CN217198438U - Chassis support structure and robot chassis - Google Patents

Abstract

The utility model relates to a chassis supporting structure and robot chassis, chassis supporting structure includes: the chassis shell, the chassis shell is equipped with the installation cavity, the accent of installation cavity is relative the chassis shell sets up to the fuselage of robot dorsad, the inner wall of installation cavity is used for installing driving wheel subassembly, front wheel subassembly, rear wheel subassembly and battery pack. Above-mentioned chassis supporting structure, at the reprocessing in-process on chassis, when needing to dismantle spare part, need not to pull down whole robot chassis is whole, only needs to invert the robot chassis, and corresponding part is maintained and is changed in the accent dismantlement of installation cavity, and convenient and fast is favorable to improving the dismouting convenience on robot chassis, and then improves the maintenance efficiency on robot chassis.

Description

Chassis support structure and robot chassis

Technical Field

The utility model relates to a commercial service robot technical field especially relates to a chassis supporting structure and robot chassis.

Background

With the development of science and technology and the increasing maturity of electronic and mechanical AI technologies, robots are replacing manpower step by step in some simple and repetitive work. The commercial service robot is a robot applied to daily service scenes, can be divided into service robots of banks, restaurants, markets, hospitals, schools, indoor venues and the like according to specific requirements of different industries, and provides convenient services such as voice consultation, automatic interaction, meal delivery, ordering, number taking, registration, destination guidance and the like for users.

Among the conventional art, commercial robot realizes the walking through gyro wheel or track on the chassis, owing to realize automatic tracking, automatically, open and stop functions such as, the subassembly that the chassis relates to is more, for example, the battery, hang, radar etc., be the high frequency position of maintaining and reprofiling, however, present commercial service robot, chassis structure and fuselage structural connection, need dismantle the fuselage structure during the maintenance and overhaul the chassis, or need with the whole dismantlement back in chassis, just can change the maintenance to subassembly such as battery, complex operation, influence maintenance efficiency.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to overcome prior art's defect, provides a chassis supporting structure and robot chassis, can effectively improve the dismouting convenience on chassis, improves the maintenance efficiency on chassis.

The technical scheme is as follows: a chassis support structure for mounting on a robot, the chassis support structure comprising:

a chassis housing having an upper surface;

the chassis shell is provided with an installation cavity, a cavity opening of the installation cavity is arranged opposite to the upper surface, and the installation cavity is used for accommodating a driving assembly; the chassis shell is fixedly connected with the chassis shell.

The above-mentioned chassis supporting structure, in the installation, will drive the subassembly, for example: the driving wheel assembly, the driven wheel assembly and the battery assembly are installed in the installation cavity. So, at the in-process of reprocessing on chassis, when needing to dismantle spare part, need not to pull down whole robot chassis is whole, only need invert the robot chassis, pull down corresponding part from the accent of installation cavity and maintain and change, convenient and fast is favorable to improving the dismouting convenience on robot chassis, and then improves the maintenance efficiency on robot chassis.

In one embodiment, the mounting cavity includes a first cavity and a second cavity, the driving assembly includes a first driving assembly and a second driving assembly, the first driving assembly is accommodated in the first cavity, and the second driving assembly is accommodated in the second cavity.

In one embodiment, the first cavity comprises a first split cavity, and the second cavity comprises a second split cavity and a third split cavity; the chassis casing is equipped with first bellying and second bellying, first bellying with the second bellying interval sets up on the diapire of installation cavity, just first bellying with the second bellying will the installation cavity is separated for the first minute body chamber, second minute body chamber and the third minute body chamber of mutual intercommunication respectively, first minute body chamber is used for installing first drive assembly, the second minute body chamber with the third minute body chamber is used for installing second drive assembly.

In one embodiment, the second sub-chamber and the third sub-chamber are respectively disposed at two opposite ends of the first sub-chamber, wherein the second driving assembly includes a front wheel assembly and a rear wheel assembly, and the second sub-chamber is provided with a front wheel mounting groove for mounting the front wheel assembly.

In one embodiment, the second split cavity is further provided with a first through hole, the first through hole is arranged between the two front wheel mounting grooves, and the outer wall of the first through hole is used for mounting a first radar component.

In one embodiment, the third compartment is provided with a rear wheel mounting slot for mounting a rear wheel assembly.

In one embodiment, the number of the front wheel mounting grooves is at least two, the two front wheel mounting grooves are arranged at intervals along the width direction of the chassis shell, the number of the rear wheel mounting grooves is at least two, and the two rear wheel mounting grooves are arranged at intervals along the width direction of the chassis shell.

