Suspension device, chassis and robot having the same

Abstract

The present invention discloses a suspension device and a chassis and a robot having the suspension device. The chassis comprises: an elastic member, a first end of which can be connected to a bottom plate of the chassis; and a swing arm, which can be rotatably arranged on the bottom plate, a first end of which is connected to a second end of the elastic member, and a second end of which can be connected to a driving wheel of the chassis, wherein the elastic member is in a deformed state so that the elastic member can apply a downward force to the driving wheel through the swing arm. By utilizing the suspension device according to an embodiment of the present invention, the chassis including the suspension device can have advantages such as strong obstacle surmounting capability.

Description

Technical Field

[0001] The present invention relates to the field of robots, in particular to a suspension device, and also to a chassis and a robot having the suspension device. Background Art

[0002] The robot in the related art will inevitably encounter obstacles when walking on the ground. When the obstacle is high, in order to avoid the robot from falling over, it can only go around the obstacle. This greatly limits the application scope of the robot and brings inconvenience to the user. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the present invention provides a suspension device and a chassis and a robot having the suspension device.

[0004] The suspension device according to the present invention includes: an elastic member, a first end of which can be connected to the bottom plate of the chassis; and a swing arm, which can be rotatably arranged on the bottom plate, the first end of the swing arm is connected to the second end of the elastic member, and the second end of the swing arm can be connected to the driving wheel of the chassis, wherein the elastic member is in a deformed state so that the elastic member can apply a downward force to the driving wheel through the swing arm.

[0005] By utilizing the suspension device according to the present invention, the chassis including the suspension device can have the advantage of strong obstacle-crossing capability.

[0006] Optionally, the suspension device further comprises a first mounting base, which can be arranged on the upper surface of the base plate, and the first end of the elastic member is connected to the first mounting base.

[0007] Optionally, the first mounting base can be movably disposed on the upper surface of the bottom plate in the front-rear direction, and the elastic member extends in the front-rear direction.

[0008] Optionally, a through hole is provided on the base plate, and the through hole passes through the base plate in the up-down direction, and the swing arm comprises: a connecting portion, which extends in the up-down direction, and the upper end of the connecting portion can pass through the through hole upward, and the second end of the elastic member is connected to the upper end of the connecting portion; and a pressing portion, which extends in the front-to-back direction, and one of the front end and the rear end of the pressing portion is connected to the lower end of the connecting portion, and the other of the front end and the rear end of the pressing portion can be connected to the motor shaft of the motor of the chassis, and the motor shaft of the motor is connected to the driving wheel.

[0009] Optionally, the suspension device further includes a limit member, which can be arranged on the base plate so as to be movable up and down or forward and backward, and the limit member can be located between the upper end of the connecting part and the motor shaft in the forward and backward direction, wherein a part of the limit member can be located on the inner side of the through hole, and the connecting part abuts against the part of the limit member.

[0010] Optionally, the pressing portion includes a body and a first pressing plate, the first pressing plate is detachably provided on the body, and the motor shaft can be clamped between the body and the first pressing plate.

[0011] Optionally, the suspension device further includes a mounting shaft, which can be arranged on the base plate, the mounting shaft extends in the left-right direction, and the swing arm is sleeved on the mounting shaft.

[0012] Optionally, the suspension device further includes: a second mounting base, which can be arranged on the lower surface of the base plate; and a second pressure plate, which is detachably arranged on the second mounting base, and the mounting shaft is clamped between the second mounting base and the second pressure plate.

[0013] Optionally, the suspension device further includes a bearing, wherein the bearing is sleeved on the mounting shaft, and the bearing is located between the second pressure plate and the swing arm in the axial direction of the mounting shaft.

[0014] The chassis according to the present invention includes: a base plate; a motor, which is arranged on the base plate; a driving wheel, which is connected to the motor shaft of the motor; and a suspension device, which is the suspension device according to the present invention, and includes an elastic member and a swing arm, a first end of the elastic member is connected to the base plate, and the swing arm is rotatably arranged on the base plate, a first end of the swing arm is connected to the second end of the elastic member, and a second end of the swing arm is connected to the driving wheel, wherein the elastic member is in a deformed state so that the elastic member applies a downward force to the driving wheel through the swing arm.

[0015] The chassis according to the present invention has the advantage of strong obstacle-crossing capability.

[0016] The robot according to the invention comprises a chassis according to the invention.

[0017] The robot according to the present invention has the advantage of strong obstacle-crossing capability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of a partial structure of a chassis according to an embodiment of the present invention;

[0019] Figure 2is a partial side view of a chassis according to an embodiment of the present invention;

[0020] Figure 3 is a partial bottom view of a chassis according to an embodiment of the present invention;

[0021] Figure 4 is a partial rear view of a chassis according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of a partial structure of a chassis according to an embodiment of the present invention;

[0023] Figure 6 is a partial top view of a chassis according to an embodiment of the present invention;

[0024] Figure 7 is a partial bottom view of a chassis according to an embodiment of the present invention;

[0025] Figure 8 is a partial side view of a chassis according to an embodiment of the present invention;

[0026] Fig. 9 is a partial exploded view of a chassis according to an embodiment of the present invention;

[0027] Fig.10 is a schematic structural diagram of a caster of a chassis according to an embodiment of the present invention;

