A bottom shell of a robot chassis, a chassis and a robot

Abstract

The application relates to the technical field of robots, and provides a bottom shell of a robot chassis, the robot chassis and a robot, wherein the bottom shell of the robot chassis is provided with a plurality of mounting positions for mounting functional modules; the mounting positions comprise first mounting positions for mounting suspension mechanisms and driving wheels; the first mounting positions are arranged on a third side and a fourth side of the bottom shell; the third side and the fourth side are arranged oppositely; the mounting positions further comprise fourth mounting positions and fifth mounting positions; the bottom shell is provided with a first protruding portion; the fourth mounting positions are arranged below the first protruding portion; and the fifth mounting positions are arranged above the first protruding portion. The bottom shell of the robot chassis provided by the application is provided with a plurality of mounting positions, can be used for mounting and positioning a plurality of functional modules, can reduce mounting errors between the functional modules mounted on the bottom shell, is more reasonable in space design, simplifies assembly, and improves production efficiency and qualification rate.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to the bottom shell, chassis, and robot chassis. Background Technology

[0002] A robot is an automatically controlled machine, including industrial robots, household robots, and commercial robots. Robots can be used in industrial production, medical surgery, agricultural harvesting, security reconnaissance, commercial services, and cleaning. Robots have diverse functions, wide applications, and their automation and intelligence levels are constantly improving.

[0003] The robot chassis comprises multiple systems, including a wheel system, a control system, a sensor system, and a charging and power supply system, each consisting of several components. With the widespread production of robots, the requirements for assembly efficiency, cost, and space utilization are becoming increasingly stringent. When assembling multiple functional components, such as drive wheels and batteries, into the robot chassis, the large number of parts, complex assembly, and low assembly precision necessitate improvements in efficiency and yield during mass production. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a robot chassis shell with multiple mounting positions, allowing functional modules to be independently assembled and disassembled. This reduces installation errors between functional modules mounted on the shell, and allows for the installation of multiple functional modules. The space design is more rational, assembly is simplified, and production efficiency and yield rate are improved.

[0005] This application also proposes a chassis.

[0006] This application also proposes a robot.

[0007] According to the first aspect of the present application, the bottom shell of the robot chassis is provided with a plurality of mounting positions for mounting functional modules. The mounting positions include a first mounting position for mounting a suspension mechanism and a drive wheel. The first mounting position is disposed on the third side and the fourth side of the bottom shell, and the third side and the fourth side are disposed opposite to each other. The mounting positions also include a fourth mounting position and a fifth mounting position. The bottom shell is provided with a first protrusion. The fourth mounting position is disposed below the first protrusion, and the fifth mounting position is disposed above the first protrusion.

[0008] According to an embodiment of this application, the bottom shell of the robot chassis has a first mounting position for mounting a suspension mechanism and a drive wheel, making the robot chassis movable. It makes full use of the first protrusion structure and the space it restricts, and functional components can be installed above and below the first protrusion. This provides more flexible installation space for functional components, helps to achieve no superposition error between various components, and improves installation accuracy.

[0009] According to an embodiment of this application, the bottom shell of the robot chassis has a first protrusion located between the first mounting positions, and the bottom shell is provided with a second mounting position for mounting the main universal wheel, the second mounting position being located on at least one side of the rotation axis of the drive wheel.

[0010] According to an embodiment of this application, the bottom shell of the robot chassis is further provided with a third mounting position for mounting auxiliary casters, the third mounting position being located in front of the second mounting position.

[0011] According to the robot chassis bottom shell of the embodiment of this application, the auxiliary rotation center of the third mounting position is located on a preset circumference or outside the preset circumference, the preset circumference is centered on the wheel center of the drive wheel connected to the first mounting position and has a radius of the distance from the main rotation center of the second mounting position to the center of the circle.

[0012] According to an embodiment of this application, the bottom shell of the robot chassis has a sixth mounting position on a first side for mounting at least one of an avoidance mechanism and a collision mechanism, a seventh mounting position on a second side for mounting a heat dissipation module, the first side and the second side being opposite to each other, and an eighth mounting position on the second side for mounting a charging module. The seventh mounting position is located on the inner side of the bottom shell, and the eighth mounting position is located on the outer side of the bottom shell.

