CN216611357U

CN216611357U - Robot chassis and robot

Info

Publication number: CN216611357U
Application number: CN202121165237.7U
Authority: CN
Inventors: 李锐; 刘贤林; 周驰
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-05-28
Filing date: 2021-05-28
Publication date: 2022-05-27
Anticipated expiration: 2031-05-28

Abstract

The utility model discloses a robot chassis and a robot, wherein the robot chassis comprises: chassis, battery, chassis mainboard, electroplax quick detach support body mechanism, automatic module and the mechanism that hangs that pushes down, battery and chassis mainboard pass through electroplax quick detach support body mechanism and install on the chassis, and automatic module detachably that charges installs in the one end on chassis, the drive wheel on chassis and hang the mechanism erection joint through pushing down between the follow driving wheel. According to the scheme, the front cantilever and the rear cantilever of the robot and the cantilever support are arranged below the chassis of the robot, so that the moving stability of the robot is effectively improved, and the robot can better adapt to different working environments; the safety of the robot chassis system and the convenience of installation and maintenance and replacement of important components of the robot chassis system are improved, relevant detachable structures are designed for important parts of the chassis, the robot chassis system can be effectively protected from being damaged, and convenience is brought to installation, replacement and detachment of the important parts.

Description

Robot chassis and robot

Technical Field

The utility model relates to the field of robots, in particular to a robot chassis and a robot comprising the same.

Background

For a wheeled robot, a chassis is an important bearing part of the whole system, and the chassis is used for installing components such as a battery, a control main board, a transmission system and the like, so that the chassis part needs to be ensured to have certain protective performance and higher safety, and meanwhile, key components of the chassis part need to be conveniently installed and replaced after sale.

However, in the prior art, most of the commonly used wheeled mobile robots adopt a fixed chassis, and parts fixed on the chassis after the chassis is fixed with the robot body are difficult to detach, which brings inconvenience to the later maintenance of the chassis part and the replacement of important parts. On the other hand, to the robot with fill electric pile butt joint in the aspect of charging, its dismouting maintenance is also often inconvenient.

On the basis, the existing robot chassis often slips on a soft carpet or in the rotating process, and the stability of the chassis is required to be further enhanced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a robot chassis which is good in stability and convenient to maintain.

Another object of the present invention is to provide a robot having the above-mentioned chassis.

To achieve the purpose, on one hand, the utility model adopts the following technical scheme:

A robot chassis, comprising: chassis, battery, chassis mainboard, electroplax quick detach support body mechanism, the automatic module of charging and push down and hang the mechanism, the battery and the chassis mainboard pass through electroplax quick detach support body mechanism install in on the chassis, the automatic module detachably that charges install in the one end on chassis, the drive wheel on chassis and follow between the driving wheel pass through push down hangs mechanism erection joint.

In one embodiment, the electric board quick-release frame mechanism comprises a battery mounting frame and a mainboard mounting frame, the battery is detachably mounted on the chassis through the battery mounting frame, the chassis mainboard is arranged on the mainboard mounting frame, and the mainboard mounting frame is detachably connected with the chassis.

In one embodiment, the battery mounting rack comprises a battery supporting plate and a rear support, the battery supporting plate is arranged on the chassis, one end of the battery supporting plate, which is located on the battery, is sleeved on the outer side of the battery, the other end of the rear support, which is located on the battery, is sleeved on the outer side of the battery, and the rear support is connected with the chassis through a fastener.

In one embodiment, the motherboard mounting bracket includes a motherboard bracket and a motherboard support plate, the motherboard bracket is disposed on the chassis, the motherboard support plate is connected to the motherboard bracket through a fastener, the chassis motherboard is fixed to the motherboard support plate through a fastener, and the motherboard bracket and the chassis enclose a battery channel for the battery to pass through.

In one embodiment, the driven wheel comprises a front driven wheel, the push-down suspension mechanism comprises a cantilever support, a front cantilever and a rear cantilever, the cantilever support is convexly arranged on the lower surface of the chassis, one end of the front cantilever is rotatably connected with the convexly arranged end of the cantilever support, the other end of the front cantilever is connected with the front driven wheel of the robot chassis, one end of the rear cantilever is rotatably connected with the convexly arranged end of the cantilever support, and the other end of the rear cantilever is connected with a driving wheel of the robot chassis.