[0028] Fig.11 is a schematic structural diagram of a caster of a chassis according to an embodiment of the present invention;

[0029] Fig.12 is a schematic structural diagram of a first bracket of a caster of a chassis according to an embodiment of the present invention;

[0030] Fig.13 is a schematic structural diagram of a second bracket of a caster of a chassis according to an embodiment of the present invention;

[0031] Fig.14 is a partial structural schematic diagram of a caster of a chassis according to an embodiment of the present invention;

[0032] Fig.15 is a schematic structural diagram of a wheel shell of a caster of a chassis according to an embodiment of the present invention;

[0033] Fig.16 Schematic diagram of the scanning angle of the radar of the chassis according to an embodiment of the present invention. DETAILED DESCRIPTION

[0034] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0035] The following describes a suspension device according to an embodiment of the present invention with reference to the accompanying drawings. Figure 1 as well as Figure 5-Figure 9 As shown, the suspension device according to the embodiment of the present invention includes an elastic member 11 and a swing arm 12 .

[0036] The first end of the elastic member 11 can be connected to the bottom plate 2 of the chassis 100. The swing arm 12 can be rotatably disposed on the bottom plate 2, the first end of the swing arm 12 is connected to the second end of the elastic member 11, and the second end of the swing arm 12 can be connected to the driving wheel 30 of the chassis 100. The elastic member 11 is in a deformed state so that the elastic member 11 can apply a downward force to the driving wheel 30 through the swing arm 12.

[0037] The following uses the example that the first end of the elastic member 11 can be connected to the bottom plate 2 of the chassis 100 to explain the meaning of the term "can". The first end of the elastic member 11 can be connected to the bottom plate 2 of the chassis 100 means that when the suspension device is assembled with other components to form the chassis 100, the first end of the elastic member 11 is connected to the bottom plate 2 of the chassis 100. In other words, "can" describes the connection relationship and / or position relationship after the suspension device is assembled with other components.

[0038] 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 arranged on the bottom 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, that is, the swing arm 12 applies a downward force to the driving wheel 30.

[0039] Therefore, when the chassis 100 and the robot including the chassis 100 go over an obstacle, the driving wheel 30 can always maintain a certain pressure on the ground, that is, the swing arm 12 always presses the driving wheel 30 to the ground, thereby preventing the chassis 100 and the robot including the chassis 100 from shaking or even overturning when going over an obstacle, so as to improve the obstacle-crossing capability of the chassis 100 and the robot including the chassis 100.

[0040] By using the suspension device according to the embodiment of the present invention, the chassis 100 including the suspension device can have advantages such as strong obstacle crossing capability, etc. Therefore, the chassis 100 according to the embodiment of the present invention has advantages such as strong obstacle crossing capability and wide application range.

[0041] like Figure 1-Figure 9 As shown, the chassis 100 according to the embodiment of the present invention includes a bottom plate 2 , a front driven wheel 31 , a rear driven wheel 32 , a left driving wheel 33 and a right driving wheel 34 .

[0042] The front part of the bottom plate 2 is provided with a left mounting position 21, a middle mounting position 22 and a right mounting position 23 of a front driven wheel 31, and the front driven wheel 31 is detachably provided on the left mounting position 21 and the right mounting position 23 of the front driven wheel 31, or the front driven wheel 31 is detachably provided on the middle mounting position 22 of the front driven wheel 31. The rear part of the bottom plate 2 is provided with a left mounting position and a right mounting position of a rear driven wheel 32, and the rear driven wheel 32 is provided on the left mounting position and the right mounting position of the rear driven wheel 32.

[0043] The left driving wheel 33 and the right driving wheel 34 are arranged on the bottom plate 2, and 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-to-back 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-to-back direction, and the right driving wheel 34 is located between the front driven wheel 31 and the rear driven wheel 32 in the front-to-back direction. Figure 4 As shown by arrow A in Figure 2 As shown by arrow B in the figure, the up and down directions are as follows Figure 2 As shown by arrow C in FIG.

[0044] The chassis 100 according to the embodiment of the present invention can greatly reduce the turning radius (turning radius) of the chassis 100 and the robot including the chassis 100 by locating 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-to-rear direction.

[0045] Optionally, 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. Thereby, the turning radius of the chassis 100 can be further reduced.

[0046] Specifically, the front driven wheel 31 includes two first front driven wheels, which are detachably mounted on the left mounting position 21 and the right mounting position 23 of the front driven wheel 31. Alternatively, the front driven wheel 31 includes a second front driven wheel, which is detachably mounted on the middle mounting position 22 of the front driven wheel 31, and the diameter of the first front driven wheel may be smaller than the diameter of the second front driven wheel.

[0047] When two small-sized first front driven wheels are installed on the chassis 100, 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 better; therefore, multiple front driven wheel mounting positions are set at the front of the chassis 100, and the installation position of the front driven wheel 31 can be selected according to the actual application scenario requirements, so that the chassis 100 meets the requirements of different application scenarios.

[0048] Therefore, the chassis 100 according to the embodiment of the present invention has the advantages of small turning radius and wide application range.