[0013] According to an embodiment of this application, the bottom shell of the robot chassis is provided with a water guiding part, the water guiding part is inclined downward toward the edge of the bottom shell, and the water guiding part is located on at least one side of the first protrusion.

[0014] According to an embodiment of this application, the bottom shell of the robot chassis is provided with a partition portion, the partition portion extends upward along the water guide portion, and the partition portion gradually decreases in the direction from a first side to a second side of the bottom shell, wherein the first side and the second side are opposite sides.

[0015] According to an embodiment of this application, the bottom shell of the robot chassis includes a water guiding part comprising a first water guiding part and a second water guiding part. The first water guiding part is disposed on a first side of the bottom shell, a first partition is disposed on the first side of the bottom shell, and a second partition is disposed on a third side and a fourth side of the bottom shell. At least one side of the second partition is provided with the second water guiding part.

[0016] According to an embodiment of this application, the bottom shell of the robot chassis has a support plate portion on the third side and the fourth side, and a third water guide portion on the second side. The support plate portion is connected to the third water guide portion, and the upper surface of the support plate portion is not higher than the edge of the third water guide portion.

[0017] According to an embodiment of this application, the bottom shell of the robot chassis has a first partition portion provided with mounting holes for mounting the functional modules.

[0018] According to an embodiment of this application, the bottom shell of the robot chassis has a third partition on the side wall of the first protrusion facing the support plate, and the third partition is adapted to be inserted into the positioning groove of the suspension mechanism.

[0019] The bottom shell of the robot chassis according to an embodiment of this application is constructed as an integrally formed heat-conducting structure.

[0020] The chassis of the second aspect of this application includes a first housing and a bottom shell of the robot chassis as described above, wherein the first housing covers the top of the bottom shell, and an installation space for installing the functional module is defined between the first housing and the bottom shell.

[0021] The chassis according to the embodiments of this application includes a first housing and a bottom housing. The first housing and the bottom housing define a relatively enclosed installation space, which can ensure the integrity of the chassis structure and the safety of its internal components.

[0022] According to the chassis of the embodiment of this application, the fourth mounting position is used to install the first functional module, and the fifth mounting position is used to install the second functional module. The weight of the first functional module is greater than the weight of the second functional module.

[0023] According to a third aspect of this application, a robot is provided, including a body and a chassis as described above, wherein the chassis is disposed below the body.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the chassis structure provided in the embodiments of this application;

[0027] Figure 2 This is a schematic diagram of the first housing of the chassis provided in this application embodiment in an exploded state;

[0028] Figure 3This is a bottom view of the chassis structure provided in the embodiments of this application;

[0029] Figure 4 This is a front view structural diagram of the chassis provided in an embodiment of this application, where the first housing is not shown;

[0030] Figure 5 This is a schematic diagram of an auxiliary omnidirectional wheel provided in an embodiment of this application; it utilizes telescopic non-rigid support.

[0031] Figure 6 This is another structural schematic diagram of the auxiliary omnidirectional wheel provided in the embodiments of this application; it is supported by a swinging non-rigid structure;

[0032] Figure 7 This is a three-dimensional structural diagram of the auxiliary omnidirectional wheel provided in an embodiment of this application;

[0033] Figure 8 This is a front view structural diagram of the auxiliary omnidirectional wheel provided in an embodiment of this application;

[0034] Figure 9 This is a side view of the auxiliary omnidirectional wheel provided in an embodiment of this application;

[0035] Figure 10 This is a schematic diagram of the main caster wheel provided in an embodiment of this application;

[0036] Figure 11 This is a three-dimensional structural diagram of the bottom shell provided in the embodiments of this application; a view of the upper surface of the bottom shell;

[0037] Figure 12 This is a three-dimensional structural diagram of the bottom shell provided in the embodiments of this application; a view of the lower surface of the bottom shell;

[0038] Figure 13 This is a three-dimensional structural diagram of the bottom shell provided in an embodiment of this application, and... Figure 11 The difference lies in the angle of the illustration;

[0039] Figure 14 A top view of the bottom shell structure provided in the embodiments of this application;

[0040] Figure 15 yes Figure 14 Schematic diagram of the cross-sectional structure of AA;

[0041] Figure 16 yes Figure 14 Schematic diagram of the cross-sectional structure of BB;

[0042] Figure 17 of Figure 14 A schematic diagram of the cross-sectional structure of the C-C section;

[0043] Figure 18 This is a schematic diagram of the chassis structure provided in an embodiment of this application; the upper shell is not shown in the figure.