In one embodiment, the downward pressing suspension mechanism further comprises an elastic damping element, the front cantilever and the rear cantilever are respectively provided with a damping bracket, and two ends of the elastic damping element are respectively hinged to the two damping brackets.

In one embodiment, the driven wheel comprises a rear driven wheel, an independent damping unit is arranged on the chassis, and the rear driven wheel is connected with the chassis through the independent damping unit.

In one embodiment, the automatic charging module is detachably mounted to the lower surface of the chassis through a charging bracket.

In one embodiment, the charging support is of a frame structure, the automatic charging module is installed on the charging support, and an automatic charging sheet is arranged at the bottom of the automatic charging module and used for being in butt joint with a charging pile to be charged.

In another aspect, the present invention further provides a robot, including a housing and the robot chassis as in any one of the above, where the robot chassis is connected to a lower portion of the housing, the robot chassis is located below a cabin bottom plate in the housing, the cabin bottom plate is detachably connected to the housing, and a maintenance cover is disposed on the housing, and corresponds to a position of the battery.

The technical beneficial effects of this application include:

1) the application provides a chassis suspension and damping system of a robot, and the rotation slip or instability of the robot in the operation process can be effectively prevented through a structural scheme of four-wheel linkage and the arrangement of the front cantilever and the rear cantilever; in addition, the design of three rows of wheels can improve the motion stability of the suspension system. The four-wheel linkage structure formed by the front two universal wheels and the middle two driving wheels can achieve the damping effect through the conversion of elastic potential energy; the structure is simple, the installation is convenient, and the maintenance is convenient;

2) The application also provides an automatic charging structure of the robot chassis part, which has a simple structure and is convenient to install, disassemble and replace; when the robot is charged by itself, the tail part of the robot is close to the charging pile, and when a copper sheet on the automatic charging module below a chassis of the robot is contacted with a metal sheet on the charging pile, the robot starts to charge;

3) the application also provides a detachable structure of the main board and the control board of the robot chassis, which has simple structure and convenient installation, and the main board and the components of the support plate thereof only need to be inserted and fixed on the main board bracket on the chassis and then locked by two screws during installation; when the main board needs to be disassembled or replaced, the main board fixing frame of the chassis can be taken out only by opening the bottom board of the lower cabin of the robot and then screwing off the two screws for fixing the main board bracket of the chassis, and finally the main board of the chassis and the control panel are disassembled from the main board fixing frame;

4) the application also provides a robot chassis structure scheme, relevant protection devices and detachable structures are designed for important parts of the chassis, so that not only can key components of the robot chassis be effectively protected from being damaged, but also convenience is brought to installation, replacement and detachment of the important parts. Meanwhile, the robot chassis suspension system provided by the patent can improve the moving stability of the robot, can effectively prevent the robot from slipping in the rotating process, and can better adapt to different working environments; thereby providing a safe and stable traveling state. Has the advantages of low cost, convenient assembly, stable operation and strong ground adaptability.

Drawings

FIG. 1 is a schematic diagram of a robot in one embodiment;

FIG. 2 is a schematic diagram of a robot removing the floor of the cabin in one embodiment;

FIG. 3 is a schematic diagram showing the overall structure of a robot chassis according to an embodiment;

FIG. 4 is a bottom view of a robot chassis in one embodiment;

FIG. 5 is a schematic diagram of a rear end structure of a robot chassis in one embodiment;

fig. 6 is a partial schematic view of a robot interfacing with a charging post in one embodiment.