[0049] like Figure 1 , Figure 2 and Figure 4 As shown, the robot according to the embodiment of the present invention comprises a chassis 100 and a body (not shown in the figure). The chassis 100 comprises a bottom plate 2 and a support member, and the support member is arranged on the bottom plate 2. The body is detachably arranged on the support member.

[0050] The robot according to the embodiment of the present invention has a body detachably mounted on a support member, so that different bodies can be replaced according to different requirements of different scenarios without redeveloping the chassis 100. This can expand the application range of the robot while reducing development time and development costs.

[0051] Therefore, the robot according to the embodiment of the present invention has the advantages of wide application range, short development time, low development cost, etc.

[0052] Optionally, the chassis 100 further includes a body mounting plate (not shown in the figure), which is arranged on the support. The body of the robot is detachably arranged on the body mounting plate. By providing the body mounting plate, not only can the body be mounted more stably, but also a larger and heavier body can be mounted, so as to further expand the application range of the robot.

[0053] Optionally, the fuselage mounting plate can be detachably arranged on the support member, so that different fuselage mounting plates can be replaced according to different requirements of different scenes, and then different fuselages can be replaced, thereby further expanding the application range of the robot.

[0054] The robot according to the embodiment of the present invention may further include a head (not shown in the figure), which is detachably connected to the body. By providing the head, the robot can have more functions (such as interactive functions). Moreover, since the head is detachably connected to the body, the replacement of the body is not affected.

[0055] 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.

[0056] Optionally, the fuselage includes a plurality of brackets (not shown in the figure), the lower end of each bracket is detachably arranged on the support member, and the upper end of each bracket is detachably connected to the head. Optionally, the lower end of each bracket is detachably arranged on the fuselage mounting plate, and the upper end of each bracket is detachably connected to the head. This can improve the rigidity of the fuselage, thereby making the fuselage more stable.

[0057] Optionally, the bracket can be a profile. The lower end of each bracket can be detachably arranged on the fuselage mounting plate by a fastener (such as a bolt or a screw), and the upper end of each bracket can be detachably connected to the head by a fastener (such as a bolt or a screw).

[0058] Optionally, the number of the supporting members is one or more, and at least one of the supporting members has a wire hole 611, and each of the power line and the communication bus connecting the chassis 100 and the head passes through the wire hole 611. This can not only protect the cables, but also make the routing of the cables more beautiful and neat. For example, at least one of the left main supporting member 61 and the right main supporting member 62 has a wire hole 611.

[0059] Optionally, the battery 41 of the chassis 100 is electrically connected to the head through a power line to provide power to the head. The power line can pass through the wire hole 611. The head can have a control system, and the control system is connected to the chassis 100 through a communication bus to achieve interaction and chassis 100 motion control. The communication bus can pass through the wire hole 611.

[0060] like Figure 1-Figure 9 As shown, in a specific 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 in the figure), a support, a radar 47 and a battery 41.

[0061] In the embodiment of the present invention, the motor is detachably disposed on the lower surface 27 of the base plate 2, and the motor is connected to each of the left driving wheel 33 and the right driving wheel 34 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. The battery 41 is detachably disposed on the lower surface 27 of the base plate 2, and the battery 41 is electrically connected to the motor to provide electrical energy to the motor.

[0062] By arranging the motor and the battery 41 on the lower surface 27 of the bottom plate 2, the space below the bottom plate 2 can be fully utilized, so that the layout of the chassis 100 can be made more compact. This can effectively reduce the size of the chassis 100. In addition, by arranging the motor and the battery 41 on the lower surface 27 of the bottom plate 2 in a detachable manner, the motor and the battery 41 can be easily installed, disassembled, repaired and replaced.

[0063] 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, etc.

[0064] like Figure 1-Figure 4As shown, the chassis 100 further includes a charging assembly 42, a mounting bracket 43 and a camera 44. The charging assembly 42 is detachably disposed on the lower surface 27 of the bottom plate 2, and the charging assembly 42 is electrically connected to the battery 41. The mounting bracket 43 includes a horizontal portion 431 and a vertical portion 432, the vertical portion 432 is connected to the horizontal portion 431, and the vertical portion 432 extends upward from the horizontal portion 431, and the horizontal portion 431 is detachably disposed on the lower surface 27 of the rear portion of the bottom plate 2. The camera 44 is disposed on the vertical portion 432.

[0065] By arranging the charging assembly 42 on the lower surface 27 of the bottom plate 2, the space below the bottom plate 2 can be fully utilized, so that the layout of the chassis 100 can be made more compact, thereby effectively reducing the size of the chassis 100. Moreover, by arranging the charging assembly 42 and the camera 44 on the lower surface 27 of the bottom plate 2 in a detachable manner, the charging assembly 42 and the camera 44 can be easily installed, disassembled, repaired and replaced. In addition, by arranging the camera 44, the camera 44 can be used to guide the movement of the chassis 100 so that the charging assembly 42 is connected to the charging pile.

[0066] The motor, battery 41, charging assembly 42 and horizontal portion 431 may all be mounted on the lower surface 27 of the base plate 2 by fasteners (eg, screws or bolts).

[0067] In the embodiment of the present invention, Figure 1 , Figure 2 and Figure 4 As shown, the support members of the chassis 100 may include a left main support member 61, a right main support member 62, a left auxiliary support member 63, and a right auxiliary support member 64. The left main support member 61 and the right main support member 62 are arranged on the bottom plate 2 at intervals in the left-right direction, and the left auxiliary support member 63 and the right auxiliary support member 64 are arranged on the bottom plate 2 at intervals in the left-right direction.