In one embodiment, the third split cavity is further provided with a second through hole, the second through hole is arranged between the two rear wheel mounting grooves, and the outer wall of the second through hole is used for mounting a second radar component.

In one embodiment, the first protruding portion, the second protruding portion, and the cavity wall of the installation cavity are respectively provided with a plurality of first fixing holes.

In one embodiment, a mounting surface is arranged on one side, facing away from the cavity opening of the mounting cavity, of the chassis shell, and second fixing holes are formed in the mounting surface and used for mounting a horn assembly.

In one embodiment, a mounting surface is arranged on one side, facing away from a cavity opening of the mounting cavity, of the chassis shell, the upper surface of the chassis shell is arranged opposite to the mounting surface, the chassis shell and the chassis shell enclose a containing cavity, and the containing cavity is used for containing a horn assembly, a first radar assembly and a second radar assembly.

A robot chassis comprises a chassis support structure and a driving assembly, wherein the chassis support structure and the driving assembly are contained in an installation cavity and used for driving the robot chassis to move.

The robot chassis drives components, such as: the driving wheel assembly, the driven wheel assembly and the battery assembly are installed in the installation cavity. So, at the in-process of reprocessing on robot chassis, when needing to dismantle spare part, need not to pull down whole robot chassis is whole, only need invert the robot chassis, pull down corresponding part from the accent of installation cavity and maintain and change, convenient and fast is favorable to improving the dismouting convenience on robot chassis, and then improves the maintenance efficiency on robot chassis.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

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

Fig. 1 is a front structural schematic view of a chassis housing according to an embodiment;

FIG. 2 is a schematic diagram of a reverse structure of the chassis housing in one embodiment;

FIG. 3 is a schematic front view of the assembled chassis housing according to an embodiment;

FIG. 4 is a schematic view of an assembled reverse side of the chassis housing in one embodiment;

FIG. 5 is a schematic view of an assembly position of the chassis frame structure according to an embodiment;

fig. 6 is a schematic overall structure diagram of the chassis support structure according to an embodiment.

Description of reference numerals:

100. a chassis support structure; 110. a chassis housing; 111. a mounting cavity; 112. a mounting surface; 113. a first boss portion; 114. a second boss; 115. a first molecular cavity; 116. a second lumen; 1161. a front wheel mounting groove; 1162. a first perforation; 117. a third sub-cavity; 1171. a rear wheel mounting groove; 1172. a second perforation; 118. a first fixing hole; 119. a second fixing hole; 120. a housing; 121. an accommodating cavity; 122. An upper surface; 130. a support pillar; 200. a robot chassis; 210. a drive wheel assembly; 220. a battery assembly; 230. a front wheel assembly; 240. a rear wheel assembly; 250. a first radar component; 260. a second radar component; 270. a horn assembly.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more 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. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

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 based on the orientation or positional relationship shown in 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; 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 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.

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. As used herein, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are for purposes of illustration only and do not denote a single embodiment.

Referring to fig. 1 to 6, in which, fig. 1 is a schematic front structural view of a chassis housing 110 according to an embodiment of the present invention; fig. 2 is a schematic diagram illustrating a reverse structure of the chassis housing 110 according to an embodiment of the present invention; fig. 3 is a schematic front view of the chassis housing 110 after being assembled according to an embodiment of the present invention; an embodiment of the utility model provides a pair of chassis supporting structure 100 for install on the robot, chassis supporting structure 100 includes: a chassis housing 110 and a chassis enclosure 120. The chassis housing 120 has an upper surface 122 and the chassis housing 110 is fixedly attached to the chassis housing 120. Chassis housing 110 is equipped with installation cavity 111, and the accent of installation cavity 111 sets up to upper surface 122 dorsad, and installation cavity 111 is used for holding drive assembly.

In one embodiment, the drive assembly includes a first drive assembly and a second drive assembly. The first drive assembly may be a drive wheel assembly 210 and the second drive assembly may be a driven wheel assembly; alternatively, the first drive assembly may be a drive wheel assembly 210 and a battery assembly 220, and the second drive assembly may be a driven wheel assembly; still alternatively, the first drive assembly may be a drive wheel assembly 210 and the second drive assembly may be a driven wheel assembly and a battery assembly 220. In other embodiments, the drive assembly is not limited to two drive assemblies, either one drive assembly or a plurality of drive assemblies.