[0044] Figure 19 This is a top view of the chassis structure provided in an embodiment of this application;

[0045] Figure 20 yes Figure 19 Schematic diagram of the cross-sectional structure of DD;

[0046] Figure 21 yes Figure 20 A magnified schematic diagram of a portion of the structure at point E; the arrows in the diagram indicate the drainage path within the chassis.

[0047] Figure 22 This is a top view structural diagram of the chassis provided in the embodiments of this application, and... Figure 19 The difference is that the first shell is not shown in this figure;

[0048] Figure 23 yes Figure 22 A schematic diagram of the cross-sectional structure of FF;

[0049] Figure 24 yes Figure 23 A magnified schematic diagram of the middle H section; the arrows in the diagram indicate the drainage path inside the chassis.

[0050] Figure 25 This is a schematic diagram of the chassis structure provided in an embodiment of this application, where the first housing is not shown.

[0051] Figure 26 This is a three-dimensional structural schematic diagram of the suspension drive device provided in the embodiments of this application;

[0052] Figure 27 This is a side view of the suspension drive device provided in the embodiments of this application;

[0053] Figure 28 yes Figure 27 A cross-sectional view of section II, showing the first support at its upper limit position;

[0054] Figure 29 yes Figure 27 A cross-sectional view of section II, showing the first support at its lower limit position;

[0055] Figure 30 A three-dimensional structural diagram of the suspension structure provided in this application embodiment;

[0056] Figure 31 This is an exploded view of the suspension drive device provided in the embodiment of this application, in which the second-level protective part is disassembled from other components;

[0057] Figure 32 This is an exploded view of the suspension drive device provided in the embodiments of this application. Figure 31 Based on this, the second shock absorber, cleaning components, and drive wheels are further disassembled;

[0058] Figure 33 This is a side view of the suspension drive device provided in the embodiments of this application;

[0059] Figure 34 yes Figure 33 A schematic diagram of the cross-sectional structure of the middle JJ;

[0060] Figure 35 This is a schematic diagram of the structure of the cleaning component provided in the embodiments of this application;

[0061] Figure 36 This is a structural schematic diagram of the disassembled battery module of the chassis provided in the embodiments of this application;

[0062] Figure 37 This is a structural diagram of the second housing and heat dissipation module of the chassis provided in this application embodiment, relative to other components in an exploded state. The first housing is not shown in the diagram.

[0063] Figure 38 This is a schematic diagram of the disassembled state of the chassis provided in an embodiment of this application;

[0064] Figure 39 This is a schematic diagram of the structure of the heat dissipation module provided in the embodiment of this application;

[0065] Figure 40 This is an exploded view of the heat dissipation module provided in an embodiment of this application;

[0066] Figure 41 This is a bottom view of the chassis structure provided in an embodiment of this application, in which the charging module is in a disassembled state.

[0067] Figure label:

[0068] 110. Bottom shell; 111. First protrusion; 1111. Fourth mounting position; 1112. Fifth mounting position; 112. Second protrusion; 1121. Second mounting position; 113. Third protrusion; 1131. Third mounting position; 114. First mounting position; 115. Sixth mounting position; 116. Seventh mounting position; 117. Eighth mounting position; 118. First water guide; 119. First partition; 1110. Second water guide; 1113. Second partition; 1114. Third water guide; 1115. Third partition; 1116. Fourth partition; 1117. First drain hole; 1118. Support plate; 1119. Heat sink; 1120. Ninth mounting position; 1122. Cover;

[0069] 120. First housing; 121. First opening; 122. Second opening; 123. Sound-permeable component; 124. Water-blocking part; 130. Second housing; 131. Flow guide; 132. Second drain hole; 133. Relief groove; 134. Mounting groove; 140. Mounting post; 150. Mounting rod;

[0070] 200. Suspension mechanism; 201. First shock absorber; 202. First support; 203. Second support; 2031. First mounting part; 2032. Second mounting part; 2033. Connecting plate; 2034. Limiting plate;

[0071] 204. First-level protective part; 2041. First housing; 2042. Second housing; 2043. First positioning part; 2044. Second positioning part; 205. Guide part; 206. Third housing; 207. Connecting bearing; 208. First limiting part; 209. Second limiting part;