Description of reference numerals:

10-cabinet, 11-cabin floor, 20-robot chassis, 21-chassis, 22-battery, 23-chassis motherboard, 241-battery support plate, 242-rear support, 251-motherboard support, 252-motherboard support plate, 31-front suspension arm, 311-bending suspension arm, 312-fixing plate, 32-rear suspension arm, 35-elastic damping element, 36-damping support, 38-suspension arm support, 40-front driven wheel, 50-driving wheel, 60-rear driven wheel, 70-independent damping unit, 80-automatic charging module, 82-charging support.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "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 are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

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," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; 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 meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. 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.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The present embodiment discloses a robot chassis 20 and a robot including the same 20, which may be, but is not limited to, a dispensing robot. As shown in fig. 1 to 3, the robot includes a cabinet 10 and a robot chassis 20, and the robot chassis 20 is connected to a lower side of the cabinet 10. Wherein, robot chassis 20 includes chassis 21, battery 22, chassis mainboard 23, electroplax quick detach support body mechanism, automatic module 80 and the suspension mechanism that pushes down, battery 22 and chassis mainboard 23 pass through electroplax quick detach support body mechanism install in on the chassis 21, automatic module 80 detachably that charges install in the one end on chassis 21, drive wheel 50 on chassis 21 and follow between the driving wheel pass through the suspension mechanism erection joint pushes down.

The electroplax quick detach support body mechanism includes battery mounting bracket and mainboard mounting bracket, battery 22 passes through battery mounting bracket detachably installs on chassis 21, chassis mainboard 23 sets up on the mainboard mounting bracket, the mainboard mounting bracket with chassis 21 can dismantle the connection, and battery 22 and chassis mainboard 23 are installed on chassis 21 through battery mounting bracket and mainboard mounting bracket detachably respectively, can enough conveniently dismantle maintenance or change battery 22 and chassis mainboard 23, conveniently maintain the operation to chassis 21, can guarantee again that battery 22 and chassis mainboard 23 etc. are important parts installation reliable and stable, can effectual protection each part, guarantee chassis 21's protective properties.

In one embodiment, the battery mounting bracket includes a battery supporting plate 241 and a rear bracket 242, the battery supporting plate 241 is disposed on the chassis 21, the battery supporting plate 241 is sleeved outside the battery 22 at one end of the battery 22, the rear bracket 242 is sleeved outside the battery 22 at the other end of the battery 22, and the rear bracket 242 is connected to the chassis 21 by a fastener. Specifically, the battery support plate 241 is also secured to the chassis 21 by fasteners, which may be, but are not limited to, screws, preferably M4 x 6 socket head cap machine screws. When the battery 22 is installed, the battery support plate 241 is fixed on the chassis 21 by two M4 × 6 socket head machine screw threads, then the battery 22 is placed on the chassis 21 by clinging to the battery support plate 241, then the rear bracket 242 is sleeved outside the battery 22, and then the rear bracket 242 is fixed on the chassis 21 by two M4 × 6 socket head machine screw threads, namely the battery 22 is fixedly installed on the chassis 21. When the battery 22 needs to be disassembled, two screws for fixing the rear bracket 242 are unscrewed, and the rear bracket 242 is taken off, and then the battery 22 is directly drawn out, so that the battery 22 is simple and convenient to disassemble and assemble.

Further, in one embodiment, a service cover is provided on the cabinet 10, corresponding to the location of the battery 22. Specifically, the maintenance cover can be openably and closably disposed on the casing 10 through a hinge, and also can be detachably disposed on the casing 10 through clamping or bolt fastening, and the maintenance cover can be further convenient for the maintenance or replacement operation of the battery 22 on the chassis 21 after the chassis 21 and the casing 10 are assembled. When the battery 22 needs to be disassembled, the maintenance cover is opened, and then the two screws for fixing the rear bracket 242 are unscrewed, and the rear bracket 242 is taken off, so that the battery 22 can be drawn out for maintenance or replaced by a new battery 22.

In one embodiment, the motherboard mounting bracket includes a motherboard bracket 251 and a motherboard support plate 252, the motherboard bracket 251 is disposed on the chassis 21, the motherboard support plate 252 is connected to the motherboard bracket 251 by fasteners, and the chassis motherboard 23 is fixed to the motherboard support plate 252 by fasteners. Specifically, the main plate holder 251 is also fixed to the chassis 21 by fasteners, which may be, but are not limited to, screws, preferably including cross head machine screws M4 × 8 and socket head machine screws M3 × 6. When the chassis main boards 23 are installed, the main board support 251 is fixed on the chassis 21 by four M4 × 8 cross pan head machine tooth screws, and then, the two chassis main boards 23 are respectively fixed on the main board support board 252 by four M3 × 6 hexagon socket head machine tooth screws; and then, the main board support plate 252 is fixed on the main board bracket 251 by two M4 × 8 socket head machine screw threads, thereby completing the installation of the chassis main board 23. When the chassis main board 23 needs to be disassembled or replaced, the chassis main board 23 and the main board supporting plate 252 can be taken down only by screwing off the two screws for fixing the main board supporting plate 252, and then the chassis main board 23 is disassembled from the main board supporting plate 252, so that the disassembly and assembly operation of the chassis main board 23 is simple and convenient.

