of connection are as follows: non-porous sprue 123--- insurance tube body 121--- has hole sprue 122--- tracheae 124--- sensor 125. Optionally, non-porous sprue 123 is detachably connected with insurance tube body 121.

In order to realize AGV mobile robot collision emergency stop function, the other end of tracheae 124 connects sensor 125, In, in the present embodiment, sensor 125 is pressure wave sensor.The realization of above-mentioned 12 collision sudden-stop function of protective tube suit Journey are as follows: when insuring tube body 121 and being collided, insurance tube body 121 is extruded, and insures the gas in tube body 121 towards gas Pipe 124 flows, and sensor 125 is pressure wave sensor, after experiencing air pressure change, sends a signal to control system, control system System control AGV mobile robot makes it stop movement.

In order to promote the sensitivity of sensor 125, tracheae 124 is set as gas circuit tubule, when the air-flow of same volume comes When, thin tracheae 124 can be with lift line air pressure, when lesser collision occurs for insurance tube body 121, so that it may pass through gas circuit Tubule realizes boost in pressure, and the air pressure of the perception of sensor 125 is bigger, and sensor 125 is sensitiveer.

Since insurance tube body, connector, tracheae and sensor in the prior art are split settings, are installing or tearing open Without certain integration when unloading, it is inconvenient to bring installation or removal.In order to promote the integration of protective tube suit, will protect Dangerous tube body 121 has the first part of hole sprue 122 and non-porous sprue 123 as protective tube suit 120, tracheae 124 and sensing Second part of the device 125 collectively as protective tube suit 12；Wherein, the various components of first part are first assembled as a whole Together, the one end for insuring tube body 121 is connected with hole sprue 122, the other end is stifled to set non-porous sprue 123.Second part Tracheae 124 and sensor 125 are first connected together as entirety, and then there are hole sprue 122 and second in first part again The tracheae 124 divided docks, and completes the assembling of protective tube suit.The above-mentioned integrated installation for protective tube suit, improves guarantor The installation effectiveness of dangerous pipe.

The basic structure and integrated performance of protective tube suit is described above, next introducing has protective tube suit Chassis structure and application.

Firstly, as shown in Figures 2 and 3, Fig. 2 is that the structure of the first direction on chassis provided by the embodiment of the utility model is shown It is intended to；Fig. 3 is the structural schematic diagram of the second direction on chassis provided by the embodiment of the utility model；A kind of chassis 1, including chassis Ontology 11 and above-mentioned protective tube suit 12；Insurance tube body 121 is disposed around the periphery of chassis body 11, and chassis body 11 is opened Equipped with the first passage 112 plugged for insuring tube body being adapted to the other end of above-mentioned insurance tube body；Tracheae 124 is worn It is located at first passage 112, tracheae 124 is docked with first passage 112.Optionally, tube body 121 is insured from first passage 112 One end enters, and tracheae 124 enters from the other end of first passage 112, tracheae 124 and insurance 121 grafting of tube body.

As shown in Figure 1, the both ends of insurance tube body 121 are plugged in chassis body 11, specifically, chassis body 11 is opened Equipped with second channel 116, the both ends for insuring tube body 121 are corresponded with first passage 112 and second channel 116 respectively is inserted It connects.

When dismantling protective tube suit 12, need for protective tube to be set with 12 in the peripheral from first passage of chassis body 11 Extraction in 112, tracheae 124 is drawn out together at this time.Tracheae 124 pulls out when replacing in order to facilitate insurance tube body 121, tracheae 124 length wants long enough, and operator is made to be manually operable in the periphery of chassis body 11 by tracheae 124 and have hole sprue 122 grafting.Further, tracheae 124 will have certain hardness, and tracheae 124 is retracted from path again during installation with facilitating To original position.

The effect of chassis body 11 includes each component part for carrying entire AGV mobile robot, is installed in order to prevent Structure in chassis body 11 leans forward or moves forward after colliding, and chassis body 11 is low equipped with centre, edge is high Structure, the front periphery of chassis body 11, which upwardly extends certain height and formed, stops platform.

