CN212243566U - Chassis and robot with same - Google Patents

Abstract

The utility model discloses a chassis and have robot on this chassis. The chassis includes: a base plate; the left main supporting piece and the right main supporting piece are arranged on the bottom plate at intervals along the left-right direction; the left auxiliary supporting piece and the right auxiliary supporting piece are arranged on the bottom plate at intervals along the left-right direction; and a radar provided on the bottom plate, the radar being located between the left main support piece and the right main support piece in a left-right direction, the radar being located between the left auxiliary support piece and the right auxiliary support piece in the left-right direction. According to the utility model discloses the chassis has advantages such as difficult quilt is blocked, removal ability reinforce.

Description

Chassis and robot with same

Technical Field

The utility model relates to a robot field specifically, relates to chassis and have robot on this chassis.

Background

The robot in the related art often encounters small objects such as a carpet, a paper box, etc. during walking. If a small object enters the lower part of the chassis of the robot, the chassis is likely to be clamped, and the chassis cannot move. If the chassis is turned in place, small objects are still clamped below the chassis, and the chassis cannot move.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent. Therefore, the utility model provides a chassis and have robot on this chassis.

According to the utility model discloses a chassis includes: a base plate; the left main supporting piece and the right main supporting piece are arranged on the bottom plate at intervals along the left-right direction; the left auxiliary supporting piece and the right auxiliary supporting piece are arranged on the bottom plate at intervals along the left-right direction; and a radar provided on the bottom plate, the radar being located between the left main support piece and the right main support piece in a left-right direction, the radar being located between the left auxiliary support piece and the right auxiliary support piece in the left-right direction.

According to the utility model discloses a chassis has the advantage that is difficult for being stuck.

Optionally, the radar is located in front of each of the left, right, left and right main supports, each of the left and right main supports being located in front of each of the left and right auxiliary supports.

Optionally, a projection of a centerline of the radar on a first horizontal plane is a first point, the first point is a center of a first circle, each of a first ray and a second ray is located on the first horizontal plane, an end point of each of the first ray and the second ray is the first point, each of the first ray and the second ray extends obliquely rearward from the first point, the first ray does not intersect with a projection of each of the left main support and the left auxiliary support on the first horizontal plane, the second ray does not intersect with a projection of each of the right main support and the right auxiliary support on the first horizontal plane, wherein each of the left main support, the right main support, the left auxiliary support and the right auxiliary support is located between the first ray and the second ray in a circumferential direction of the first circle, the included angle between the first ray and the second ray is greater than or equal to 100 degrees and smaller than 180 degrees.

Optionally, an included angle between the first ray and the second ray is greater than or equal to 120 degrees and less than or equal to 160 degrees.

Optionally, a projection of a centerline of the radar on a first horizontal plane is a first point, the first point is a center of a first circle, each of a third ray and a fourth ray is located on the first horizontal plane, an end point of each of the third ray and the fourth ray is the first point, each of the third ray and the fourth ray extends obliquely rearward from the first point, the third ray does not intersect with a projection of each of the left main support and the left auxiliary support on the first horizontal plane, the fourth ray does not intersect with a projection of each of the right main support and the right auxiliary support on the first horizontal plane, wherein each of the third ray and the fourth ray is located between the left main support and the right main support and between the left auxiliary support and the right auxiliary support in a circumferential direction of the first circle, and the included angle between the third ray and the fourth ray is more than or equal to 10 degrees and less than 30 degrees.

Optionally, an included angle between the third ray and the fourth ray is greater than or equal to 12 degrees and smaller than 18 degrees.

Optionally, the bottom plate has a through-hole, the through-hole link up along the upper and lower direction the bottom plate, the chassis further includes the radar mounting panel, radar mounting panel detachably establishes on the lower surface of bottom plate, the radar is established on the radar mounting panel, the radar upwards passes the through-hole.

Optionally, the chassis further includes a radar mount table, the radar mount table is established on the radar mounting panel, the radar mount table upwards passes the through-hole, the radar is established on the radar mount table.

Optionally, the chassis further comprises a fuselage mounting plate provided on each of the left main support, the right main support, the left auxiliary support, and the right auxiliary support.

According to the utility model discloses a robot includes: a chassis according to the present invention; and a body provided on each of the left main support, the right main support, the left auxiliary support, and the right auxiliary support of the chassis.

According to the utility model discloses a robot has the advantage that is difficult for being stuck.

Drawings

Fig. 1 is a partial structural schematic diagram of a chassis according to an embodiment of the present invention;

fig. 2 is a partial side view of a chassis according to an embodiment of the present invention;

fig. 3 is a partial bottom view of a chassis according to an embodiment of the present invention;

fig. 4 is a partial rear view of a chassis according to an embodiment of the present invention;

fig. 5 is a partial structural schematic diagram of a chassis according to an embodiment of the present invention;

fig. 6 is a partial top view of a chassis according to an embodiment of the present invention;

fig. 7 is a partial bottom view of a chassis according to an embodiment of the present invention;

fig. 8 is a partial side view of a chassis according to an embodiment of the present invention;

fig. 9 is a partial exploded view of a chassis according to an embodiment of the present invention;

fig. 10 is a schematic structural view of a caster of a chassis according to an embodiment of the present invention;

fig. 11 is a schematic structural view of a caster of a chassis according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a first bracket of a caster of a chassis according to an embodiment of the present invention;

fig. 13 is a schematic structural view of a second bracket of a caster of a chassis according to an embodiment of the present invention;

fig. 14 is a partial schematic structural view of a caster of a chassis according to an embodiment of the present invention;

fig. 15 is a schematic structural view of a wheel housing of a caster of a chassis according to an embodiment of the present invention;

fig. 16 is a schematic view of a scanning angle of a radar of a chassis according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