[0072] 210. Second-level protective section; 2101. First shell section; 2102. Second shell section; 2103. First wiring section; 2104. First wiring channel; 2105. Second wiring section; 2106. First plate; 2107. Second plate; 2108. Second wiring channel; 2109. Positioning groove; 21010. Third insertion section; 21011. Fourth insertion section; 21012. Second snap-fit ​​section; 21013. Second reinforcing rib; 21014. Connecting port;

[0073] 211. Cleaning component; 2112. First insertion part; 2113. Second insertion part; 2114. First snap-fit ​​part; 2115. Connecting part; 2116. First reinforcing rib; 2117. Brush body;

[0074] 212. Second damping unit; 2121. First hinge; 2122. Second hinge;

[0075] 310. Drive wheel; 320. Main caster wheel; 330. Auxiliary caster wheel; 331. Telescopic component; 332. Rotating part; 333. Swing adjustment part; 334. Enveloping part; 335. Inclined surface; 336. First wheel body;

[0076] 400, Heat dissipation module; 410, Heat dissipation section; 411, Heat dissipation fins; 412, First mounting plate; 413, Second mounting plate; 420, First fan; 430, Second fan; 440, Backplate; 441, Cable routing channel; 442, First limiting block; 443, Second limiting block; 450, First heat-conducting component; 460, Second heat-conducting component; 470, Heating element; 471, First control board; 472, Second control board; 473, Heat-conducting plate;

[0077] 500, Battery module; 600, Second player; 700, Charging module; 800, Avoidance and collision module; 810, Collision mechanism; 820, Avoidance mechanism; 910, Radar; 920, Infrared communication module; 1000, Circuit system;

[0078] a) First line; b) Second line; c) Angle. Detailed Implementation

[0079] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0080] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, in the description of this application, unless otherwise stated, "multiple," "multiple roots," and "multiple groups" mean two or more.

[0081] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0082] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0083] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0084] An embodiment of this application provides a robot, with reference to... Figures 1 to 41 As shown, the robot is equipped with a chassis, and the chassis is equipped with drive wheels 310, which are used to drive the chassis to move.

[0085] In some cases, robots can be transportation robots, service robots, etc.

[0086] The robot also includes a body (not shown in the image), with a chassis positioned beneath it, which drives the body's movement. The body can be equipped with functional modules such as displays, players, and lights to integrate more functions. The combination of the body and chassis allows for a wider range of robot capabilities.

[0087] The shape of the machine can also be set to a preset shape, such as a cartoon character, to make the structure of the machine more diverse and improve the user experience.

[0088] The main body may also include a camera head, which is located at the top. The camera head can further carry functional modules, such as projection components, shooting components, and players, making the camera head versatile.

[0089] Robots can be configured as service robots, such as home service robots, commercial service robots, and industrial service robots. The application fields of robots are wide and there are no limitations on the scope of application of robots.

[0090] The robot chassis will now be described in further detail. This chassis can be used in various applications, such as home robots, commercial robots, and AGVs (Automated Guided Vehicles).

[0091] refer to Figure 1 and Figure 2 As shown, the chassis includes a chassis body and functional modules installed on the chassis body. The functional modules are configured as a modular structure, and each functional module is detachably connected to the chassis body as an independent individual.

[0092] The chassis employs a modular design, enabling modular assembly and disassembly in a many-to-one manner (multiple functional modules correspond to one chassis body), facilitating assembly and maintenance without nesting. It also features scalability; during upgrades and iterations, multiple modules can be upgraded and reassembled onto the existing chassis body, thereby improving the robot's performance.

[0093] The chassis body can be understood as the shell structure of the chassis. The chassis shell structure includes a bottom shell 110, which has mounting positions for mounting multiple functional modules. The bottom shell 110 can be a one-piece structure or an assembled structure, and the structural form of the bottom shell 110 can be selected as needed.

[0094] It should be noted that the chassis body can be a combination of the bottom shell and the upper shell as described above, or a combination of the left shell and the right shell, or a combination of the front shell and the rear shell, or a combination of more components.

[0095] In this application, the bottom shell 110 is described as an integral structure. The integral bottom shell 110 can reduce the number of chassis parts. The functional modules are installed in the bottom shell 110, which can simplify the installation of the functional modules and ensure the assembly accuracy between the functional modules.