In yet another embodiment, the driven wheel assembly includes a front wheel assembly 230 and a rear wheel assembly 240, or the driven wheel assembly may include only the front wheel assembly 230, or the driven wheel assembly may include only the rear wheel assembly 240.

In the installation process of the above-mentioned chassis frame structure 100, the driving assembly is accommodated in the installation cavity 111. Specifically, the driving wheel assembly 210, the driven wheel assembly, and the battery assembly 220 may be mounted in the mounting cavity 111. For another example, the components are mounted on the wall of the mounting cavity in the order of the driving wheel component 210, the front wheel component 230, the rear wheel component 240 and the battery component 220. So, at the in-process of reprocessing of robot chassis 200, when needing to dismantle spare part, need not to pull down whole robot chassis 200 is whole, only need invert robot chassis 200, pull down corresponding part from the accent of installation cavity 111 and maintain and change, convenient and fast is favorable to improving the dismouting convenience of robot chassis 200, and then improves robot chassis 200's maintenance efficiency.

It should be noted that, the opening of the installation cavity 111 is arranged opposite to the body of the robot relative to the chassis housing 110, which is to be understood that after the chassis housing 110 is installed on the body of the robot to form the robot, when the robot runs, the opening of the installation cavity 111 faces the walking surface and is opposite to the body of the robot. For example, when the robot travels on the ground, the opening of the mounting cavity 111 faces the ground.

The driving wheel assembly 210 may also be a driving wheel suspension assembly with a suspension, the front wheel assembly 230 may be a front wheel suspension assembly with a suspension system, and the rear wheel assembly may be a rear wheel suspension assembly with a suspension system.

In one embodiment, the mounting cavity 111 includes a first cavity and a second cavity, and the driving assembly includes a first driving assembly and a second driving assembly, the first driving assembly being received in the first cavity and the second driving assembly being received in the second cavity. The first driving assembly and the second driving assembly can be fixed by adopting structural members in the first cavity or the second cavity, and can also be fixed in or on the cavity by adopting structural members outside the cavity.

In an embodiment, please refer to fig. 2 and 4, fig. 4 is a schematic diagram illustrating a reverse structure of the chassis housing 110 after assembly according to an embodiment of the present invention. The first chamber includes a first split chamber 115 and the second chamber includes a second split chamber 116 and a third split chamber 117. The chassis housing 110 is provided with a first protrusion 113 and a second protrusion 114. The first protruding portion 113 and the second protruding portion 114 are disposed on the bottom wall of the mounting cavity 111 at an interval, and the mounting cavity 111 is divided into a first sub-cavity 115, a second sub-cavity 116 and a third sub-cavity 117 by the first protruding portion 113 and the second protruding portion 114, which are respectively communicated with each other. The first compartment 115 is used to mount the battery assembly 220 and the traction wheel assembly 210, and the second compartment 116 and the third compartment 117 are used to mount the front wheel assembly 230 and the rear wheel assembly 240, respectively. Specifically, referring to fig. 4, there are two driving wheel assemblies 210, two driving wheel assemblies 210 are respectively disposed on two opposite sides of the first split cavity 115, and the battery assembly 220 is mounted between the two driving wheel assemblies 210. Thus, the arrangement of the first protruding portion 113 and the second protruding portion 114 is beneficial to improving the structural strength of the chassis support structure 100, and further ensures the structural stability of the robot chassis 200. In addition, first boss 113 and second boss 114 set up on the diapire of installation cavity 111 at the interval for first minute cavity 115, second minute cavity 116, third minute cavity 117 separate, make things convenient for placing and the equipment of spare part, are favorable to improving chassis casing 110's availability factor.

In one embodiment, referring to fig. 2 and 4, the second split cavity 116 and the third split cavity 117 are disposed at opposite ends of the first split cavity 115, respectively. Wherein, a front wheel mounting groove 1161 is provided on the second chamber body 116, and the front wheel mounting groove 1161 is used for mounting the front wheel assembly 230. In this way, the front wheel assembly 230 can be installed in the front wheel installation groove 1161 in the second split cavity 116, and when the front wheel assembly 230 is repaired and replaced, the whole robot chassis 200 does not need to be disassembled, which is beneficial to improving the repair and assembly efficiency.

It should be noted that the second sub-chamber 116 and the third sub-chamber 117 are respectively disposed at two opposite ends of the first sub-chamber 115, and it should be understood that the second sub-chamber 116, the first sub-chamber 115 and the third sub-chamber 117 are sequentially disposed adjacent to each other along the length direction of the base body 110.