The chassis 100 according to an embodiment of the present invention is described below with reference to the drawings. As shown in fig. 1, 2 and 4, the chassis 100 according to the embodiment of the present invention includes a bottom plate 2, a left main support 61, a right main support 62, a left auxiliary support 63, a right auxiliary support 64 and a radar 47, wherein:

the left and right main support pieces 61 and 62 are provided on the base plate 2 at a spacing in the left-right direction, and the left and right auxiliary support pieces 63 and 64 are provided on the base plate 2 at a spacing in the left-right direction. The radar 47 is provided on the bottom plate 2, the radar 47 is located between the left and right main supports 61 and 62 in the left-right direction, and the radar 47 is located between the left and right auxiliary supports 63 and 64 in the left-right direction. Here, the left-right direction is indicated by an arrow a in fig. 4, the front-back direction is indicated by an arrow B in fig. 2, and the up-down direction is indicated by an arrow C in fig. 2.

Specifically, the left and right main supports 61 and 62 may be provided on the upper surface of the base plate 2 at a spacing in the left-right direction, the left and right auxiliary supports 63 and 64 may be provided on the upper surface of the base plate 2 at a spacing in the left-right direction, and the radar 47 is also provided on the upper surface of the base plate 2.

The utility model discloses still provide the robot. According to the utility model discloses robot includes according to the utility model discloses chassis 100 of above-mentioned embodiment. The robot according to the embodiment of the present invention may further include a body (not shown in the drawings), and the body of the robot may be provided on each of the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64. By providing the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64, the body of the robot can be positioned above the radar 47 so as to prevent the body of the robot from reflecting radar waves.

Also, the chassis 100 according to an embodiment of the present invention may make the radar 47 have a backward scanning angle by making the radar 47 be located between the left and right main supports 61 and 62 and between the left and right auxiliary supports 63 and 64 in the left-right direction. Thereby enabling the chassis 100 and the robot including the chassis 100 to be backed up backward.

In practical application scenarios, small objects such as carpet, paper box, etc. are often encountered during walking of the chassis 100 and the robot including the chassis 100. If a small object enters under the base plate 2, it is likely to cause the chassis 100 to be stuck, thereby causing the chassis 100 to be immovable. If the chassis 100 is turned in place, small objects remain stuck under the floor 2 and the chassis 100 is still unable to move.

In the embodiment of the present invention, the chassis 100 can be separated from the small object by backing the chassis 100 backward, so that the chassis 100 can be prevented from being stuck. The chassis 100 and the robot including the chassis 100 can realize barrier-free walking by re-planning a route, thereby greatly improving the moving capability.

Therefore, the chassis 100 and the robot according to the embodiment of the present invention have the advantages of being not easily jammed, having strong moving capability, etc.

As shown in fig. 1, 2 and 4, in one particular embodiment, the radar 47 is located in front of each of the left main support 61, the right main support 62, the left auxiliary support 63 and the right auxiliary support 64. According to the utility model discloses chassis 100 is through making radar 47 be located the place ahead of left main support piece 61, right main support piece 62, left auxiliary support piece 63 and right auxiliary support piece 64 to can make radar 47 have great scanning angle forward, so that can further improve chassis 100 and the obstacle avoidance ability and the mobility of the robot that includes chassis 100.

In one particular embodiment, each of the left and right main support pieces 61, 62 is located in front of each of the left and right auxiliary support pieces 63, 64. Specifically, the left main support 61 is located in front of each of the left and right auxiliary supports 63 and 64, and the right main support 62 is located in front of each of the left and right auxiliary supports 63 and 64. Thereby making the structure of the chassis 100 more rational.

In the embodiment of the present invention, as shown in fig. 16, the projection of the center line of the radar 47 on the first horizontal plane is a first point P, and the first point P is the center of the first circle.

Each of the first and second rays L1 and L2 is located on a first horizontal plane, an end point of each of the first ray L1 and the first ray L1 is a first point P, and each of the first and second rays L1 and L2 extends obliquely rearward from the first point P.

The first ray L1 does not intersect the projection T1 of the left main support 61 and the projection T3 of the left auxiliary support 63 in the first horizontal plane, and the second ray L2 does not intersect the projection T2 of the right main support 62 and the projection T4 of the right auxiliary support 64 in the first horizontal plane.

Each of the left main support piece 61, the right main support piece 62, the left auxiliary support piece 63 and the right auxiliary support piece 64 is located between the first ray L1 and the second ray L2 in the circumferential direction of the first circumference, and the included angle α between the first ray L1 and the second ray L2 is greater than or equal to 100 degrees and less than 180 degrees (as shown in fig. 16).

Therefore, the radar 47 can have a forward scanning angle of 180-260 degrees (360-alpha), so that the obstacle avoidance capability and the moving capability of the chassis 100 and the robot comprising the chassis 100 can be further improved.

