Chassis guide device, chassis, fuselage guide groove device, fuselage and robot

Abstract

A chassis guide device, a chassis, a fuselage guide groove device, a fuselage and a robot, and relate to the field of robot technology. The chassis guide device includes a guide cone and a guide body; the guide cone is a cone, and its large-section end is connected to the guide body; the guide body includes a guide mounting bottom surface for connecting with the chassis and a guide docking top surface for abutting with the fuselage; the guide cone includes a guide cone top surface; the guide cone top surface is connected to the guide docking top surface, and the angle between the guide cone top surface and the guide docking top surface is an obtuse angle; the width of the guide cone gradually decreases from the tip of the guide cone to the large-section end of the guide cone. The chassis and the robot include a chassis guide device; the fuselage guide groove device and the fuselage cooperate with the chassis guide device. The purpose of the present invention is to provide a chassis guide device, a chassis, a fuselage guide groove device, a fuselage and a robot, so as to improve the accuracy of docking between the chassis and the cargo box to a certain extent.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a chassis guiding device, a chassis, a fuselage guide groove device, a fuselage and a robot. Background Art

[0002] Intelligent robots are increasingly being used in production, service and other fields. Currently, there is a type of robot that includes a chassis and a fuselage, where the fuselage is, for example, a cargo box or a storage rack. The chassis is docked with the fuselage so that the fuselage automatically climbs onto the chassis, and then the chassis carries the fuselage to a designated location, and then the fuselage is automatically unloaded from the chassis. Among them, the accuracy of the docking between the chassis and the cargo box is one of the important factors affecting the performance of the robot. Summary of the invention

[0003] The object of the present invention is to provide a chassis guiding device, a chassis, a fuselage guide groove device, a fuselage and a robot, so as to improve the accuracy of docking between the chassis and the cargo box to a certain extent.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A chassis guide device comprises a guide cone portion and a guide body portion;

[0006] The guide cone portion is a cone; and along the length direction of the chassis guide device, the large cross-section end of the guide cone portion is connected to the guide body portion;

[0007] In the height direction of the chassis guide device, the guide body portion includes a guide installation bottom surface for connecting with the chassis and a guide docking top surface for abutting with the fuselage;

[0008] The guide conical portion comprises a guide conical top surface; the guide conical top surface is connected to the guide docking top surface, and the included angle between the guide conical top surface and the guide docking top surface is an obtuse angle;

[0009] The width of the guide tapered portion gradually decreases from the tip of the guide tapered portion to the large-cross-section end of the guide tapered portion.

[0010] In any of the above technical solutions, optionally, the chassis guide device further comprises a guide side wall connected to the guide conical top surface; a guide side roller is arranged on the guide side wall; at least a part of the guide side roller protrudes from the guide side wall;

[0011] Alternatively, the guide docking top surface is provided with a guide top roller; at least a portion of the guide top roller protrudes from the guide docking top surface;

[0012] Alternatively, the guide docking top surface is provided with a guide docking top groove; and an induction switch is provided in the guide docking top groove.

[0013] In any of the above technical solutions, optionally, the guide top roller is arranged at the intersection of the guide docking top surface and the guide conical top surface;

[0014] Alternatively, the guide docking top surface is provided with a guide docking top protrusion, the guide docking top groove is arranged in the guide docking top protrusion, and the guide docking top surface, the guide docking top protrusion and the guide docking top groove are smoothly transitionally connected.

[0015] A chassis, comprising at least one chassis guide device;

[0016] In the height direction of the chassis, the guide installation bottom surface of the guide body part of the chassis guide device is connected to the chassis, and the guide docking top surface of the guide body part of the chassis guide device protrudes from the top surface of the chassis;

[0017] Along the length direction of the chassis guide device, at least a portion of the guiding conical portion of the chassis guide device protrudes from the chassis.

[0018] In any of the above technical solutions, optionally, the chassis further includes a crawler wheel; at least a portion of the crawler wheel protrudes from the top surface of the chassis;

[0019] Alternatively, the number of the chassis guide devices is two; the two chassis guide devices are symmetrically arranged;

[0020] Alternatively, a chassis groove is arranged on the top surface of the chassis, and a part of the guide body portion is arranged in the chassis groove.