[0096] Of course, the chassis body may also include an upper housing, which is positioned above the bottom housing 110. The upper housing and the bottom housing 110 cooperate to define the installation space for installing functional modules. The external shape of the chassis can be defined by the upper housing, and the structure of the upper housing can vary. The specific structure and shape of the upper housing are not limited here.

[0097] The upper housing includes a first housing 120, which covers the bottom housing 110. A cavity is formed between the first housing 120 and the bottom housing 110. The cavity can be used to install functional modules. The first housing 120 restricts the appearance shape of the chassis, making the chassis body more integrated. The appearance of the chassis can be set to be simple and diverse.

[0098] The upper housing may also include a second housing 130, which is located between the bottom housing 110 and the first housing 120. The second housing 130 can be used to install some functional modules. The second housing 130 can also cooperate with the first housing 120 to connect the chassis to the body.

[0099] In some cases, the first housing 120 can integrate the functions of the second housing 130. That is, the upper housing does not have a second housing 130, the first housing 120 can install some functional modules, and the first housing 120 can be configured to connect the chassis and the body.

[0100] The functional module includes a drive wheel 310 and a suspension mechanism 200. The drive wheel 310 is mounted to the chassis body via the suspension mechanism 200. The drive wheel 310 and the suspension mechanism 200 can be independent modules, facilitating independent disassembly, replacement, and cleaning. Alternatively, the drive wheel 310 can be connected to the suspension mechanism 200, and the drive wheel 310 and the suspension mechanism 200 can be combined to form a suspension drive module.

[0101] The chassis is designed as a comprehensive independent module with self-movement capability, which does not rely on other external devices, thus facilitating debugging. Other structural and functional components can also be mounted on the chassis.

[0102] The functional modules also include omnidirectional wheels, which provide support for the chassis and help overcome obstacles.

[0103] The drive wheel 310 and the omnidirectional wheel form the wheel system of the chassis. The chassis with the drive wheel 310 and the omnidirectional wheel can be used in robots, but is not limited to them. It can also be used in transportation devices.

[0104] refer to Figures 4 to 11 As shown below, the chassis wheel system will be further explained.

[0105] like Figure 11 As shown, the chassis body is provided with a first mounting position 114, a second mounting position 1121 and a third mounting position 1131; the drive wheel 310 is connected to the first mounting position 114 and is used to drive the chassis body to move; the main universal wheel 320 is rotatably connected to the second mounting position 1121; the auxiliary universal wheel 330 is rotatably connected to the third mounting position 1131, and the main universal wheel 320 and the auxiliary universal wheel 330 are provided on at least one side of the rotation axis of the drive wheel 310.

[0106] The drive wheel 310 drives the robot's movement, the main omnidirectional wheel 320 provides support and assists in obstacle crossing, and the auxiliary omnidirectional wheel 330 provides additional support and assists in obstacle crossing. When the main omnidirectional wheel 320 becomes stuck and cannot rotate, the auxiliary omnidirectional wheel 330 provides additional support and assists in obstacle crossing, preventing the main omnidirectional wheel 320 from becoming stuck and affecting the robot's movement.

[0107] The chassis is divided into a front side and a rear side, with the rotation axis of the drive wheel 310 as the boundary. At least one side of the rotation axis of the drive wheel 310 can be understood as at least one side of the front side or the rear side of the chassis. For example... Figure 4 As shown, the front of the chassis is equipped with both main casters 320 and auxiliary casters 330, while the rear of the chassis is equipped with only main casters 320. In some cases, the rear of the chassis may also be equipped with both main casters 320 and auxiliary casters 330.

[0108] When the robot overcomes obstacles, the main omnidirectional wheel 320 contacts the obstacle. When the wheel width of the main omnidirectional wheel 320 is small, or can be understood as a flat wheel, there is a certain probability that the main omnidirectional wheel 320 will get stuck on the obstacle's step surface. In this case, the auxiliary omnidirectional wheel 330 plays a supporting and assisting role in overcoming obstacles. At the same time, the auxiliary omnidirectional wheel 330 can also provide support when the robot makes contact with the ground at the moment of tipping over, thereby increasing the robot's static and dynamic stability.