In one embodiment, referring to fig. 1 and 2, the second chamber 116 is further provided with a first perforation 1162. A first penetration hole 1162 is provided between the two front wheel mounting grooves 1161, and an outer wall of the first penetration hole 1162 is used for mounting the first radar assembly 250. As such, the first through hole 1162 can penetrate through the first radar component 250, and the base of the first radar component 250 is connected to the outer wall of the first through hole 1162, for example, by screws. When first radar subassembly 250 is maintained and is changed, can directly dismantle first radar subassembly 250 from second body cavity 116, convenient and fast is favorable to improving installation and maintenance efficiency.

In one embodiment, referring to fig. 2 and 4, the third compartment 117 has a rear wheel mounting slot 1171. The number of the rear wheel mounting grooves 1171 is at least two, the two rear wheel mounting grooves 1171 are provided at intervals in the width direction of the chassis housing 110, and the rear wheel mounting grooves 1171 are used for mounting the rear wheel assembly 240. Thus, the rear wheel assembly 240 can be installed in the rear wheel installation groove 1171 of the third cavity 117, and when the rear wheel assembly 240 is repaired and replaced, the whole robot chassis 200 does not need to be disassembled, which is beneficial to improving the repair and assembly efficiency.

Further, referring to fig. 2 and 4, at least two front wheel mounting slots 1161 are provided, and the two front wheel mounting slots 1161 are disposed at intervals along the width direction of the chassis housing 110. The number of the rear wheel mounting grooves 1171 is at least two, and the two rear wheel mounting grooves 1171 are provided at intervals in the width direction of the chassis housing 110. So, conveniently install two front wheel subassemblies 230 and two rear wheel subassemblies 240 respectively alone, when the maintenance was dismantled, can dismantle and change single front wheel subassembly 230 and single rear wheel subassembly 240, be favorable to improving maintenance and packaging efficiency.

In one embodiment, referring to fig. 2, the third split cavity 117 is further provided with a second through hole 1172, the second through hole 1172 is disposed between the two rear wheel mounting grooves 1171, and an outer wall of the second through hole 1172 is used for mounting the second radar component 260. So, can wear to establish second radar subassembly 260 through second perforation 1172, with the base of second radar subassembly 260 and the outer wall connection of second perforation 1172, for example, screw connection, when changing second radar subassembly 260 maintenance, can follow and directly dismantle first radar subassembly 250 in the third minute cavity 117, convenient and fast is favorable to improving installation and maintenance efficiency.

Alternatively, the connection of the different components on the robot chassis 200 in the mounting cavity 111 may be by gluing, snap-in connection, riveting, screwing, bolting, screwing or other connection means.

Specifically, referring to fig. 2 and fig. 4, the first protruding portion 113, the second protruding portion 114, and the cavity wall of the mounting cavity 111 are respectively provided with a first fixing hole 118. The first fixing hole 118 is plural. The first plurality of securing holes 118 are for secure engagement with a fastener. For example, the fasteners are screws. The first fixing hole 118 is a threaded hole. Thus, the convenience of mounting and dismounting the driving wheel assembly 210, the front wheel assembly 230, the rear wheel assembly 240 and the battery assembly 220 is facilitated to be improved, the reliability is high, and the overall quality of the robot chassis 200 is facilitated to be improved.

Further, referring to fig. 1 and fig. 3, a mounting surface 112 is disposed on a side of the chassis housing 110 facing away from the opening of the mounting cavity 111. The mounting surface 112 is provided with a second fixing hole 119, and the second fixing hole 119 is used for mounting the horn assembly 270. Therefore, the connection stability of the horn assembly 270 and the mounting surface 112 is improved, the horn assembly 270 is convenient to mount and dismount, and the assembling and maintaining efficiency is improved.

In one embodiment, please refer to fig. 5 and 6, fig. 5 is a schematic view illustrating an assembly position of the chassis frame structure 100 according to an embodiment of the present invention; fig. 6 is a schematic diagram illustrating an overall structure of the chassis supporting structure 100 according to an embodiment of the present invention. The chassis support structure 100 further includes a chassis housing 120, the chassis housing 120 is connected to the chassis housing 110, when the chassis housing 120 covers the mounting surface 112, the chassis housing 120 and the chassis housing 110 enclose a receiving cavity 121, and the receiving cavity 121 is used for receiving the horn assembly 270, the first radar assembly 250, and the second radar assembly 260. Therefore, the attractive appearance of the robot chassis 200 can be improved, the cleaning and the maintenance are convenient, and meanwhile, the components on the chassis shell 110 can be protected, so that the service life of the robot is prolonged.