The top cover of above-mentioned chassis body 11 is equipped with the plummer to raise upward, and plummer is for carrying sensor 125. Plummer is two, is respectively provided at the two sides of chassis body 11, logical when needing to open up above-mentioned first in one end of chassis body 11 Road 112 when will have hole sprue 122 to connect with tracheae 124, selects corresponding (nearby) plummer to install sensor 125 i.e. It can.

In the present embodiment, insurance 121 end of tube body is plugged in the channel of chassis body 11, in order to further solid Surely insure tube body 121, chassis body 11 is equipped with the fixed stop 111 for fixed insurance tube body 121, first passage 112 are provided in fixed stop 111, tracheae 124 from one end of first passage 112 enter, insure tube body 121 the other end with There is hole sprue 122 to enter from the other end of first passage 112, tracheae 124 has hole sprue 122 first with protective tube suit 12 Connection in channel 112.

First passage 112 opens up from front to back, the insurance tube body that 112 opening size of first passage connects together enough 121 enter together with there is hole sprue 122, are equipped in first passage 112 and stop the other end of insurance tube body 121 logical through first The step in road 112, step offer the hole that air supply pipe 124 passes through.Tracheae 124 positioned at 11 top of chassis body can directly be worn It crosses the hole and enters first passage 112 and docked with there is hole sprue 122.Further, the outer diameter of hole sprue 122 is greater than the interior of the hole Diameter.When there is the end of hole sprue 122 to withstand on step, there is hole sprue 122 to be installed in place.

Fixed stop 111 is two, is respectively provided at the both ends of chassis body 11.Fixed stop 111 has one from front to back Fixed length, one of fixed stop 111 open up first passage, another fixed stop 111 opens up second channel 116, protect One end of dangerous tube body 121 and the other end are plugged with first passage 112 and the one-to-one correspondence of second channel 116 respectively.

For the fixed protective tube 1 being plugged in channel 112, the side wall of first passage 112 is offered for the first screw Hole, the other end for insuring tube body are fixed in the first passage 112 by the first screw 114 of the first screw hole of insertion. Specifically, the tip of the first screw 114 has plane, prevents the tip of point from puncturing insurance tube body 121 or have hole sprue 122.The other end for insuring tube body is fixedly clamped by the plane together with the side wall of first passage 112.Optionally, due to there is hole 122 periphery of sprue is equipped with groove b, and the front end of the first screw 114 is inserted in groove b.

Described above is protective tube suit 12 when being equipped with one group of protective tube suit 12 in chassis body 11 and chassis sheets Next the connection type of body 11 is introduced when being equipped with two groups of protective tube suits 12 in chassis body 11, protective tube suit 12 With the connection type of chassis body 11.As shown in fig. 6, Fig. 6 is protective tube suit provided by the embodiment of the utility model and chassis A kind of connection type schematic cross-section, protective tube suit 12 is two groups, wherein the protective tube sheet of one group of protective tube suit 12 Body 121 is disposed around the side outer wall of chassis body 11, and the insurance tube body 121 of another group of protective tube suit 12 is disposed around chassis sheet The bottom surface outer wall of body 11.Multiple groups are set by protective tube suit 12, it can be same from the different sides and bottom surface of chassis body 11 Shi Jinhang protection, is protected more comprehensive.

Since insurance tube body 121 is long tube, only both ends are fixed, and under the effect of gravity, centre can be in now curved feelings Condition, in order to avoid such problems appearance, the periphery of chassis body 11 is equipped with the fixed structure for fixed insurance tube body 121 (for example, fixed ring 113), as shown in figure 5, Fig. 5 is the structural schematic diagram of fixed ring provided by the embodiment of the utility model, insurance Tube body 121 is threaded through fixed structure (fixed ring 113).Fixed ring 113 can opening-like (not shown), can also in closing Annular shape (as shown in Figure 5).Further, fixed ring 113 is multiple, and the length direction along dangerous tube body 121 is uniformly distributed. Fixed ring 113 is fixed in chassis body 11 by the second screw 115, and the second screw 115 is through ring wall and chassis body grafting.