Optionally, an included angle α between the first ray L1 and the second ray L2 is greater than or equal to 120 degrees and less than or equal to 160 degrees. The radar 47 can be made to have a forward scanning angle of 200 to 240 degrees, so that not only the obstacle avoidance capability and the moving capability of the chassis 100 and the robot including the chassis 100 can be further improved, but also the left and right main supports 61 and 62 can be made to have a larger interval in the left-right direction so as to more stably mount the body of the robot.

Each of the third and fourth rays L3 and L4 is located on a first horizontal plane, an end point of each of the third and fourth rays L3 and L4 is a first point P, and each of the third and fourth rays L3 and L4 extends obliquely rearward from the first point P.

The third ray L3 does not intersect the projection T1 of the left main support 61 and the projection T3 of the left auxiliary support 63 in the first horizontal plane, and the fourth ray L4 does not intersect the projection T2 of the right main support 62 and the projection T4 of the right auxiliary support 64 in the first horizontal plane.

Wherein each of the third ray L3 and the fourth ray L4 is located between the left main support 61 and the right main support 62 in the circumferential direction of the first circumference, and each of the third ray L3 and the fourth ray L4 is located between the left auxiliary support 63 and the right auxiliary support 64 in the circumferential direction of the first circumference. The included angle β between the third ray L3 and the fourth ray L4 is greater than or equal to 10 degrees and smaller than 30 degrees (as shown in fig. 16).

Thereby, the radar 47 can have a backward scanning angle of 10 degrees to 30 degrees, so that the chassis 100 and the robot including the chassis 100 can be backed not only straight backward, but also backward in a wide range, so as to further avoid the chassis 100 from being stuck and further improve the moving capability of the chassis 100 and the robot including the chassis 100.

Optionally, an included angle β between the third ray L3 and the fourth ray L4 is greater than or equal to 12 degrees and smaller than 18 degrees. It is thereby possible to make the radar 47 have a backward scanning angle of 12 degrees to 18 degrees, so that not only can the chassis 100 and the robot including the chassis 100 be backed backward in a wide range, but also the left and right auxiliary supports 63 and 64 can be made to have a larger interval in the left-right direction so as to more stably mount the body of the robot.

As shown in fig. 1 and 2, in one specific embodiment, each of the left and right main supports 61 and 62 is plate-shaped, and each of the left and right main supports 61 and 62 is vertically disposed. Each of the left and right main support pieces 61 and 62 extends in the anteroposterior direction, i.e., the plane in which each of the left and right main support pieces 61 and 62 is located is perpendicular to the left-right direction. Each of the left and right auxiliary supports 63 and 64 is columnar, and each of the left and right auxiliary supports 63 and 64 is vertically disposed. The structure of the robot can be made more rational, and the body can be more stably mounted on the chassis 100.

As shown in fig. 1 to 9, in one embodiment, the base plate 2 has a through hole 24, and the through hole 24 penetrates the base plate 2 in the up-down direction. The chassis 100 further comprises a radar mounting plate 45, the radar mounting plate 45 being removably arranged on the lower surface 27 of the base plate 2. The radar 47 is provided on the radar mounting plate 45, and the radar 47 is passed upward through the through-hole 24 so that a part of the radar 47 is located above the floor panel 2. The radar 47 can thereby be mounted more conveniently and more firmly.

In one embodiment, as shown in FIG. 1, chassis 100 further includes a radar mount 46, radar mount 46 being disposed on radar mounting plate 45, radar mount 46 passing upwardly through the through-hole such that a portion of radar mount 46 is positioned above floor 2. The radar 47 is provided on the radar mount 46. By providing the radar mount 46, the radar 47 can have a higher height, so as to further expand the scanning range of the radar 47, thereby further improving the obstacle avoidance capability and the moving capability of the chassis 100 and the robot including the chassis 100.

In the embodiment of the present invention, the body of the robot may be detachably provided on each of the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64. According to the utility model discloses robot is through making fuselage detachably establish on support piece to can be under the condition that need not to develop chassis 100 again, according to the different demands of different scenes, change different fuselages. Therefore, the application range of the robot can be expanded under the condition of reducing development time and development cost.

Therefore, according to the utility model discloses robot has that application scope is wide, development time is short, development cost low grade advantage.

Optionally, the chassis 100 further includes a body mounting plate (not shown in the drawings) provided on each of the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64. The body of the robot is detachably arranged on the body mounting plate. Through setting up the fuselage mounting panel to not only can install the fuselage more firmly, can install the bigger, heavier fuselage of weight of volume moreover, so as to further enlarge the range of application of robot.

Alternatively, the body mounting plate may be detachably provided on each of the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64. For example, the body mounting plate may be mounted on each of the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64 by a fastener (e.g., a screw or a bolt). Therefore, different fuselage mounting plates can be replaced according to different requirements of different scenes, so that different fuselages can be replaced, and the application range of the robot can be further expanded.

According to the utility model discloses the robot can further include the head (not shown in the figure), and head detachably links to each other with the fuselage. By providing a head, the robot can be made to have more functions (e.g., interactive functions). Moreover, the head part is detachably connected with the body, so that the body replacement is not influenced.