[0021] A fuselage guide groove device, comprising a fuselage bottom structure and a fuselage guide groove arranged on the fuselage bottom structure;

[0022] Along the length direction of the fuselage guide groove, the bottom surface of the fuselage bottom structure includes a fuselage bottom structure introduction surface and a fuselage bottom structure main body surface connected to each other; the angle between the fuselage bottom structure introduction surface and the fuselage bottom structure main body surface is an obtuse angle;

[0023] The fuselage guide groove used for cooperating with the chassis guide device includes a connected fuselage introduction area and a fuselage guide groove body area; the fuselage introduction area is arranged on the fuselage bottom structure introduction surface, and the fuselage guide groove body area is arranged on the fuselage bottom structure body surface.

[0024] In any of the above technical solutions, optionally, the side walls of the fuselage introduction area and / or the fuselage guide groove body area are provided with fuselage side rollers;

[0025] Alternatively, a fuselage bottom roller is provided at the bottom of the fuselage introduction area and / or the fuselage guide groove body area.

[0026] In any of the above technical solutions, optionally, along the length direction of the fuselage guide groove, a fixed support member is fixedly provided at one end of the fuselage bottom structure, and a foldable folding support member is provided at the other end of the fuselage bottom structure; a moving wheel is connected to the bottom of the fixed support member; the folding support member and the fuselage bottom structure introduction surface are located at the same end of the fuselage bottom structure; the folding support member is folded in a direction away from the fuselage bottom structure introduction surface;

[0027] Alternatively, the bottom structure of the fuselage is provided with crawling teeth for cooperating with crawling wheels.

[0028] A fuselage includes a fuselage guide groove device.

[0029] A robot comprises a chassis guide device and a body;

[0030] A bottom roller of the fuselage is arranged at the bottom of the fuselage. After the fuselage and the chassis guide device are in place, the bottom roller of the fuselage abuts against the induction switch, and the induction switch can be triggered.

[0031] The beneficial effects of the present invention are mainly:

[0032] The chassis guide device, chassis and robot provided by the present invention have an obtuse angle between the guide cone top surface of the chassis guide device and the guide docking top surface, and the width of the guide cone portion gradually decreases from the tip of the guide cone portion to the large-section end of the guide cone portion, so that the chassis with the chassis guide device can be accurately inserted under the fuselage, thereby enabling the chassis to carry the fuselage to a designated location.

[0033] The fuselage guide groove device, the fuselage and the robot provided by the present invention can enable the chassis to be accurately inserted under the fuselage through the cooperation of the fuselage guide groove device and the chassis guide device, so that the chassis can carry the fuselage to a designated location.

[0034] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A schematic diagram of the structure of a chassis provided in an embodiment of the present invention;

[0037] Figure 2 Another structural schematic diagram of a chassis provided by an embodiment of the present invention;

[0038] Figure 3 A schematic structural diagram of a chassis guide device provided in an embodiment of the present invention;

[0039] Figure 4 Another structural schematic diagram of the chassis guide device provided by an embodiment of the present invention;

[0040] Figure 5 for Figure 4 A left side view of the chassis guide shown;

[0041] Figure 6 A schematic diagram of the structure of a fuselage provided by an embodiment of the present invention;

[0042] Figure 7 Another schematic structural diagram of a fuselage provided in an embodiment of the present invention.

[0043] Icons: 100-chassis guide device; 110-guide cone; 112-guide cone top surface; 113-guide side wall; 120-guide body; 121-guide installation bottom surface; 122-guide docking top surface; 123-guide docking top groove; 130-guide side roller; 140-guide top roller; 150-induction switch;

[0044] 200-chassis; 210-crawling wheel;

[0045] 300-fuselage; 400-fuselage guide groove device; 410-fuselage bottom structure; 411-fuselage bottom structure introduction surface; 412-fuselage bottom structure main body surface; 420-fuselage guide groove; 421-fuselage introduction area; 422-fuselage guide groove main body area; 430-fuselage side roller; 440-fuselage bottom roller; 450-fixed support member; 460-folding support member; 470-creeping teeth. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0049] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0050] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0051] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0053] Example