In this embodiment, the main board bracket 251 has a door-shaped or arch-shaped structure, and the main board bracket 251 and the chassis 21 enclose a battery 22 channel for the battery 22 to pass through. In this embodiment, the motherboard bracket 251 has an arch structure, and the motherboard bracket 251 straddles over the battery 22 and is disposed on the chassis 21, which helps to improve the installation stability of the battery 22, and on the other hand, realizes the vertical stacking arrangement of the motherboard 23 and the battery 22 on the chassis, and is beneficial to saving the installation space. Further, the motherboard support plate 252 adopts a double-layer structure to realize the up-and-down overlapping installation of the two chassis motherboards 23, so that the installation space can be further saved.

As shown in fig. 1 and 2, a cabin bottom plate 11 is disposed in the enclosure 10, the robot chassis 20 is disposed below the cabin bottom plate 11 in the enclosure 10 after installation, a single cabin or multiple cabins may be disposed in the enclosure 10, and when multiple cabins are disposed in the enclosure 10, the robot chassis 20 is disposed below the lowest cabin bottom plate 11. In this embodiment, the compartment bottom plate 11 is detachably connected to the casing 10, and the compartment bottom plate 11 and the casing 10 may be, but are not limited to, connected by fasteners, preferably M4 × 8 cross head machine screw. When the chassis main board 23 needs to be detached or replaced, the robot lower chamber bottom board 11 is opened, two screws for fixing the main board supporting board 252 are screwed off to take out the main board supporting board 252, and then the chassis main board 23 is detached from the main board supporting board 252. Specifically, two cross pan head machine thread screws M4 × 8 for fixing the lower chamber bottom plate 11 are firstly screwed off, and the lower chamber bottom plate 11 on the machine shell 10 is detached; then, two M4 × 8 socket head cap machine screws are screwed off, the wiring harness on the chassis main board 23 is removed, the chassis main board 23 and the main board support plate 252 are taken out, and finally, the chassis main board 23 is detached from the main board support plate 252, so that the chassis main board 23 can be repaired or replaced.

As shown in fig. 3 to 5, in one embodiment, the robot chassis 20 further includes a push-down suspension mechanism, the push-down suspension mechanism includes a cantilever support 38, a front cantilever 31 and a rear cantilever 32, the cantilever support 38 is installed to protrude from the lower surface of the chassis 21, one end of the front cantilever 31 is rotatably connected to one protruding end of the cantilever support 38, the other end of the front cantilever 31 is connected to a front driven wheel 40 of the robot chassis, one end of the rear cantilever 32 is rotatably connected to one protruding end of the cantilever support 38, and the other end of the rear cantilever 32 is connected to a driving wheel 50 of the robot chassis.

Specifically, the front driven wheels 40 are universal wheels, which may be, but are not limited to, mecanum wheels, and the front suspension arms 31 are capable of moving with the front driven wheels 40 to swing relative to the chassis 21. The front suspension arm 31 and the rear suspension arm 32 are respectively rotatably connected with the cantilever support 38 through locking screws. One end of each of the rear suspension arm 32 and the front suspension arm 31 extends downward and is rotatably connected to the same rotation point as the cantilever holder 38. Therefore, the two cantilevers can generate a better linkage effect and generate larger down force, and the phenomenon that the driving wheel and the driven wheel slip is effectively avoided.