[0068] Specifically, the left main support 61 and the right main support 62 are provided on the upper surface of the bottom plate 2 at intervals in the left-right direction, and the left auxiliary support 63 and the right auxiliary support 64 are provided on the upper surface of the bottom plate 2 at intervals in the left-right direction.

[0069] The body is 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. Thus, the body can be mounted on the chassis 100 more stably.

[0070] Optionally, the fuselage mounting plate is 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 fuselage 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 fasteners such as screws or bolts.

[0071] Specifically, the radar 47 is provided on the bottom plate 2 , and is located between the left main support 61 and the right main support 62 in the left-right direction, and is located between the left auxiliary support 63 and the right auxiliary support 64 in the left-right direction.

[0072] In the embodiment of the present invention, by setting 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 located above the radar 47 to prevent the body of the robot from reflecting radar waves.

[0073] Furthermore, the chassis 100 according to the embodiment of the present invention can make the radar 47 have a backward scanning angle by locating the radar 47 between the left main support 61 and the right main support 62 and between the left auxiliary support 63 and the right auxiliary support 64 in the left-right direction. This enables the chassis 100 and the robot including the chassis 100 to reverse backwards.

[0074] In actual application scenarios, the chassis 100 and the robot including the chassis 100 often encounter small objects such as carpets and paper boxes during walking. If the small object enters under the bottom plate 2, it is likely to cause the chassis 100 to be stuck, and then the chassis 100 cannot move. If the chassis 100 turns on the spot, the small object is still stuck under the bottom plate 2, and the chassis 100 still cannot move.

[0075] In the embodiment of the present invention, the chassis 100 can be reversed to enable the chassis 100 to be detached from small objects, thereby preventing the chassis 100 from being stuck. The chassis 100 and the robot including the chassis 100 can achieve barrier-free walking by replanning the route, thereby greatly improving the mobility.

[0076] In addition, since the radar 47 has a backward scanning angle, when the camera 44 is interfered by light and cannot well guide the chassis 100 to move backward until the charging component 42 is connected to the charging pile, the radar 47 can accurately guide the chassis 100 to move backward until the charging component 42 is connected to the charging pile.

[0077] like Figure 1 , Figure 2 and Figure 4As shown, in a specific 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. The chassis 100 according to the embodiment of the present invention enables the radar 47 to have a larger forward scanning angle by locating the radar 47 in front of the left main support 61, the right main support 62, the left auxiliary support 63, and the right auxiliary support 64, so that the obstacle avoidance and movement capabilities of the chassis 100 and the robot including the chassis 100 can be further improved.

[0078] In a specific embodiment, each of the left main support 61 and the right main support 62 is located in front of each of the left auxiliary support 63 and the right auxiliary support 64. Specifically, the left main support 61 is located in front of each of the left auxiliary support 63 and the right auxiliary support 64, and the right main support 62 is located in front of each of the left auxiliary support 63 and the right auxiliary support 64. In this way, the structure of the chassis 100 can be made more reasonable.

[0079] In the embodiment of the present invention, Fig.16 As shown, the projection of the center line of the radar 47 on the first horizontal plane is the first point P, and the first point P is the center of the first circle.

[0080] Each of the first ray L1 and the second ray L2 is located on a first horizontal plane, an endpoint of each of the first ray L1 and the first ray L2 is a first point P, and each of the first ray L1 and the second ray L2 extends obliquely backward from the first point P.

[0081] The first ray L1 does not intersect with the projection T1 of the left main support 61 on the first horizontal plane and the projection T3 of the left auxiliary support 63 on the first horizontal plane, and the second ray L2 does not intersect with the projection T2 of the right main support 62 on the first horizontal plane and the projection T4 of the right auxiliary support 64 on the first horizontal plane.

[0082] Each of the left main support 61, the right main support 62, the left auxiliary support 63 and the right auxiliary support 64 is located between the first ray L1 and the second ray L2 in the circumferential direction of the first circle, and the 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 (such as Fig.16 shown).

[0083] Thereby, the radar 47 can have a forward scanning angle of 180 degrees to 260 degrees (360 degrees - α), thereby further improving the obstacle avoidance and mobility capabilities of the chassis 100 and the robot including the chassis 100.

[0084] Optionally, the 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. In this way, the radar 47 can have a forward scanning angle of 200 degrees to 240 degrees, which can not only further improve the obstacle avoidance and mobility capabilities of the chassis 100 and the robot including the chassis 100, but also enable the left main support member 61 and the right main support member 62 to have a larger spacing in the left-right direction, so as to more stably install the body of the robot.

[0085] Each of the third ray L3 and the fourth ray L4 is located on the first horizontal plane, an endpoint of each of the third ray L3 and the fourth ray L4 is a first point P, and each of the third ray L3 and the fourth ray L4 extends obliquely backward from the first point P.

[0086] The third ray L3 does not intersect with the projection T1 of the left main support 61 on the first horizontal plane and the projection T3 of the left auxiliary support 63 on the first horizontal plane. The fourth ray L4 does not intersect with the projection T2 of the right main support 62 on the first horizontal plane and the projection T4 of the right auxiliary support 64 on the first horizontal plane.