[0109] The first mounting position 114, the second mounting position 1121, and the third mounting position 1131 are different locations on the chassis body, that is, the drive wheel 310, the main swivel wheel 320, and the auxiliary swivel wheel 330 are installed at different locations on the chassis body. The drive wheel 310, the main swivel wheel 320, and the auxiliary swivel wheel 330 are independently installed on the chassis body. The drive wheel 310, the main swivel wheel 320, and the auxiliary swivel wheel 330 can be independently installed and removed, with strong independence, flexible positioning, and minimal interference between them.

[0110] The third mounting position 1131 is located on at least one side of the second mounting position 1121. The auxiliary omnidirectional wheel 330 plays the role of assisting obstacle crossing and providing auxiliary support on one side of the main omnidirectional wheel 320. The auxiliary omnidirectional wheel 330 can also be located on multiple sides of the main omnidirectional wheel 320, such as the auxiliary omnidirectional wheel 330 being located on at least one side of the left, right and front sides of the active omnidirectional wheel.

[0111] During obstacle crossing, the auxiliary swivel wheel 330 is positioned in front of the main swivel wheel in the direction of travel of the drive wheel 310. This means the auxiliary swivel wheel 330 is further forward than the main swivel wheel 320, allowing it to contact the obstacle first and thus enabling it to overcome the obstacle. This prevents the main swivel wheel 320 from getting stuck. In some cases, it is advisable to avoid placing the third mounting position 1131 directly behind the second mounting position 1121.

[0112] The phrase "the auxiliary swivel wheel 330 is located in front of the main swivel wheel in the direction of travel of the drive wheel 310" can be understood as the auxiliary swivel wheel 330 contacting the obstacle first when encountering an obstacle.

[0113] It should also be noted that "the auxiliary swivel wheel 330 is located in front of the main swivel wheel in the direction of travel of the drive wheel 310" can mean that the auxiliary swivel wheel 330 is always in front of the main swivel wheel 320 during the chassis movement, or that the auxiliary swivel wheel 330 is located in front of the main swivel wheel in at least one of the chassis movement states.

[0114] refer to Figure 11 As shown, the bottom shell 110 is provided with a first mounting position 114, a second mounting position 1121 and a third mounting position 1131.

[0115] Understandably, reference Figures 3 to 9 As shown, in a stable state, the auxiliary omnidirectional wheel 330 is in non-rigid contact with the ground. In the instant of overturning or overcoming obstacles, the auxiliary omnidirectional wheel 330 can form rigid support with the ground, thereby improving the static and dynamic stability of the robot.

[0116] Among them, the auxiliary omnidirectional wheel 330 is not used as a rigid support wheel, and is a non-rigid structure:

[0117] The first type, reference Figure 3 As shown, the auxiliary swivel wheel 330 is suspended at a preset height, meaning the lowest position of the auxiliary swivel wheel 330 is higher than the lowest position of the main swivel wheel 320. The preset height of the auxiliary swivel wheel 330 can be determined based on the obstacle clearance height, which can be determined according to the application environment. The specific method for determining the preset height is not limited. Figure 3 The dotted line indicates that the lowest position of the auxiliary swivel wheel 330 is higher than the lowest position of the main swivel wheel 320.

[0118] The second option is to refer to... Figure 4 and Figure 5As shown, the auxiliary omnidirectional wheel 330 is adapted to switch between a first state and a second state. In the first state, that is, on a flat bottom surface or when the robot is stable, the lowest position of the auxiliary omnidirectional wheel 330 is the same as the lowest position of the main omnidirectional wheel 320. In the second state, that is, when crossing obstacles or tilting, the lowest position of the auxiliary omnidirectional wheel 330 is higher than the lowest position of the main omnidirectional wheel 320.

[0119] In the second state, the lowest position of the auxiliary caster 330 is higher than the lowest position of the main caster 320. This can be achieved in two ways: 1. The auxiliary caster 330 is in elastic contact with the bottom surface, i.e., through the elastic force and limit stroke of the elastic telescopic structure; 2. The auxiliary caster 330 can be adjusted by swinging.

[0120] refer to Figure 4 As shown, in the method of elastic contact between the auxiliary caster 330 and the bottom surface, the auxiliary caster 330 is provided with a telescopic member 331 suitable for telescopic extension and retraction along the height direction. The telescopic member 331 has a simple structure and the adjustment method of the auxiliary caster 330 is convenient.