Further, the push-down suspension mechanism further includes an elastic damping element 35, one end of the elastic damping element 35 is connected to the front suspension arm 31, and the other end is connected to the rear suspension arm 32. Specifically, an elastic damping element 35 is rotatably connected to the front suspension arm 31 and the rear suspension arm 32, the elastic damping element 35 is used for absorbing the motion buffer and the shock of the front driven wheel 40, and the elastic damping element 35 can be, but is not limited to, a damping spring or a damping independent damping unit 70.

The robot chassis 20 of the embodiment includes a push-down suspension mechanism, the push-down suspension mechanism realizes two-wheel linkage of the driving wheel 50 and the front driven wheel 40 through the front suspension arm 31, the rear suspension arm 32 and the elastic damping element 35, when the robot starts on a rugged road surface, the front driven wheel 40 is lifted when contacting with an obstacle, one end of the front suspension arm 31 connected with the front driven wheel 40 moves upwards along with the front driven wheel 40, the other end of the front suspension arm 31 rotates relative to the chassis 21, the front suspension arm 31 swings upwards as a whole, because the front and rear suspension arms rotate around the same rotation point, and the rotation point is low in position, so that the front driven wheel 40 and the driving wheel can only slightly lift under the driving of the front suspension arm 31 when being blocked, thereby avoiding transition upwards lifting, and the robot cannot skid. Meanwhile, the front suspension arm 31 swings upwards to extrude the elastic damping element 35, the elastic damping element 35 contracts to absorb shock, the elastic damping element 35 contracts to extrude the rear suspension arm 32, one end, extruded by the elastic damping element 35, of the rear suspension arm 32, connected with the chassis 21 rotates relative to the chassis 21, and one end, connected with the driving wheel 50, generates a downward movement trend to drive the driving wheel 50 to move downwards to generate a pressing effect on the driving wheel 50, so that the driving wheel 50 is kept grounded, smooth zero starting of the robot is further ensured, and complete machine shaking or toppling of the robot during direct zero starting in front of a shield door gully and a step of an elevator can be effectively avoided.

Further, when the robot passes through a pit-shaped ground such as a gully of an elevator shielding door, the front driven wheel 40 keeps the original movement trend under the pulling force and the limiting action of the elastic damping element 35, and cannot be immediately sunk into the gully or the pit, so that the front driven wheel can smoothly enter the gully or the pit, and the front driven wheel can smoothly move out of the gully or the pit by further repeating the process of crossing a higher obstacle after entering the pit.

On the premise of ensuring the bearing capacity of the robot chassis 20, the downward-pressing suspension mechanism can effectively improve the obstacle passing capacity of the robot chassis 20 and improve the ground adaptability and running stability of the robot chassis 20, and when the robot starts on a rugged road or passes through a rugged road such as an elevator shielding door gully, a step and the like, the phenomena of whole machine shaking, driving wheel slipping, incapability of passing, instability or toppling over can not occur, so that the movement impact of the rugged road on the robot can be effectively reduced, the working efficiency of the robot can be improved, and the service life of the robot can be prolonged.

In one embodiment, the front suspension arm 31 includes a bending cantilever 311 and a fixing plate 312, the front driven wheel 40 is mounted on the fixing plate 312, the fixing plate 312 is rotatably connected to the elastic damping element 35, one end of the bending cantilever 311 is connected to the fixing plate 312, and the other end of the bending cantilever 311 is rotatably connected to the cantilever support 38. Specifically, the fixing plate 312 is respectively fastened and connected to the bending cantilever 311 and the front driven wheel 40 by fasteners (e.g., screws), and the connection between the bending cantilever 311 and the front driven wheel 40 via the fixing plate 312 helps to improve the reliability of the connection between the bending cantilever 311 and the front driven wheel 40, and ensure that the bending cantilever 311 is stably and reliably mounted.

In one embodiment, the ends of the resilient shock absorbing element 35 may be connected one above the other between the rear suspension arm 32 and the front suspension arm 31. Specifically, the two ends of the elastic damping element 35 are at different heights, which helps to improve the contraction response efficiency of the elastic damping element 35, and can improve the compression effect of the front suspension arm 31 on the elastic damping element 35. When the front driven wheel 40 is lifted up when encountering an obstacle in the operation process, the elastic damping element 35 can quickly respond to the swing of the front cantilever 31 and transmit the swing to the rear cantilever 32, and a better pressing effect can be generated on the driving wheel. Specifically, in order to avoid that the excessive downward pressure of the elastic damping element 35 on the rear suspension arm 32 during normal driving affects the operation energy consumption of the driving wheel, in this embodiment, the end of the elastic damping element 35 connected to the rear suspension arm 32 is higher than the end connected to the front suspension arm 31.