[0087] 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 angle β between the third ray L3 and the fourth ray L4 is greater than or equal to 10 degrees and less than 30 degrees (such as Fig.16 shown).

[0088] 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 not only reverse in a straight line, but also reverse in a larger range, so as to further avoid the chassis 100 from getting stuck and further improve the mobility of the chassis 100 and the robot including the chassis 100.

[0089] Optionally, the angle β between the third ray L3 and the fourth ray L4 is greater than or equal to 12 degrees and less than 18 degrees. Thus, the radar 47 can have a backward scanning angle of 12 degrees to 18 degrees, so that the chassis 100 and the robot including the chassis 100 can not only reverse in a larger range, but also the left auxiliary support member 63 and the right auxiliary support member 64 can have a larger spacing in the left and right directions, so as to more stably install the body of the robot.

[0090] like Figure 1 and Figure 2As shown, in a specific embodiment, each of the left main support member 61 and the right main support member 62 is plate-shaped, and each of the left main support member 61 and the right main support member 62 is vertically arranged. Each of the left main support member 61 and the right main support member 62 extends in the front-to-back direction, that is, the plane where each of the left main support member 61 and the right main support member 62 is located is perpendicular to the left-to-right direction. Each of the left auxiliary support member 63 and the right auxiliary support member 64 is columnar, and each of the left auxiliary support member 63 and the right auxiliary support member 64 is vertically arranged. In this way, the structure of the robot can be made more reasonable, so that the body can be more stably mounted on the chassis 100.

[0091] like Figure 1-Figure 9 As shown, in a specific embodiment, the bottom plate 2 has a through hole 24, and the through hole 24 passes through the bottom plate 2 in the up-down direction. The chassis 100 further includes a radar mounting plate 45, which is detachably arranged on the lower surface 27 of the bottom plate 2. The radar 47 is arranged on the radar mounting plate 45, and the radar 47 passes through the through hole 24 upward, so that a part of the radar 47 is located above the bottom plate 2. In this way, the radar 47 can be installed more conveniently and more stably.

[0092] like Figure 1 As shown, the chassis 100 further includes a radar mounting platform 46, which is arranged on the radar mounting plate 45, and the radar mounting platform 46 passes through the through hole upward so that a part of the radar mounting platform 46 is located above the bottom plate 2. The radar 47 is arranged on the radar mounting platform 46. By providing the radar mounting platform 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 and mobility capabilities of the chassis 100 and the robot including the chassis 100.

[0093] like Figure 1 as well as Figure 5-Figure 9 As shown, in a specific embodiment, the chassis 100 further includes a suspension device for the driving wheel, specifically including an elastic member 11 and a swing arm 12, and the swing arm 12 is rotatably arranged on the bottom plate 2. The first end of the elastic member 11 is connected to the bottom plate 2, the first end of the swing arm 12 is connected to the second end of the elastic member 11, and the second end of the swing arm 12 is connected to the driving wheel 30. Among them, 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 to the motor shaft of the motor, that is, the left driving wheel 33 is connected to the motor shaft of the motor, and the right driving wheel 34 is connected to the motor shaft of the motor.

[0094] 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 arranged on the bottom 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, that is, the swing arm 12 applies a downward force to the driving wheel 30.

[0095] Therefore, when the chassis 100 and the robot including the chassis 100 go over an obstacle, the driving wheel 30 can always maintain a certain pressure on the ground, that is, the swing arm 12 always presses the driving wheel 30 to the ground, thereby preventing the chassis 100 and the robot including the chassis 100 from shaking or even overturning when going over an obstacle, so as to improve the obstacle-crossing capability of the chassis 100 and the robot including the chassis 100.

[0096] like Figure 1 , Figure 5 , Figure 6 , Figure 8 and Fig. 9 As shown, the chassis 100 further includes a first mounting base 131, which is disposed on the upper surface 26 of the bottom 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 bottom plate 2 through the first mounting base 131. By providing the first mounting base 131, the elastic member 11 can be installed more easily and more stably.

[0097] Optionally, the first mounting base 131 is movably disposed on the upper surface 26 of the bottom plate 2 in the front-rear direction, and the elastic member 11 extends in the front-rear direction. Thus, the deformation of the elastic member 11 can be changed by moving the first mounting base 131, and the downward force exerted by the elastic member 11 on the driving wheel 30 through the swing arm 12 can be changed.

[0098] Therefore, the chassis 100 can be applied to robots with different machine weights, and can also cross obstacles of different heights, so that the chassis 100 can meet the obstacle crossing requirements of different use environments, thereby expanding the application range of the chassis 100. The greater the deformation of the elastic member 11, the higher the obstacle that the chassis 100 can cross.

[0099] Optionally, the first mounting base 131 can be mounted on the bottom plate 2 by fasteners (such as screws or bolts). The bottom plate 2 can be provided with a plurality of mounting holes for mounting the first mounting base 131, and the plurality of mounting holes can be arranged at intervals along the front-to-back direction so as to realize the movement of the first mounting base 131 in the front-to-back direction. The elastic member 11 can be a coil spring.