[0054] This embodiment provides a chassis guide device, a chassis, a fuselage guide groove device, a fuselage and a robot; please refer to Figure 1-Figure 7 , Figure 1 and Figure 2A schematic diagram of the structure of the chassis provided in this embodiment, wherein: Figure 1 Shown is a perspective view of the chassis. Figure 2 Shown is a front view of the chassis; Figure 3-Figure 5 A schematic diagram of the structure of the chassis guide device provided in this embodiment, wherein: Figure 3 The following is a perspective view of the chassis guide device. Figure 4 The front view of the chassis guide is shown. Figure 5 for Figure 4 A left side view of the chassis guide shown; Figure 6 and Figure 7 The schematic diagram of the structure of the fuselage provided in this embodiment, wherein: Figure 6 Shown is a three-dimensional view of the fuselage. Figure 7 Shown is the official drawing of the fuselage.

[0055] The chassis guide device provided in this embodiment is used for a robot, such as a delivery robot, a food delivery robot, etc.

[0056] See also Figure 1-Figure 5 As shown, the chassis guide device 100 of this embodiment includes a guide cone portion 110 and a guide body portion 120. The guide cone portion 110 and the guide body portion 120 can be integrally formed or fixedly connected by welding, bonding, or the like.

[0057] The guide tapered portion 110 is a cone; and along the length direction of the chassis guide device 100 , the large-section end of the guide tapered portion 110 is connected to the guide body portion 120 .

[0058] In the height direction of the chassis guide device 100, the guide body part 120 includes a guide installation bottom surface 121 for connecting with the chassis 200 and a guide docking top surface 122 for abutting with the fuselage 300; that is, the guide installation bottom surface 121 and the guide docking top surface 122 are two corresponding surfaces of the guide body part 120.

[0059] The guiding conical portion 110 includes a guiding conical top surface 112; the guiding conical top surface 112 is connected to the guiding docking top surface 122, and the angle between the guiding conical top surface 112 and the guiding docking top surface 122 is an obtuse angle; for example, the angle between the guiding conical top surface 112 and the guiding docking top surface 122 is 110°, 120°, 135° or 138°, etc.

[0060] The width of the guide cone 110 gradually decreases from the tip of the guide cone 110 to the large-section end of the guide cone 110, so as to facilitate the insertion of the guide cone 110 into the bottom of the fuselage 300, thereby facilitating the accurate insertion of the chassis 200 having the chassis guide device 100 under the fuselage 300.

[0061] The chassis guide device 100 in this embodiment includes a guide cone portion 110 and a guide body portion 120. The included angle between the guide cone top surface 112 and the guide docking top surface 122 is an obtuse angle, and the width of the guide cone portion 110 gradually decreases from the tip of the guide cone portion 110 to the large-section end of the guide cone portion 110, so that the chassis 200 with the chassis guide device 100 can be accurately inserted under the fuselage 300, so that the chassis 200 can carry the fuselage 300 to the designated location.

[0062] See also Figure 3-Figure 5 As shown, in an optional solution of this embodiment, the chassis guide device 100 further includes a guide side wall 113 connected to the guide conical top surface 112; a guide side roller 130 is provided on the guide side wall 113; and at least a portion of the guide side roller 130 protrudes from the guide side wall 113. By at least a portion of the guide side roller 130 protruding from the guide side wall 113, the side friction of the chassis guide device 100 when inserted into the fuselage is reduced, which helps the chassis guide device 100 to be smoothly inserted into the fuselage.

[0063] See also Figure 3-Figure 5 As shown, in an optional scheme of this embodiment, a guide top roller 140 is provided on the guide docking top surface 122; at least a portion of the guide top roller 140 protrudes from the guide docking top surface 122; by at least a portion of the guide top roller 140 protruding from the guide docking top surface 122, the top friction of the chassis guide device 100 when inserted into the fuselage is reduced, which helps the chassis guide device 100 to be smoothly inserted into the fuselage.