Optionally, the head may have a display screen to display the operating parameters of the robot, etc. The head may also have a voice interaction system and a visual interaction system.

Alternatively, the body includes a plurality of brackets (not shown), a lower end of each bracket being removably mounted to the body mounting plate, and an upper end of each bracket being removably attached to the head. This can improve the rigidity of the body, and can stabilize the body.

Alternatively, the bracket may be a profile. The lower end of each bracket may be removably attached to the fuselage mounting plate by fasteners (e.g., bolts or screws) and the upper end of each bracket may be removably attached to the head by fasteners (e.g., bolts or screws).

Optionally, at least one of the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64 has a wire through hole 611, and each of a power line and a communication bus connecting the chassis 100 and the head passes through the wire through hole 611. Therefore, the cable can be protected, and the wiring of the cable is more attractive and tidy. For example, at least one of the left and right main support pieces 61 and 62 has a thread passing hole 611.

Specifically, the battery 41 of the chassis 100 is electrically connected to the head through a power cord to supply electric power to the head. The power line may pass through the line passing hole 611. The head may have a control system that is connected to the chassis 100 via a communication bus to enable interaction and chassis 100 motion control. The communication bus may pass through the wire hole 611.

As shown in fig. 1-9, in one embodiment, the chassis 100 may include a base plate 2, a front driven wheel 31, a rear driven wheel 32, a left driving wheel 33, a right driving wheel 34, a motor (not shown), a left main support 61, a right main support 62, a left auxiliary support 63, a right auxiliary support 64, a radar 47, and a battery 41.

In the embodiment of the present invention, the front driven wheel 31 and the rear driven wheel 32 are provided on the base plate 2 at an interval in the front-rear direction. Specifically, the front driven wheel 31 may be provided at the front of the base plate 2, and the rear driven wheel 32 may be provided at the rear of the base plate 2.

The front part of the base plate 2 is provided with a left mounting location 21, a middle mounting location 22 and a right mounting location 23 for detachably mounting the front driven wheel 31. Wherein, the front driven wheel 31 is detachably arranged on the left mounting position 21 and the right mounting position 23 or the front driven wheel 31 is detachably arranged on the middle mounting position 22.

That is, the front portion of the base plate 2 is provided with the left mounting site 21, the middle mounting site 22 and the right mounting site 23 of the front driven wheel 31, the front driven wheel 31 is detachably provided on the left mounting site 21 and the right mounting site 23 of the front driven wheel 31, or the front driven wheel 31 is detachably provided on the middle mounting site 22 of the front driven wheel 31.

Specifically, the front driven wheel 31 includes two first front driven wheels, which are detachably provided on the left and right mounting locations 21 and 23 of the front driven wheel 31, respectively. Alternatively, the front driven wheel 31 may include a second front driven wheel detachably provided at the center mounting position 22 of the front driven wheel 31, and the diameter of the first front driven wheel may be smaller than that of the second front driven wheel.

When the chassis 100 is provided with two first front driven wheels with small sizes, the stability of the chassis 100 is better; when a large-sized second front driven wheel is installed on the chassis 100, the obstacle crossing performance of the chassis 100 is good; therefore, a plurality of front driven wheel mounting positions are arranged at the front part of the chassis 100, and the mounting position of the front driven wheel 31 can be selected according to the requirements of the actual application scene, so that the chassis 100 meets the requirements of different application scenes.

As shown in fig. 10 to 15, each of the front driven wheel 31 and the rear driven wheel 32 may be a caster 5, and the caster 5 includes a wheel frame 51, a mounting shaft 52, a wheel 53, a wheel shaft 54, a bearing 55, and a blocking frame 56.

The wheel frame 51 includes a top plate 511 and a side plate 512 provided on the top plate 511, and the side plate 512 has a first side portion 5121 and a second side portion 5122 which are oppositely provided. The mounting axle 52 is disposed on the first side 5121 and the second side 5122, and the wheel 53 is disposed on the mounting axle 52. The axle 54 is disposed on the top plate 511, the axle 54 extends upward from the top plate 511, and the bearing 55 is sleeved on the axle 54. The stop bracket 56 is sleeved on the side plate 512. Wherein, the axle 54 extending upward from the top plate 511 means: after the caster 5 (front driven wheel 31, rear driven wheel 32) is mounted on the base plate 2, the axle 54 extends upward from the top plate 511.

Since the axle 54 extends upward from the top plate 511 and the bearing 55 is fitted over the axle 54, the bearing 55 is located above the top plate 511. Since the blocking frame 56 is sleeved on the side plate 512, the lower surface of the blocking frame 56 is located below the top plate 511. By sleeving the side plates 512 with the blocking frames 56, sundries (mainly from the ground, such as hairs) can be prevented from moving upwards above the top plate 511 by the blocking frames 56, so that the sundries are prevented from entering above the top plate 511.

Accordingly, it is possible to prevent foreign materials from being introduced between the bearing 55 and the wheel shaft 54, and thus to prevent the caster 5 from being locked, so that the base plate 100 and the robot including the base plate 100 can be stably operated for a long period of time.