[0100] like Figure 5-Figure 7 As shown, the bottom plate 2 is provided with a through hole 25, and the through hole 25 passes through the bottom plate 2 in the up-down direction. The swing arm 12 includes a connecting portion 121 and a pressing portion 122. The connecting portion 121 extends in the up-down direction, and optionally, the connecting portion 121 extends obliquely in the up-down direction. The upper end of the connecting portion 121 passes through the through hole 25 upward, that is, the upper end of the connecting portion 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 connecting portion 121. In this way, the elastic member 11 can be located above the bottom plate 2, so that the cable can be prevented from getting stuck due to the cable entering the elastic member 11.

[0101] The pressing portion 122 extends in the front-to-back direction, one of the front end and the rear end of the pressing portion 122 is connected to the lower end of the connecting portion 121, and the other of the front end and the rear end of the pressing portion 122 is connected to the motor shaft. Optionally, 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. In other words, the swing arm 12 is connected to the driving wheel 30 through the motor shaft.

[0102] like Figure 8 and Fig. 9 As shown, the lower pressing part 122 includes a body 1221 and a first pressing plate 1222, the first pressing plate 1222 is detachably arranged on the body 1221, and the motor shaft is clamped between the body 1221 and the first pressing plate 1222. In this way, not only can the swing arm 12 be connected to the motor shaft more easily, but also the swing arm 12 and the motor shaft can be separated more conveniently, so as to more conveniently disassemble the motor.

[0103] like Figure 1 and Figure 2 As shown, the chassis 100 further includes a stopper 17, which is disposed on the bottom plate 2 so as to be movable up and down or forward and backward. The stopper 17 is located between the upper end of the connecting portion 121 and the motor shaft in the forward and backward direction. A portion of the stopper 17 is located inside the through hole, and the connecting portion 121 abuts against a portion of the stopper 17.

[0104] Since the swing arm 12 applies a downward force to the driving wheel 30, the elastic member 11 applies a force to the connecting portion 121 in the direction of the driving wheel 30. For example, when the driving wheel 30 is located behind the connecting portion 121, the elastic member 11 applies a backward force to the connecting portion 121; when the driving wheel 30 is located in front of the connecting portion 121, the elastic member 11 applies a forward force to the connecting portion 121. Driven by the force of the elastic member 11, the connecting portion 121 has a tendency to move toward the driving wheel 30.

[0105] The limiting member 17 is located between the upper end of the connecting portion 121 and the motor shaft in the front-to-rear direction, and the connecting portion 121 abuts against a portion of the limiting member 17 , so that the connecting portion 121 can be limited by the limiting member 17 to restrict the displacement of the connecting portion 121 .

[0106] Since the stopper 17 is disposed on the bottom plate 2 so as to be movable up and down or forward and backward, the displacement of the connecting portion 121 can be changed by moving the stopper 17, that is, the rotation angle of the swing arm 12 can be changed, and the deformation of the elastic member 11 can be changed, so that the downward force exerted by the elastic member 11 on the driving wheel 30 through the swing arm 12 can be changed. In this way, the chassis 100 can pass over obstacles of different heights, so that the chassis 100 can meet the obstacle-passing requirements of different use environments, thereby expanding the application range of the chassis 100. Among them, the larger the deformation of the elastic member 11, the higher the obstacle that the chassis 100 can pass over.

[0107] Optionally, the limiting member 17 may be made of polyoxymethylene (POM) to prevent abnormal noise when the swing arm 12 and the base plate 2 are installed.

[0108] like Figure 8 and Fig. 9 As shown, the chassis 100 further includes a mounting shaft 15, which is disposed on the bottom plate 2, extends in the left-right direction, and the swing arm 12 is sleeved on the mounting shaft 15. This can make the structure of the chassis 100 more reasonable.

[0109] The chassis 100 further includes a second mounting base 132 and a second pressing plate 14, wherein the second mounting base 132 is disposed on the lower surface 27 of the bottom plate 2. For example, the second mounting base 132 can be detachably mounted on the lower surface 27 of the bottom plate 2 by fasteners (such as screws or bolts). The second pressing plate 14 is detachably mounted on the second mounting base 132, and the mounting shaft 15 is clamped between the second mounting base 132 and the second pressing plate 14.

[0110] This can not only avoid the difficulty of assembly caused by inserting the installation shaft 15, but also avoid the problem that the installation shaft 15 cannot be removed due to the installation shaft 15 and the bearing 16 being stuck. Since the installation shaft 15 is installed by clamping the installation shaft 15 by the second installation base 132 and the second pressing plate 14, a hole with a relatively large aperture can be processed on the swing arm 12 so that the installation shaft 15 can easily pass through the hole, so that the swing arm 12 is sleeved on the installation shaft 15. If the installation shaft 15 and the bearing 16 are stuck, the second installation base 132 can be separated from the second pressing plate 14 to directly remove the installation shaft 15 and replace them with new ones.

[0111] like Figure 7 and Fig. 9 As shown, the chassis 100 further includes a bearing 16, which is sleeved on the mounting shaft 15, and the bearing 16 is located between the second pressure plate 14 and the swing arm 12 (body 1221) in the axial direction of the mounting shaft 15. Since the axial direction of the mounting shaft 15 is consistent with the left-right direction, the bearing 16 sleeved on the mounting shaft 15 is provided between the second pressure plate 14 and the swing arm 12, so that the swing arm 12 (body 1221) can be limited in the left-right direction by the bearing 16, so as to reduce the shaking amount of the swing arm 12 (body 1221) in the left-right direction, thereby making the chassis 100 more stable.