In one embodiment, the front suspension arm 31 and the rear suspension arm 32 are provided with shock-absorbing brackets 36, and two ends of the elastic shock-absorbing element 35 are hinged to the corresponding shock-absorbing brackets 36 one above the other. Specifically, the shock absorption support 36 arranged on the front cantilever 31 is arranged on the fixing plate 312, one end of the elastic shock absorption element 35 connected with the shock absorption support 36 arranged on the rear cantilever 32 is higher than one end of the elastic shock absorption element connected with the shock absorption support 36 arranged on the fixing plate 312, the elastic shock absorption element 35 is hinged to the shock absorption supports 36 at two ends through hinges, the hinge structure is simple, the technology is mature, cost saving is facilitated, the rotation response speed is high, and the rotation flexibility is high. Further, the elastic damping element 35 is rotatably connected to the front suspension arm 31 and the rear suspension arm 32, respectively, so as to prevent the occurrence of motion jamming, and to improve the shock absorption and buffering effects.

As shown in fig. 3 or 5, in one embodiment, the robot chassis 20 further includes an independent damping unit 70, the independent damping unit 70 is disposed on the chassis 21, and the independent damping unit 70 is connected with the rear driven wheel 60 of the robot chassis 20. Specifically, the rear driven wheels 60 are universal wheels, which may be, but are not limited to, Mecanum wheels, and the independent damping unit 70 may be, but is not limited to, a spring independent damping unit 70 or a hydraulic independent damping unit 70. In this embodiment, by providing the independent damping unit 70, a shock absorbing effect in the gravity direction can be achieved for the rear driven wheel 60, and the overall shaking caused by the vibration in the gravity direction can be reduced, so that the operation stability of the robot chassis 20 can be further improved. The independent damping unit 70 may be any one of existing damping mechanisms.

As shown in fig. 5 and 6, an automatic charging module 80 is mounted at a lower portion of a rear end of the chassis 21, and the automatic charging module 80 is detachably mounted to a lower surface of the chassis 21 via a charging bracket 82. Preferably, the charging support 82 is a frame structure, the automatic charging module 80 is installed on the lower surface of the charging support 82, and the bottom of the automatic charging module 80 is provided with an automatic charging sheet for being docked and charged with the charging pile. Therefore, when the robot is charging by itself, the tail part of the robot is close to the charging pile 90, and the copper sheet on the automatic charging module 80 below the chassis of the robot is in contact with the metal sheet on the charging pile 90 to start charging.

Therefore, on the basis of the technical scheme, in the practical implementation process, the method has the following technical characteristics:

the robot chassis 20 provides a structural system of chassis 21 with four-wheel linkage and rear universal wheel independent suspension, the robot can be effectively prevented from toppling or instability in the starting and running processes through the structural scheme of four-wheel linkage and rear universal wheel independent suspension, and the four-wheel linkage structure formed by the two front universal wheels and the two middle driving wheels 50 can achieve the vibration damping effect through the conversion of elastic potential energy; meanwhile, the rear universal wheels which are independently suspended at the back can utilize the independent damping units 70 to realize the shock absorbing effect in the gravity direction, so that the whole machine shaking caused by the vibration in the gravity direction is reduced, the moving stability of the robot can be effectively improved, and the robot is prevented from toppling over. In addition, the design of three rows of wheels can promote effectively and push down the motion stability of hanging the mechanism, makes its better adaptation different operational environment, can ensure that the robot independently removes, carries out the delivery task smoothly.

The robot chassis 20 is provided with the battery mounting rack and the mainboard mounting rack which are detachably connected with the chassis 21, so that the battery 22 and the chassis mainboard 23 can be conveniently detached, maintained or replaced, and the battery 22, the chassis mainboard 23 and other important parts can be stably and reliably mounted, so that the parts on the robot chassis 20 can be effectively protected, and convenience is brought to the mounting, replacement and detachment of the important parts. Meanwhile, the robot chassis 20 is provided with a chassis 21 four-wheel linkage and rear universal wheel independent suspension system, so that the moving stability of the robot can be effectively improved, the robot is prevented from toppling, and the safety and stability of the robot in operation are ensured.