As shown in fig. 10 to 13, the blocking frame 56 includes a first frame 561 and a second frame 562, the first frame 561 and the second frame 562 are detachably coupled, and the side plate 512 is sandwiched between the first frame 561 and the second frame 562. Therefore, the blocking frame 56 can be sleeved on the side plate 512 more conveniently, and the clamping degree of the first support 561 and the second support 562 to the side plate 512 can be increased by increasing the connection tightness of the first support 561 and the second support 562, so as to further prevent sundries from entering between the bearing 55 and the axle 54.

Alternatively, the first and second brackets 561 and 562 may be connected by screws or bolts, and the tightness of the connection of the first and second brackets 561 and 562 may be increased by increasing the torque of the screws or bolts.

As shown in fig. 14, the side plate 512 includes an arc-shaped portion 5123, a first side portion 5121, and a second side portion 5122, each of the first side portion 5121 and the second side portion 5122 being flat plate-shaped. The first end 5124 of the first side 5121 is connected to the arc 5123, and the first end 5125 of the second side 5122 is connected to the arc 5123.

As shown in fig. 12, the first holder 561 has a first receiving groove 5611 and a second receiving groove 5612, and the second holder 562 has an arc-shaped groove 5621. Wherein a portion of the second end 5126 of the first side 5121 fits within the first receiving groove 5611, a portion of the second end 5127 of the second side 5122 fits within the second receiving groove 5612, and a first portion of the arc 5123 fits within the arc 5621. The first holder 561 and the second holder 562 can thereby be made to more tightly hold the side plate 512, so that foreign materials can be further prevented from entering between the bearing 55 and the axle 54.

Alternatively, a part of the second end 5126 of the first side 5121 abuts against the bottom wall surface of the first receiving groove 5611, a part of the second end 5127 of the second side 5122 abuts against the bottom wall surface of the second receiving groove 5612, and a first part of the arc 5123 abuts against the wall surface of the arc-shaped groove 5621. The first holder 561 and the second holder 562 can thereby be made to more tightly hold the side plate 512, so that foreign materials can be further prevented from entering between the bearing 55 and the axle 54.

The bottom wall surface of the first accommodation groove 5611 is a wall surface of the first accommodation groove 5611 facing the opening thereof, and the bottom wall surface of the second accommodation groove 5612 is a wall surface of the second accommodation groove 5612 facing the opening thereof.

The first bracket 561 has a third receiving groove in which an end 5111 of the top plate 511 remote from the arc-shaped portion 5123 is fitted. The first holder 561 and the second holder 562 can thereby be made to more tightly hold the side plate 512, so that foreign materials can be further prevented from entering between the bearing 55 and the axle 54.

As shown in fig. 13, a boss 5622 is provided on a wall surface of the arc-shaped groove 5621, the boss 5622 has a fourth receiving groove 5623, an upper end portion of the fourth receiving groove 5623 is opened, and a second portion of the arc-shaped portion 5123 is fitted in the fourth receiving groove 5623. The first holder 561 and the second holder 562 can thereby be made to more tightly hold the side plate 512, so that foreign materials can be further prevented from entering between the bearing 55 and the axle 54. The second portion of the arc 5123 may be a portion of the first portion of the arc 5123.

As shown in fig. 10, 11 and 15, the caster 5 further comprises a wheel housing 57, the wheel housing 57 is sleeved on the wheel frame 51 and the blocking frame 56, i.e. the wheel frame 51 and the blocking frame 56 can be arranged in the wheel housing 57. The wheel housing 57 has a wheel outlet 571, a lower portion of the wheel 53 extends downward out of the wheel outlet 571, and a front portion of the wheel 53 extends forward out of the wheel outlet 571. Whereby the sundries can be preliminarily blocked by the wheel housing 57.

As shown in fig. 10 and 15, the inner wall surface 574 of the wheel housing 57 is provided with a first stopper rib 572 and a second stopper rib 573, each of the first stopper rib 572 and the second stopper rib 573 is provided around the wheel outlet 571, the upper surface of the first stopper rib 572 abuts against the lower surface of the stopper bracket 56, and the second stopper rib 573 abuts against the side surface of the stopper bracket 56. It is thereby possible to prevent foreign matter from entering between the bearing 55 and the axle 54 through the gap between the wheel housing 57 and the stopper bracket 56.

Alternatively, the wheel housing 57, the first retaining rib 572, and the second retaining rib 573 may be integrally injection-molded. The manufacturing difficulty and manufacturing cost of the wheel housing 57 can be reduced.

As shown in fig. 10, 11 and 14, the caster 5 further includes a mounting plate 58, the mounting plate 58 being provided on the bearing 55. The mounting plate 58 may be attached to the base plate 2. By providing the mounting plate 58, the caster 5 can be more easily and more stably mounted to the base plate 2. Specifically, the mounting plate 58 may be coupled to the base plate 2 by fasteners (e.g., screws or bolts).

In the embodiment of the present invention, the left driving wheel 33 and the right driving wheel 34 are rotatably provided on the bottom plate 2. As shown in fig. 1 and 2, each of the left driving wheel 33 and the right driving wheel 34 is located between the front driven wheel 31 and the rear driven wheel 32 in the front-rear direction. That is, the left driving wheel 33 is located between the front driven wheel 31 and the rear driven wheel 32 in the front-rear direction, and the right driving wheel 34 is located between the front driven wheel 31 and the rear driven wheel 32 in the front-rear direction.