[0064] See also Figure 3-Figure 5 As shown, in the optional scheme of this embodiment, the guide docking top surface 122 is provided with a guide docking top groove 123; the guide docking top groove 123 is provided with a sensor switch 150. By providing the sensor switch 150 in the guide docking top groove 123, the trigger device of the fuselage 300 that triggers the sensor switch 150 can only be triggered when it moves into the guide docking top groove 123. On the one hand, the probability of triggering the sensor switch 150 by accidentally touching the sensor switch 150 can be avoided or reduced. On the other hand, the guide docking top groove 123 limits the trigger device of the fuselage 300, thereby improving the stability of the connection between the chassis 200 and the fuselage 300. The trigger device of the fuselage 300 is, for example, a protrusion, a roller, or the like.

[0065] See also Figure 1-Figure 5As shown, in an optional scheme of this embodiment, the guide top roller 140 is arranged at the intersection of the guide docking top surface 122 and the guide conical top surface 112; by arranging the guide top roller 140 at the intersection of the guide docking top surface 122 and the guide conical top surface 112, it is beneficial for the guide top roller 140 to guide the fuselage 300 to move on the chassis guide device 100, which is beneficial for the fuselage 300 to climb onto the chassis 200.

[0066] In an optional solution of this embodiment, the guide docking top surface 122 is provided with a guide docking top protrusion, and the guide docking top groove 123 is provided in the guide docking top protrusion; by providing the guide docking top groove 123 in the guide docking top protrusion, the probability of triggering the induction switch 150 by accidentally touching the induction switch 150 is further avoided or reduced.

[0067] Optionally, the guide docking top surface 122, the guide docking top protrusion and the guide docking top groove 123 are connected in a smooth transition.

[0068] See also Figure 1 and Figure 2 As shown, this embodiment further provides a chassis 200, comprising at least one chassis guide device 100 as described in any of the above embodiments.

[0069] In the height direction of the chassis 200, the guide installation bottom surface 121 of the guide body part 120 of the chassis guide device 100 is connected to the chassis 200, and the guide docking top surface 122 of the guide body part 120 of the chassis guide device 100 protrudes from the top surface of the chassis 200; that is, at least a part of the chassis guide device 100 protrudes from the top surface of the chassis 200 to facilitate the docking of the chassis guide device 100 with the fuselage 300.

[0070] Optionally, along the length direction of the chassis guide device 100, at least a portion of the guide conical portion 110 of the chassis guide device 100 protrudes from the chassis 200. At least a portion of the guide conical portion 110 of the chassis guide device 100 protrudes from the chassis 200, so that the chassis guide device 100 can be inserted into the fuselage 300.

[0071] Optionally, the guide tapered portions 110 all protrude from the bottom plate 200 .

[0072] The chassis 200 described in this embodiment can be accurately inserted under the fuselage 300 through the chassis guide device 100, so that the chassis 200 can carry the fuselage 300 to a designated location. The chassis 200 provided in this embodiment includes the above-mentioned chassis guide device 100, and the technical features of the chassis guide device 100 disclosed above are also applicable to the chassis 200, and the technical features of the chassis guide device 100 disclosed above are not repeatedly described. The chassis 200 described in this embodiment has the advantages of the above-mentioned chassis guide device 100, and the advantages of the above-mentioned chassis guide device 100 disclosed above are not repeatedly described here.

[0073] See also Figure 1 and Figure 2 As shown, in an optional solution of this embodiment, the chassis 200 further includes a crawling wheel 210; at least a portion of the crawling wheel 210 protrudes from the top surface of the chassis 200; the crawling wheel 210 facilitates the fuselage 300 to climb onto the chassis 200.

[0074] In the optional solution of this embodiment, the number of chassis guide devices 100 is one, two, four or other numbers. Figure 1 and Figure 2 As shown, optionally, the number of the chassis guide devices 100 is two; the two chassis guide devices 100 are symmetrically arranged.

[0075] See also Figure 1 As shown, in an optional solution of this embodiment, a chassis groove is provided on the top surface of the chassis 200, and a part of the guide body 120 is provided in the chassis groove. The chassis guide device 100 is fixed on the chassis 200 more firmly through the chassis groove.

[0076] See also Figure 6 and Figure 7 As shown, this embodiment further provides a fuselage guide groove device 400; the fuselage guide groove device 400 cooperates with the chassis guide device 100 and the chassis 200 described in the above embodiment.