[0112] Optionally, there may be two second pressure plates 14 and two bearings 16, one bearing 16 is located between the swing arm 12 (body 1221) and one second pressure plate 14 in the axial direction of the mounting shaft 15, and the other bearing 16 is located between the swing arm 12 (body 1221) and the other second pressure plate 14 in the axial direction of the mounting shaft 15, that is, the swing arm 12 (body 1221) is located between the two bearings 16 in the left-right direction. In this way, the shaking amount of the swing arm 12 (body 1221) in the left-right direction can be further reduced, thereby making the chassis 100 more stable.

[0113] like Figure 10-Figure 15 As shown, each of the front driven wheel 31 and the rear driven wheel 32 may be a caster 5 , which includes a wheel frame 51 , a mounting shaft 52 , a wheel 53 , an axle 54 , a bearing 55 and a blocking frame 56 .

[0114] The wheel frame 51 includes a top plate 511 and a side plate 512 arranged on the top plate 511, and the side plate 512 has a first side portion 5121 and a second side portion 5122 arranged opposite to each other. The mounting shaft 52 is arranged on the first side portion 5121 and the second side portion 5122, and the wheel 53 is sleeved on the mounting shaft 52. The wheel axle 54 is arranged on the top plate 511, and the wheel axle 54 extends upward from the top plate 511, and the bearing 55 is sleeved on the wheel axle 54. The blocking frame 56 is sleeved on the side plate 512. The wheel axle 54 extends upward from the top plate 511, which means that after the caster 5 (the front driven wheel 31 and the rear driven wheel 32) are installed on the bottom plate 2, the wheel axle 54 extends upward from the top plate 511.

[0115] Since the axle 54 extends upward from the top plate 511 and the bearing 55 is sleeved on 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 sleeved the blocking frame 56 on the side plate 512, the blocking frame 56 can be used to prevent debris (the debris mainly comes from the ground, such as hair) from moving upward to the top of the top plate 511, so as to prevent the debris from entering the top of the top plate 511.

[0116] This can prevent foreign matter from entering between the bearing 55 and the axle 54, thereby preventing the caster 5 from getting stuck, so that the chassis 100 and the robot including the chassis 100 can operate stably for a long time.

[0117] like Figure 10-13 As shown, the blocking frame 56 includes a first bracket 561 and a second bracket 562, which are detachably connected, and the side plate 512 is clamped between the first bracket 561 and the second bracket 562. In this way, not only can the blocking frame 56 be more conveniently sleeved on the side plate 512, but also the degree of clamping of the first bracket 561 and the second bracket 562 on the side plate 512 can be increased by increasing the connection tightness of the first bracket 561 and the second bracket 562, so as to further prevent debris from entering between the bearing 55 and the axle 54.

[0118] Optionally, the first bracket 561 and the second bracket 562 may be connected by screws or bolts, and the connection tightness between the first bracket 561 and the second bracket 562 may be increased by increasing the torque of the screws or bolts.

[0119] like Fig.14 As shown, the side plate 512 includes an arc portion 5123, a first side portion 5121 and a second side portion 5122, each of which is a flat plate. The first end 5124 of the first side portion 5121 is connected to the arc portion 5123, and the first end 5125 of the second side portion 5122 is connected to the arc portion 5123.

[0120] like Fig.12 As shown, the first bracket 561 has a first receiving groove 5611 and a second receiving groove 5612, and the second bracket 562 has an arc groove 5621. Part of the second end 5126 of the first side portion 5121 fits in the first receiving groove 5611, part of the second end 5127 of the second side portion 5122 fits in the second receiving groove 5612, and the first part of the arc portion 5123 fits in the arc groove 5621. In this way, the first bracket 561 and the second bracket 562 can clamp the side plate 512 more tightly, thereby further preventing debris from entering between the bearing 55 and the axle 54.

[0121] Optionally, a portion of the second end 5126 of the first side portion 5121 abuts against the bottom wall of the first receiving groove 5611, a portion of the second end 5127 of the second side portion 5122 abuts against the bottom wall of the second receiving groove 5612, and the first portion of the arc portion 5123 abuts against the wall of the arc groove 5621. In this way, the first bracket 561 and the second bracket 562 can clamp the side plate 512 more tightly, thereby further preventing debris from entering between the bearing 55 and the axle 54.

[0122] The bottom wall surface of the first receiving groove 5611 refers to the wall surface of the first receiving groove 5611 opposite to its opening, and the bottom wall surface of the second receiving groove 5612 refers to the wall surface of the second receiving groove 5612 opposite to its opening.

[0123] The first bracket 561 has a third receiving groove, and the end 5111 of the top plate 511 away from the arc portion 5123 fits in the third receiving groove. Thus, the first bracket 561 and the second bracket 562 can clamp the side plate 512 more tightly, thereby further preventing debris from entering between the bearing 55 and the axle 54.