By positioning the left driving wheel 33 and the right driving wheel 34 between the front driven wheel 31 and the rear driven wheel 32 in the front-rear direction, the turning radius (turning radius) of the chassis 100 and the robot including the chassis 100 can be greatly reduced.

Alternatively, each of the left driving wheel 33 and the right driving wheel 34 is located in the middle of the bottom plate 2 in the front-rear direction. Whereby the turning radius of the chassis 100 can be further reduced.

As shown in fig. 1 and fig. 5-9, in an embodiment, the chassis 100 further comprises a suspension device for the driving wheel, in particular comprising an elastic member 11 and a swing arm 12, the swing arm 12 being rotatably disposed on the base plate 2. The first end of the elastic element 11 is connected with the bottom plate 2, the first end of the swing arm 12 is connected with the second end of the elastic element 11, and the second end of the swing arm 12 is connected with the driving wheel 30. Wherein, the left driving wheel 33 can be the driving wheel 30, and the right driving wheel 34 can also be the driving wheel 30. The driving wheel 30 is connected with the motor shaft of the motor, namely, the left driving wheel 33 is connected with the motor shaft of the motor, and the right driving wheel 34 is connected with the motor shaft of the motor.

The elastic member 11 is in a deformed state so that the elastic member 11 applies a downward force to the driving wheel 30 through the swing arm 12. Since the elastic member 11 is in a deformed state and the elastic member 11 is connected to the swing arm 12, the elastic member 11 can apply a force (elastic force) to the swing arm 12. Since the swing arm 12 is rotatably provided on the base plate 2, the swing arm 12 can constitute a lever. Since the swing arm 12 is connected to the driving wheel 30, the elastic force of the elastic member 11 can be applied to the driving wheel 30 through the swing arm 12, i.e., the swing arm 12 applies a downward force to the driving wheel 30.

Therefore, when the chassis 100 and the robot comprising the chassis 100 cross an obstacle, a certain pressure applied to the ground by the driving wheel 30 can be always kept, namely, the driving wheel 30 is always pressed on the ground by the swing arm 12, so that the chassis 100 and the robot comprising the chassis 100 can be prevented from shaking or even overturning when crossing the obstacle, and the obstacle crossing capability of the chassis 100 and the robot comprising the chassis 100 can be improved.

As shown in fig. 1, 5, 6, 8 and 9, the chassis 100 further includes a first mounting base 131, the first mounting base 131 is provided on the upper surface 26 of the base plate 2, and the first end of the elastic member 11 is connected to the first mounting base 131. In other words, the first end of the elastic member 11 is connected to the base plate 2 through the first mounting base 131. By providing the first mounting base 131, the elastic member 11 can be mounted more easily and more stably.

Alternatively, the first mounting base 131 is movably provided on the upper surface 26 of the base plate 2 in the front-rear direction, and the elastic member 11 extends in the front-rear direction. Thereby, the amount of deformation of the elastic member 11 can be changed by moving the first mounting base 131, and thus the magnitude of the downward force exerted by the elastic member 11 on the driving wheel 30 through the swing arm 12 can be changed.

Therefore, the chassis 100 can be suitable for robots with different overall weights, and the chassis 100 can cross obstacles with different heights, so that the chassis 100 meets obstacle crossing requirements of different use environments, and the application range of the chassis 100 can be expanded. Wherein the larger the amount of deformation of the elastic member 11, the higher the obstacle that the chassis 100 can pass over.

Alternatively, the first mounting base 131 may be mounted on the base plate 2 by fasteners (e.g., screws or bolts). The bottom plate 2 may be provided with a plurality of mounting holes for mounting the first mounting bases 131, and the plurality of mounting holes may be provided at intervals in the front-rear direction so as to enable the first mounting bases 131 to be moved in the front-rear direction. The elastic member 11 may be a coil spring.

As shown in fig. 5 to 7, the bottom plate 2 is provided with a through hole 25, and the through hole 25 penetrates the bottom plate 2 in the up-down direction. The swing arm 12 includes a connecting portion 121 and a pressing portion 122. The connection portion 121 extends in the up-down direction, and optionally, the connection portion 121 extends obliquely in the up-down direction. The upper end of the connection part 121 passes through the through hole 25 upward, that is, the upper end of the connection part 121 is located above the bottom plate 2, and the second end of the elastic member 11 is connected to the upper end of the connection part 121. Therefore, the elastic piece 11 can be positioned above the bottom plate 2, and the wire clamping caused by the fact that the cable enters the elastic piece 11 can be avoided.

The pressing portion 122 extends in the front-rear direction, one of a front end portion and a rear end portion of the pressing portion 122 is connected to a lower end portion of the connecting portion 121, and the other of the front end portion and the rear end portion of the pressing portion 122 is connected to the motor shaft. Alternatively, the front end of the pressing portion 122 is connected to the lower end of the connecting portion 121, and the rear end of the pressing portion 122 is connected to the motor shaft. That is, the swing arm 12 is connected to the drive pulley 30 through a motor shaft.

As shown in fig. 8 and 9, the pressing portion 122 includes a body 1221 and a first pressing plate 1222, the first pressing plate 1222 is detachably provided on the body 1221, and the motor shaft is sandwiched between the body 1221 and the first pressing plate 1222. Therefore, the swing arm 12 can be more easily connected with the motor shaft, and the swing arm 12 can be more conveniently separated from the motor shaft, so that the motor can be more conveniently disassembled.