Integrated installation step protective tube suit 12 being mounted in chassis body 11 are as follows:

(1) hole sprue 122, insurance tube body 121, non-porous sprue 123 will are sequentially connected, composition protective tube suit 12 First part；

(2) there will be hole sprue 122 with metal locking member and insure the other end locking of tube body 121, by non-porous sprue 123 It is locked with one end of insurance tube body 121.；

(3) fixed ring is fixed on the chassis of mobile robot；

(4) first part assembled is threaded through in multiple fixed rings 113；

(5) other end for insuring tube body 121 is inserted in one of in the first passage 112 of fixed stop 111；

(6) one end that insurance tube body 121 is connected with non-porous sprue 123 is inserted the of another fixed stop 111 In two channels 116；

(7) one end of tracheae 124 is connect with sensor 125, the second part of composition protective tube suit 12；

(8) other end of tracheae 124 is passed through into the stomata of first passage 112 and has 122 grafting of hole sprue；

(9) the first screw is locked, the both ends for insuring tube body 121 are fixed.

The integrated installation step that protective tube suit 12 is removed in chassis body 110 are as follows:

(1) the first screw on the first passage 112 inserted with the one end for having hole sprue 122 is unclamped, is unclamped inserted with nothing The first screw on the second channel 116 of one end of hole sprue 123；

(2) both ends for insuring tube body 121 are extracted out out of channel, takes part tracheae 124 out of；

(3) insurance tube body 121 is extracted out from fixed ring, is replaced.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition The concrete meaning of language in the present invention.

Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited System；Although utility model is described in detail referring to foregoing embodiments, those skilled in the art should be managed Solution: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of skills Art feature is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution the utility model The range of each embodiment technical solution.

Claims (12)

1. a kind of protective tube suit, which is characterized in that include hole sprue, tracheae and insurance tube body；

The other end of one end sealing of the insurance tube body, the insurance tube body has hole sprue to connect with described；

Described to have hole sprue to offer through-hole, the insurance tube body passes through the through-hole for having hole sprue and the one of the tracheae End connection, the other end of the tracheae is for connecting sensor.

2. protective tube according to claim 1 suit, which is characterized in that the protective tube suit includes for by the guarantor The non-porous sprue of one end sealing of dangerous tube body, one end grafting of the non-porous sprue and the insurance tube body.

3. protective tube suit according to claim 1, which is characterized in that the protective tube suit includes locking member, described There are hole sprue and the other end of the insurance tube body to lock by the locking member.

4. protective tube suit according to claim 3, which is characterized in that it is described to there is hole sprue periphery to be equipped with groove, it is described Locking member locks the other end of the insurance tube body in the groove.

5. protective tube suit according to claim 4, which is characterized in that the groove has the circumferential ring of hole sprue described in Around the outer wall for having hole sprue.

6. protective tube suit according to claim 1, which is characterized in that the one side wall of the insurance tube body is L shape, institute The L-shaped side wall for stating insurance tube body is used to be mounted on the corner angle formed by the edge of two adjacent surfaces of protective device Place.

7. a kind of chassis, which is characterized in that be used for mobile robot, including chassis body and any one of such as claim 1-6 The protective tube suit；The insurance tube body is disposed around the periphery of the chassis body, the chassis body offer with The first passage of the other end adaptation of the insurance tube body plugged for the insurance tube body, the tracheae are threaded through institute It states first passage and is docked with the through-hole.

8. chassis according to claim 7, which is characterized in that the chassis body offers second channel, the insurance The both ends of tube body correspond grafting with the first passage and second channel respectively.

9. chassis according to claim 7, which is characterized in that the protective tube suit is two groups, wherein protecting described in one group The insurance tube body of dangerous pipe sleeve dress is disposed around the side outer wall of the chassis body, the institute of the suit of protective tube described in another group State the bottom surface outer wall that insurance tube body is disposed around the chassis body.

10. chassis according to claim 7, which is characterized in that be equipped in the first passage and stop the protective tube sheet The other end of body runs through the step of the first passage, and the step offers the hole passed through for the tracheae.

11. chassis according to claim 7, which is characterized in that the periphery of the chassis body is equipped with for described in fixation Insure the fixed structure of tube body.

12. a kind of mobile robot, which is characterized in that including robot body, the control system being set on robot body With the chassis for carrying the robot body, the chassis is the described in any item chassis claim 7-11, the control system It unites and is connect with the sensor for being located at the chassis.