In conclusion, the robot and the robot chassis have the beneficial effects of low cost, convenience in disassembly and assembly, good running stability and strong ground adaptability.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent should be subject to the appended claims.

Claims

1. A robot chassis, comprising: chassis (21), battery (22), chassis mainboard (23), electroplax quick detach support body mechanism, the automatic module of charging and hang the mechanism down, battery (22) and chassis mainboard (23) through electroplax quick detach support body mechanism install in on chassis (21), automatic module (80) detachably of charging install in the one end of chassis (21), drive wheel (50) and the follow driving wheel of chassis (21) pass through between hang the mechanism erection joint down.

2. The robot chassis according to claim 1, wherein the electric board quick release frame mechanism comprises a battery mounting rack and a mainboard mounting rack, the battery (22) is detachably mounted on the chassis (21) through the battery mounting rack, the chassis mainboard (23) is arranged on the mainboard mounting rack, and the mainboard mounting rack is detachably connected with the chassis (21).

3. The robot chassis according to claim 2, wherein the battery mounting bracket comprises a battery support plate (241) and a rear bracket (242), the battery support plate (241) is disposed on the chassis (21), one end of the battery (22) of the battery support plate (241) is sleeved outside the battery (22), the other end of the battery (22) of the rear bracket (242) is sleeved outside the battery (22), and the rear bracket (242) is connected to the chassis (21) through a fastener.

4. The robot chassis according to claim 2, wherein the motherboard mounting bracket comprises a motherboard bracket (251) and a motherboard support plate (252), the motherboard bracket (251) is disposed on the chassis (21), the motherboard support plate (252) is connected with the motherboard bracket (251) by a fastener, the chassis motherboard (23) is fixed on the motherboard support plate (252) by a fastener, and the motherboard bracket (251) and the chassis (21) enclose a battery channel for the battery (22) to pass through.

5. The robot chassis according to claim 1, wherein the driven wheel comprises a front driven wheel (40), the push-down suspension mechanism comprises a cantilever support (38), a front cantilever (31) and a rear cantilever (32), the cantilever support (38) is installed to protrude from the lower surface of the chassis (21), one end of the front cantilever (31) is rotatably connected with one protruding end of the cantilever support (38), the other end of the front cantilever (31) is connected with the front driven wheel (40) of the robot chassis, one end of the rear cantilever (32) is rotatably connected with one protruding end of the cantilever support (38), and the other end of the rear cantilever (32) is connected with a driving wheel (50) of the robot chassis.

6. Robot chassis according to claim 5, characterized in that the suspension mechanism further comprises an elastic damping element (35), the front suspension arm (31) and the rear suspension arm (32) are respectively provided with a damping bracket (36), and both ends of the elastic damping element (35) are respectively hinged to the two damping brackets (36).

7. The robot chassis according to claim 1, wherein the driven wheels comprise rear driven wheels (60), a separate damping unit (70) is provided on the chassis (21), and the rear driven wheels (60) are connected with the chassis (21) through the separate damping unit (70).

8. Robot chassis according to claim 1, characterized in that the automatic charging module (80) is detachably mounted to the lower surface of the chassis (21) by means of a charging stand (82).

9. The robot chassis as claimed in claim 8, wherein the charging bracket (82) is a frame structure, the automatic charging module (80) is mounted on the charging bracket (82), and an automatic charging sheet is arranged at the bottom of the automatic charging module (80) for docking and charging with a charging pile.

10. A robot, characterized by comprising a chassis (20) according to any of claims 1-9 and a chassis (10), said chassis (20) being connected to the underside of said chassis (10); the robot chassis (20) is positioned below a cabin bottom plate (11) in the machine shell (10), and the cabin bottom plate (11) is detachably connected with the machine shell (10); and a maintenance cover is arranged on the casing (10) and corresponds to the position of the battery (22).