As shown in fig. 1 and 2, the chassis 100 further includes a limiting member 17, and the limiting member 17 is disposed on the base plate 2 in a vertically movable manner or in a longitudinally movable manner. The stopper 17 is located between the upper end of the connecting portion 121 and the motor shaft in the front-rear direction. Wherein, a part of the limiting member 17 is located inside the through hole, and the connecting portion 121 abuts against a part of the limiting member 17.

Since the swing arm 12 applies a downward force to the driving wheel 30, the elastic member 11 applies a force toward the driving wheel 30 to the connecting portion 121. For example, when the driver 30 is located behind the connecting portion 121, the elastic member 11 applies a rearward force to the connecting portion 121; when the driver 30 is located in front of the connecting portion 121, the elastic member 11 applies a forward force to the connecting portion 121. The connecting portion 121 has a tendency to move toward the driver 30 driven by the urging force of the elastic member 11.

By locating the stopper 17 between the upper end of the connecting portion 121 and the motor shaft in the front-rear direction and abutting the connecting portion 121 against a part of the stopper 17, the connecting portion 121 can be stopped by the stopper 17 to restrict the displacement of the connecting portion 121.

Since the limiting member 17 is disposed on the base plate 2 so as to be movable up and down or movable back and forth, the displacement of the connecting portion 121, that is, the rotation angle of the swing arm 12, can be changed by moving the limiting member 17, and the amount of deformation of the elastic member 11 can be changed, so that the magnitude of the downward acting force applied to the driving wheel 30 by the elastic member 11 through the swing arm 12 can be changed. Therefore, the chassis 100 can cross obstacles with different heights, so that the chassis 100 meets the obstacle crossing requirements of different use environments, and the application range of the chassis 100 can be enlarged. Wherein the larger the amount of deformation of the elastic member 11, the higher the obstacle that the chassis 100 can pass over.

Alternatively, the stopper 17 may be made of Polyoxymethylene (POM) in order to prevent abnormal noise of the swing arm 12 and the base plate 2.

As shown in fig. 8 and 9, the chassis 100 further includes a mounting shaft 15, the mounting shaft 15 is disposed on the bottom plate 2, the mounting shaft 15 extends in the left-right direction, and the swing arm 12 is sleeved on the mounting shaft 15. Thereby making the structure of the chassis 100 more rational.

The base plate 100 further includes a second mounting base 132 and a second pressure plate 14, the second mounting base 132 being provided on the lower surface 27 of the base plate 2. For example, the second mounting base 132 may be removably mounted to the lower surface 27 of the base plate 2 by fasteners (e.g., screws or bolts). The second pressing plate 14 is detachably provided on the second mounting base 132, and the mounting shaft 15 is sandwiched between the second mounting base 132 and the second pressing plate 14.

Therefore, the difficulty in assembling due to the fact that the mounting shaft 15 is penetrated can be avoided, and the problem that the mounting shaft 15 cannot be disassembled due to the fact that the mounting shaft 15 and the bearing 16 are clamped can be avoided. Since the mounting shaft 15 is clamped by the second mounting base 132 and the second pressing plate 14 to complete the mounting of the mounting shaft 15, a hole with a relatively large aperture can be machined in the swing arm 12 so that the mounting shaft 15 can easily pass through the hole, thereby allowing the swing arm 12 to be sleeved on the mounting shaft 15. If the mounting shaft 15 is jammed with the bearing 16, the mounting shaft 15 and the bearing 16 can be directly removed and replaced with a new one by separating the second mounting base 132 from the second presser plate 14.

As shown in fig. 7 and 9, the chassis 100 further includes a bearing 16, the bearing 16 is disposed on the mounting shaft 15, and the bearing 16 is located between the second pressing plate 14 and the swing arm 12 (the body 1221) in the axial direction of the mounting shaft 15. Because the axial direction of installation axle 15 is unanimous with the left-right direction, consequently through set up the bearing 16 of cover on installation axle 15 between second clamp plate 14 and swing arm 12 to can utilize bearing 16 to carry on spacingly to swing arm 12 (body 1221) in the left-right direction, so that reduce swing arm 12 (body 1221) the ascending shake volume in the left-right direction, can make chassis 100 more stable from this.

Alternatively, the second presser plate 14 may be two, and the bearings 16 may be two, one bearing 16 being located between the swing arm 12 (the body 1221) and one second presser plate 14 in the axial direction of the mounting shaft 15, and the other bearing 16 being located between the swing arm 12 (the body 1221) and the other second presser plate 14 in the axial direction of the mounting shaft 15, that is, the swing arm 12 (the body 1221) being located between the two bearings 16 in the left-right direction. This can further reduce the amount of shaking of the swing arm 12 (body 1221) in the left-right direction, and thus can make the chassis 100 more stable.

In the embodiment of the present invention, the motor is detachably provided on the lower surface 27 of the bottom plate 2, and the motor is connected to each of the left driving wheel 33 and the right driving wheel 34, so as to drive the left driving wheel 33 and the right driving wheel 34 to rotate, thereby driving the chassis 100 and the robot including the chassis 100 to move. A battery 41 is removably mounted to the lower surface 27 of the base plate 2, the battery 41 being electrically connected to the motor for supplying electrical power thereto.