[0124] like Fig.13 As shown, a boss 5622 is provided on the wall surface of the arc groove 5621, and the boss 5622 has a fourth receiving groove 5623. The upper end of the fourth receiving groove 5623 is open, and the second part of the arc portion 5123 is matched in the fourth receiving groove 5623. In this way, the first bracket 561 and the second bracket 562 can clamp the side plate 512 more tightly, thereby further preventing debris from entering between the bearing 55 and the wheel shaft 54. The second part of the arc portion 5123 can be a part of the first part of the arc portion 5123.

[0125] like Fig.10 , Fig.11 and Fig.15As shown, the caster 5 further includes a wheel housing 57, which is sleeved on the wheel frame 51 and the blocking frame 56, that is, 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, and the lower part of the wheel 53 extends downward out of the wheel outlet 571, and the front part of the wheel 53 extends forward out of the wheel outlet 571. In this way, the wheel housing 57 can be used to initially block debris.

[0126] like Fig.10 and Fig.15 As shown, the inner wall surface 574 of the wheel housing 57 is provided with a first retaining rib 572 and a second retaining rib 573, each of which is arranged around the wheel opening 571, the upper surface of the first retaining rib 572 abuts against the lower surface of the retaining frame 56, and the second retaining rib 573 abuts against the side surface of the retaining frame 56. In this way, foreign matter can be prevented from entering between the bearing 55 and the wheel shaft 54 ​​through the gap between the wheel housing 57 and the retaining frame 56.

[0127] Optionally, the wheel housing 57, the first retaining rib 572 and the second retaining rib 573 can be integrally injection molded, thereby reducing the manufacturing difficulty and manufacturing cost of the wheel housing 57.

[0128] like Fig.10 , Fig.11 and Fig.14 As shown, the caster 5 further includes a mounting plate 58, which is disposed on the bearing 55. The mounting plate 58 can be connected to the base plate 2. By providing the mounting plate 58, the caster 5 can be more conveniently and more firmly mounted on the base plate 2. Specifically, the mounting plate 58 can be connected to the base plate 2 by fasteners (such as screws or bolts).

[0129] In summary, the suspension device, the chassis having the suspension device and the robot having the chassis according to the embodiments of the present invention have good performances.

[0130] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0131] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0132] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0133] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0134] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0135] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A suspension device, characterized in that: include: an elastic member, wherein a first end of the elastic member can be connected to a bottom plate of the chassis; and a swing arm, the swing arm being rotatably disposed on the bottom plate, the first end of the swing arm being connected to the second end of the elastic member, the second end of the swing arm being connected to the driving wheel of the chassis, wherein the elastic member is in a deformed state so that the elastic member can apply a downward force to the driving wheel through the swing arm; Wherein, a through hole is provided on the bottom plate, and the through hole passes through the bottom plate in the up-down direction, and the swing arm comprises: A connecting portion extending in an up-down direction, an upper end portion of the connecting portion being capable of passing upward through the through hole, and a second end portion of the elastic member being connected to the upper end portion of the connecting portion; and A pressing portion, the pressing portion extending in the front-to-back direction, one of the front end portion and the rear end portion of the pressing portion being connected to the lower end portion of the connecting portion, the other of the front end portion and the rear end portion of the pressing portion being connectable to the motor shaft of the motor of the chassis, the motor shaft of the motor being connected to the driving wheel; The suspension device also includes a limit member, which can be arranged on the base plate so as to be movable up and down or forward and backward, and the limit member can be located between the upper end of the connecting part and the motor shaft in the forward and backward direction, wherein a part of the limit member can be located on the inner side of the through hole, and the connecting part abuts against the part of the limit member.

2. The suspension device according to claim 1, characterized in that: It further includes a first mounting base, which can be arranged on the upper surface of the bottom plate, and the first end of the elastic member is connected to the first mounting base.

3. The suspension device according to claim 2, characterized in that: The first mounting base is movably disposed on the upper surface of the bottom plate in the front-rear direction, and the elastic member extends in the front-rear direction.

4. The suspension device according to claim 1, characterized in that: The pressing portion includes a body and a first pressing plate, wherein the first pressing plate is detachably arranged on the body, and the motor shaft can be clamped between the body and the first pressing plate.

5. The suspension device according to claim 1, characterized in that: It further includes a mounting shaft, which can be arranged on the base plate, the mounting shaft extends in the left-right direction, and the swing arm is sleeved on the mounting shaft.

6. The suspension device according to claim 5, characterized in that: Further including: a second mounting base, the second mounting base being capable of being disposed on a lower surface of the base plate; and The second pressing plate is detachably arranged on the second mounting base, and the mounting shaft is clamped between the second mounting base and the second pressing plate.

7. A chassis, characterized in that: include: Base plate; A motor, wherein the motor is arranged on the bottom plate; A driving wheel, the driving wheel is connected to the motor shaft of the motor; and A suspension device, wherein the suspension device is a suspension device according to any one of claims 1 to 6, wherein the suspension device comprises an elastic member and a swing arm, wherein the first end of the elastic member is connected to the base plate, the swing arm is rotatably disposed on the base plate, the first end of the swing arm is connected to the second end of the elastic member, and the second end of the swing arm is connected to the driving wheel, wherein the elastic member is in a deformed state so that the elastic member applies a downward force to the driving wheel through the swing arm.

8. A robot, characterized in that: Comprising a chassis according to claim 7.

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