[0077] The fuselage guide groove device 400 includes a fuselage bottom structure 410 and a fuselage guide groove 420 disposed on the fuselage bottom structure 410. Optionally, the width of the fuselage guide groove 420 is greater than the width of the chassis guide device 100, so that the chassis guide device 100 can be inserted into the fuselage guide groove 420.

[0078] Along the length direction of the fuselage guide groove 420, the bottom surface of the fuselage bottom structure 410 includes a fuselage bottom structure introduction surface 411 and a fuselage bottom structure main body surface 412 connected to each other; the included angle between the fuselage bottom structure introduction surface 411 and the fuselage bottom structure main body surface 412 is an obtuse angle; for example, the included angle between the fuselage bottom structure introduction surface 411 and the fuselage bottom structure main body surface 412 is 110°, 120°, 135° or 138°, etc. The obtuse angle between the fuselage bottom structure introduction surface 411 and the fuselage bottom structure main body surface 412 facilitates the fuselage guide groove device 400 to crawl onto the chassis 200.

[0079] The fuselage guide groove 420 used for cooperating with the chassis guide device 100 includes a fuselage introduction area 421 and a fuselage guide groove body area 422 which are connected; the fuselage introduction area 421 is arranged on the fuselage bottom structure introduction surface 411, and the fuselage guide groove body area 422 is arranged on the fuselage bottom structure body surface 412. By providing the fuselage introduction area 421 and the fuselage guide groove body area 422, the chassis guide device 100 is conveniently inserted into the fuselage guide groove 420 of the fuselage guide groove device 400, and the fuselage guide groove device 400 is conveniently crawled onto the chassis 200.

[0080] The fuselage guide groove device 400 described in this embodiment can cooperate with the chassis guide device 100 to allow the chassis 200 to be accurately inserted under the fuselage 300, so that the chassis 200 can carry the fuselage 300 to a designated location.

[0081] See also Figure 6 and Figure 7 As shown, in an optional solution of this embodiment, the side walls of the fuselage introduction area 421 and / or the fuselage guide groove body area 422 are provided with fuselage side rollers 430; that is, the side walls of the fuselage introduction area 421 are provided with fuselage side rollers 430, or the side walls of the fuselage guide groove body area 422 are provided with fuselage side rollers 430, or the side walls of the fuselage introduction area 421 and the fuselage guide groove body area 422 are both provided with fuselage side rollers 430. The fuselage side rollers 430 are used to reduce the side friction of the chassis guide device 100 when it is inserted into the fuselage guide groove device 400, which helps the chassis guide device 100 to be smoothly inserted into the fuselage guide groove device 400, and further helps the chassis 200 to be inserted into the fuselage 300.

[0082] See also Figure 6 and Figure 7As shown, in an optional solution of this embodiment, a body bottom roller 440 is provided at the bottom of the body introduction area 421 and / or the body guide groove body area 422; that is, a body bottom roller 440 is provided at the bottom of the body introduction area 421, or a body bottom roller 440 is provided at the bottom of the body guide groove body area 422, or a body bottom roller 440 is provided at the bottom of the body introduction area 421 and the body guide groove body area 422. The body bottom roller 440 is used to reduce the friction between the bottom of the body guide groove device 400 and the top of the chassis guide device 100 when the chassis guide device 100 is inserted into the fuselage guide groove device 400, which helps the chassis guide device 100 to be smoothly inserted into the fuselage guide groove device 400, and further helps the chassis 200 to be inserted into the fuselage 300.

[0083] See also Figure 6 and Figure 7 As shown, in an optional scheme of the present embodiment, a fixed support member 450 is fixedly provided at one end of the fuselage bottom structure 410 along the length direction of the fuselage guide groove 420, and a foldable folding support member 460 is provided at the other end of the fuselage bottom structure 410; a moving wheel is connected to the bottom of the fixed support member 450; the folding support member 460 and the fuselage bottom structure introduction surface 411 are located at the same end of the fuselage bottom structure 410; the folding support member 460 is folded in a direction away from the fuselage bottom structure introduction surface 411; the fuselage guide groove device 400 is supported by the fixed support member 450 and the folding support member 460 to increase the distance between the bottom surface of the fuselage guide groove device 400 and the ground; the foldable folding support member 460 is used to enable the chassis guide device 100 to be retracted when the chassis guide device 100 is inserted into the fuselage guide groove device 400 without affecting the insertion of the chassis guide device 100.