By providing the motor and the battery 41 on the lower surface 27 of the base plate 2, the space under the base plate 2 can be fully utilized, so that the layout of the chassis 100 can be made more compact. Whereby the size of the chassis 100 can be effectively reduced. Moreover, by having the motor and battery 41 removably disposed on the lower surface 27 of the base plate 2, the motor and battery 41 may be easily installed, removed, repaired, and replaced.

Therefore, the chassis 100 according to the embodiment of the present invention has the advantages of small size, easy installation, disassembly, maintenance and replacement of the motor and the battery 41.

As shown in fig. 1-4, the chassis 100 further includes a charging assembly 42, a mounting bracket 43, and a camera 44. A charging assembly 42 is removably mounted to the lower surface 27 of the base plate 2, the charging assembly 42 being electrically connected to the battery 41. The mounting bracket 43 includes a horizontal portion 431 and a vertical portion 432, the vertical portion 432 being connected to the horizontal portion 431, the vertical portion 432 extending upward from the horizontal portion 431, the horizontal portion 431 being detachably provided on the lower surface 27 of the rear portion of the base plate 2. The camera 44 is provided on the vertical portion 432.

By providing the charging assembly 42 on the lower surface 27 of the base plate 2, the space under the base plate 2 can be sufficiently utilized, so that the layout of the chassis 100 can be made more compact, and the size of the chassis 100 can be effectively reduced. Moreover, by having the charging assembly 42 and the camera 44 removably disposed on the lower surface 27 of the base plate 2, the charging assembly 42 and the camera 44 may be easily installed, removed, repaired, and replaced. In addition, the camera 44 is arranged, so that the chassis 100 can be guided to move by the camera 44, and the charging assembly 42 is connected to the charging pile.

The motor, the battery 41, the charging assembly 42, and the horizontal portion 431 may all be mounted to the lower surface 27 of the base plate 2 by fasteners, such as screws or bolts.

In conclusion, according to the utility model discloses chassis and robot that has this chassis each item performance are better.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims (10)

1. A chassis, comprising:

a base plate;

the left main supporting piece and the right main supporting piece are arranged on the bottom plate at intervals along the left-right direction;

the left auxiliary supporting piece and the right auxiliary supporting piece are arranged on the bottom plate at intervals along the left-right direction; and

a radar disposed on the bottom plate, the radar being located between the left main support piece and the right main support piece in a left-right direction, the radar being located between the left auxiliary support piece and the right auxiliary support piece in the left-right direction.

2. The chassis of claim 1, wherein the radar is located in front of each of the left, right, left and right main supports, each of the left and right main supports being located in front of each of the left and right auxiliary supports.

3. The chassis of claim 2, wherein a projection of a centerline of the radar on a first horizontal plane is a first point, the first point is a center of a first circumference, each of a first ray and a second ray is located on the first horizontal plane, an end point of each of the first ray and the second ray is the first point, each of the first ray and the second ray extends obliquely rearward from the first point, the first ray does not intersect with a projection of each of the left main support and the left auxiliary support on the first horizontal plane, the second ray does not intersect with a projection of each of the right main support and the right auxiliary support on the first horizontal plane, wherein each of the left main support, the right main support, the left auxiliary support, and the right auxiliary support is located on the second horizontal plane on the circumference of the first circumference Between a ray and the second ray, the included angle between the first ray and the second ray is greater than or equal to 100 degrees and smaller than 180 degrees.

4. The chassis of claim 3, wherein the first ray and the second ray include an angle of 120 degrees or greater and 160 degrees or less.

5. The chassis of claim 2, wherein a projection of a centerline of the radar on a first horizontal plane is a first point, the first point is a center of a first circle, each of a third ray and a fourth ray lies on the first horizontal plane, an endpoint of each of the third ray and the fourth ray is the first point, each of the third ray and the fourth ray extends obliquely rearward from the first point, the third ray does not intersect with a projection of each of the left main support and the left auxiliary support on the first horizontal plane, the fourth ray does not intersect with a projection of each of the right main support and the right auxiliary support on the first horizontal plane, wherein each of the third ray and the fourth ray lies between the left main support and the right main support and the left auxiliary support on a circumference of the first circle Between the auxiliary supporting piece and the right auxiliary supporting piece, the included angle between the third ray and the fourth ray is greater than or equal to 10 degrees and smaller than 30 degrees.

6. The chassis of claim 5, wherein the third ray and the fourth ray are angled greater than or equal to 12 degrees and less than 18 degrees.

7. The chassis according to claim 1, wherein the base plate has a through hole which penetrates the base plate in an up-down direction, the chassis further comprising a radar mounting plate detachably provided on a lower surface of the base plate, the radar being provided on the radar mounting plate, the radar passing upward through the through hole.

8. The chassis of claim 7, further comprising a radar mount disposed on the radar mounting plate, the radar mount passing upwardly through the through-hole, the radar disposed on the radar mount.

9. The chassis of claim 1, further comprising a fuselage mounting plate disposed on each of the left main support, the right main support, the left auxiliary support, and the right auxiliary support.

10. A robot, comprising:

a chassis according to any one of claims 1 to 9; and

a fuselage disposed on each of the left, right, left, and right auxiliary supports of the chassis.

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