In one embodiment, referring to fig. 3, the chassis support structure further includes a support column 130. The number of the supporting columns 130 is two or more, and the two or more supporting columns 130 are disposed on the mounting surface 112 at intervals. The support posts 130 are used to support the chassis housing 120 when the chassis housing 110 is assembled with the chassis housing 120. In this manner, the load-bearing capacity of the chassis housing 120 is advantageously enhanced.

Referring to fig. 6, a robot chassis 200 includes the chassis support structure 100 and a driving assembly, which is accommodated in the mounting cavity 111 and is used for driving the robot chassis to move.

For example, the driving wheel assembly 210, the front wheel assembly 230, the rear wheel assembly 240 and the battery assembly 220 are taken as driving components, and in the installation process of the robot chassis 200, the driving wheel assembly 210, the front wheel assembly 230 and the rear wheel assembly 240 are firstly installed in the installation cavity, then the battery assembly 220 is installed in the installation cavity 111, and then the horn assembly 270 is installed on the installation surface 112. So, at the in-process of reprocessing of robot chassis 200, when needing to dismantle spare part, need not to pull down whole robot chassis 200 is whole, only need invert robot chassis 200, pull down corresponding part from the accent of installation cavity 111 and maintain and change, convenient and fast is favorable to improving the dismouting convenience of robot chassis 200, and then improves robot chassis 200's maintenance efficiency.

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 represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (10)

1. A chassis support structure for mounting on a robot, the chassis support structure comprising:

a chassis housing having an upper surface;

the chassis shell is provided with an installation cavity, a cavity opening of the installation cavity is arranged opposite to the upper surface, and the installation cavity is used for accommodating a driving assembly; the chassis shell is fixedly connected with the chassis shell.

2. The chassis support structure of claim 1, wherein the mounting cavity includes a first cavity and a second cavity, the drive assembly includes a first drive assembly and a second drive assembly, the first drive assembly is received in the first cavity, and the second drive assembly is received in the second cavity.

3. The undercarriage bracket structure of claim 2 wherein the first cavity comprises a first split cavity, the second cavity comprises a second split cavity and a third split cavity; the chassis shell is provided with a first protruding portion and a second protruding portion, the first protruding portion and the second protruding portion are arranged on the bottom wall of the installation cavity at intervals, the first protruding portion and the second protruding portion are used for dividing the installation cavity into a first split cavity, a second split cavity and a third split cavity which are communicated with each other respectively, the first split cavity is used for installation of the first driving assembly, and the second split cavity and the third split cavity are used for installation of the second driving assembly.

4. The chassis support structure according to claim 3, wherein the second sub-chamber and the third sub-chamber are respectively disposed at opposite ends of the first sub-chamber, wherein the second driving assembly includes a front wheel assembly and a rear wheel assembly, and the second sub-chamber is provided with a front wheel mounting groove for mounting the front wheel assembly.

5. The undercarriage supporting structure of claim 4 wherein said second housing cavity is further provided with a first through hole, said first through hole being disposed between two of said front wheel mounting slots, an outer wall of said first through hole being adapted to mount a first radar component.

6. The chassis support structure according to claim 4, wherein the third compartment cavity is provided with a rear wheel mounting groove for mounting a rear wheel assembly.

7. The chassis support structure according to claim 6, wherein the third split cavity is further provided with a second through hole, the second through hole is arranged between the two rear wheel mounting grooves, and the outer wall of the second through hole is used for mounting a second radar component; and/or the presence of a gas in the gas,

the front wheel mounting grooves are at least two, the front wheel mounting grooves are arranged along the width direction of the chassis shell at intervals, the rear wheel mounting grooves are at least two, and the rear wheel mounting grooves are arranged along the width direction of the chassis shell at intervals.

8. The chassis support structure according to claim 3, wherein the first protruding portion, the second protruding portion, and a wall of the installation cavity are respectively provided with a plurality of first fixing holes.

9. The chassis support structure according to any one of claims 1 to 8, wherein a mounting surface is provided on a side of the chassis housing facing away from the opening of the mounting cavity, the upper surface is disposed opposite to the mounting surface, and the chassis housing enclose a receiving cavity for receiving the horn assembly, the first radar assembly, and the second radar assembly.

10. A robot chassis comprising a chassis support structure according to any of claims 1 to 9 and a drive assembly housed within the mounting cavity for driving movement of the robot chassis.

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