[0084] See also Figure 6 and Figure 7 As shown, in an optional solution of this embodiment, the fuselage bottom structure 410 is provided with a crawling tooth 470 for cooperating with the crawling wheel 210. The crawling tooth 470 cooperates with the crawling wheel 210 to help the fuselage guide groove device 400 climb onto the chassis 200.

[0085] The present embodiment further provides a fuselage 300, comprising the fuselage guide groove device 400 as described in the above embodiment. The technical features of the fuselage guide groove device 400 disclosed above are also applicable to the fuselage 300, and the technical features of the fuselage guide groove device 400 disclosed above are not described again. The fuselage 300 described in the present embodiment has the advantages of the fuselage guide groove device 400, and the advantages of the fuselage guide groove device 400 disclosed above are not described again here.

[0086] This embodiment further provides a robot, comprising the chassis guiding device 100 as described in the above embodiment, and also comprising the body 300 as described in the above embodiment.

[0087] The bottom of the fuselage 300 is provided with a fuselage bottom roller 440. After the fuselage 300 and the chassis guide device 100 are in place, the fuselage bottom roller 440 abuts against the sensor switch 150, and the sensor switch 150 can be triggered. The fuselage bottom roller 440 and the sensor switch 150 are matched, which can not only facilitate the smooth insertion of the chassis guide device 100 into the fuselage guide groove device 400, but also avoid or reduce the probability of triggering the sensor switch 150 by accidentally touching the sensor switch 150.

[0088] Optionally, the width of the fuselage guide groove 420 of the fuselage guide groove device 400 is greater than the width of the chassis guide device 100 , so as to facilitate the insertion of the chassis guide device 100 into the fuselage guide groove 420 .

[0089] The robot provided in this embodiment includes the above-mentioned chassis guide device 100, chassis 200, fuselage guide groove device 400 and fuselage 300. The above-mentioned technical features of the chassis guide device 100, chassis 200, fuselage guide groove device 400 and fuselage 300 disclosed are also applicable to the robot, and the above-mentioned disclosed technical features of the chassis guide device 100, chassis 200, fuselage guide groove device 400 and fuselage 300 are not described repeatedly. The robot described in this embodiment has the advantages of the above-mentioned chassis guide device 100, chassis 200, fuselage guide groove device 400 and fuselage 300, and the above-mentioned advantages of the chassis guide device 100, chassis 200, fuselage guide groove device 400 and fuselage 300 are not described repeatedly.

[0090] The working principle of the robot described in this embodiment is as follows: the chassis 200 approaches the fuselage 300. Since at least a portion of the guide conical portion 110 of the chassis guide device 100 protrudes from the chassis 200 and is conical, the chassis guide device 100 is inserted into the fuselage guide groove 420 of the fuselage guide groove device 400. When the chassis 200 further drags the fuselage 300, the guide side rollers 130 and the fuselage side rollers 430 can ensure that the chassis guide device 100 slides smoothly in the left and right directions of the fuselage guide groove 420 of the fuselage 300. In the up and down directions, the guide top rollers 140 and the fuselage bottom rollers 440 can support the bottom surface of the fuselage guide groove 420 and roll smoothly. In the further dragging process of the fuselage 300, the bottom roller 440 of the fuselage 300 will roll into the guide docking top groove 123 and trigger the induction switch 150 to sense. The guide docking top groove 123 has a limiting effect on the bottom roller 440 of the fuselage. In the whole process of the chassis 200 and the fuselage 300 being dragged and moved, the induction switch 150 is in the guide docking top groove 123. Only when the fuselage 300 is moved into place and the bottom roller 440 of the fuselage rolls into the guide docking top groove 123, the induction switch 150 will be sensed and triggered. The other processes will not be triggered by mistake, and the induction switch 150 has a high accuracy in sensing the fuselage 300 in place.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A chassis guiding device, characterized in that: It includes a guide cone portion and a guide body portion; The guide cone portion is a cone; and along the length direction of the chassis guide device, the large cross-section end of the guide cone portion is connected to the guide body portion; In the height direction of the chassis guide device, the guide body portion includes a guide installation bottom surface for connecting with the chassis and a guide docking top surface for abutting with the fuselage; The guide conical portion comprises a guide conical top surface; the guide conical top surface is connected to the guide docking top surface, and the included angle between the guide conical top surface and the guide docking top surface is an obtuse angle; The width of the guide cone portion gradually decreases from the tip of the guide cone portion to the large cross-section end of the guide cone portion; The chassis guide device further comprises a guide side wall connected to the guide conical top surface; a guide side roller is arranged on the guide side wall; at least a part of the guide side roller protrudes from the guide side wall; The guide docking top surface is provided with a guide top roller; at least a portion of the guide top roller protrudes from the guide docking top surface; The guide docking top surface is provided with a guide docking top groove; and an induction switch is provided in the guide docking top groove.

2. The chassis guide device according to claim 1, characterized in that: The guide top roller is arranged at the intersection of the guide docking top surface and the guide conical top surface.

3. The chassis guide device according to claim 1, characterized in that: The guide docking top surface is provided with a guide docking top protrusion, the guide docking top groove is arranged in the guide docking top protrusion, and the guide docking top surface, the guide docking top protrusion and the guide docking top groove are smoothly transitionally connected.

4. A chassis, characterized in that: comprising at least one chassis guide device as claimed in any one of claims 1 to 3; In the height direction of the chassis, the guide installation bottom surface of the guide body part of the chassis guide device is connected to the chassis, and the guide docking top surface of the guide body part of the chassis guide device protrudes from the top surface of the chassis; Along the length direction of the chassis guide device, at least a portion of the guide tapered portion of the chassis guide device protrudes out of the chassis.

5. The chassis according to claim 4, characterized in that: It also includes a crawling wheel; at least a portion of the crawling wheel protrudes from the top surface of the chassis; The number of the chassis guide devices is two; the two chassis guide devices are symmetrically arranged; A chassis groove is arranged on the top surface of the chassis, and a part of the guide body is arranged in the chassis groove.

6. A robot, characterized in that: comprising the chassis guide device as claimed in claim 1, and further comprising a fuselage; A bottom roller of the fuselage is arranged at the bottom of the fuselage. After the fuselage and the chassis guide device are in place, the bottom roller of the fuselage abuts against the induction switch, and the induction switch can be triggered.

7. The robot according to claim 6, characterized in that: The fuselage includes a fuselage guide groove device; The fuselage guide groove device comprises a fuselage bottom structure and a fuselage guide groove arranged on the fuselage bottom structure; Along the length direction of the fuselage guide groove, the bottom surface of the fuselage bottom structure includes a fuselage bottom structure introduction surface and a fuselage bottom structure main body surface connected to each other; the angle between the fuselage bottom structure introduction surface and the fuselage bottom structure main body surface is an obtuse angle; The fuselage guide groove used to cooperate with the chassis guide device includes a fuselage introduction area and a fuselage guide groove body area that are connected; the fuselage introduction area is arranged on the fuselage bottom structure introduction surface, and the fuselage guide groove body area is arranged on the fuselage bottom structure body surface; The fuselage bottom roller is arranged at the bottom of the fuselage introduction area and / or the fuselage guide groove body area.

8. The robot according to claim 7, characterized in that: The side walls of the fuselage introduction area and / or the fuselage guide groove body area are provided with fuselage side rollers.

9. The robot according to claim 7, characterized in that: Along the length direction of the fuselage guide groove, a fixed support member is fixedly provided at one end of the fuselage bottom structure, and a foldable folding support member is provided at the other end of the fuselage bottom structure; a movable wheel is connected to the bottom of the fixed support member; the folding support member and the fuselage bottom structure introduction surface are located at the same end of the fuselage bottom structure; the folding support member is folded in a direction away from the fuselage bottom structure introduction surface.

10. The robot according to claim 7, characterized in that: The bottom structure of the fuselage is provided with crawling teeth for cooperating with crawling wheels.

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