[0121] The telescopic component 331 may be, but is not limited to, a spring, a damper, or an air cushion.

[0122] refer to Figure 5 As shown, the auxiliary caster wheel 330 is adjusted by swing. The auxiliary caster wheel 330 is equipped with a rotating part 332 and a swing adjustment part 333 rotatably connected to the rotating part 332. The swing adjustment part 333 is equipped with a first wheel body 336, and the rotating part 332 is rotatably connected to the third mounting position 1131. This swing adjustment achieves non-rigid support, allowing the auxiliary caster wheel 330 to have dual position adjustment in both the height and horizontal directions, making its position adjustment more flexible.

[0123] The swing adjustment part 333 may be equipped with a telescopic support member. When the swing adjustment part 333 moves upward relative to the rotating part 332, the telescopic support member is compressed. When the swing adjustment part 333 falls relative to the rotating part 332, the telescopic support member rebounds, which can improve the stability of the swing adjustment part 333 during the adjustment process.

[0124] It should be noted that the auxiliary casters 330 in different positions can achieve non-rigid support through any of the methods mentioned above, and the specific method can be selected according to the needs.

[0125] Understandably, reference Figures 6 to 9As shown, the auxiliary omnidirectional wheel 330 includes an envelope portion 334 and a first wheel body 336 rotatably connected to the envelope portion 334. The envelope portion 334 is located above the first wheel body 336 and surrounds at least a partial area of ​​the first wheel body 336. The envelope portion 334 is constructed with an inclined surface 335, which is inclined towards the first wheel body 336 in a downward direction. The envelope portion 334 protects the first wheel body 336, and the inclined surface 335 of the envelope portion 334 acts as a buffer and assists in overcoming obstacles. When encountering an obstacle at an angle, the inclined surface 335 can act as a buffer when the auxiliary omnidirectional wheel 330 contacts the obstacle, avoiding the vertical shape structure and preventing the robot chassis from getting stuck with the obstacle.

[0126] The inclined surface 335 can surround the first wheel body 336 circumferentially, or the inclined surface 335 can be disposed in a portion of the circumferential region of the envelope portion 334. The first wheel body 336 can rotate 360° relative to the envelope portion 334, and the rotating portion 332 can rotate 360° relative to the chassis body.

[0127] When the auxiliary caster 330 is equipped with a telescopic member 331, the telescopic member 331 can be located above the envelope portion 334 and between the bottom shell 110; when the auxiliary caster 330 is equipped with a swing adjustment portion 333, the envelope portion 334 can be a part of the swing adjustment portion 333, and a telescopic support member is provided between the envelope portion 334 and the shell.

[0128] It is understandable that the inclined surface 335 can be constructed as a plane or an arc. Both planes and arcs can serve as supports and guides. Planar structures are easier to manufacture, while arcs offer greater flexibility and adaptability.

[0129] When the inclined surface 335 is an arc surface, the envelope 334 is provided with an arc-shaped envelope surface, which can also prevent the robot chassis from getting stuck with obstacles.

[0130] It should be noted that the auxiliary caster wheel 330 can be supported by either non-rigid or rigid structures using the envelope 334.

[0131] The ratio of the width of the first wheel to its turning radius is greater than the ratio of the width of the second wheel to its turning radius of the main swivel wheel. The first wheel is less likely to jam, which can solve the problem of the main swivel wheel easily jamming and affecting the movement of the chassis.

[0132] Understandably, the drive wheels 310 are located on the third and fourth sides of the chassis, with the third and fourth sides facing each other. The third and fourth sides are the left and right sides along the direction of travel of the chassis. The main caster wheels 320 are located on the first and second sides of the chassis, with the first and second sides facing each other. The first and second sides are the front and rear sides along the direction of travel of the chassis. The side of the main caster wheels 320 can be a straight surface or an arc-shaped envelope surface.

[0133] The drive wheel 310 is connected to the suspension mechanism 200. The drive wheel 310 has suspension travel and is not a rigid support. The main omnidirectional wheel 320 can provide rigid support and auxiliary support force, thereby improving the stability of the wheel system. The drive wheel 310 can adopt a two-wheel differential wheel system model, and the chassis can realize forward and reverse movement, turning, rotating on the spot, climbing, and overcoming obstacles, while having good movement stability.

[0134] The drive wheels 310 are symmetrically arranged on the left and right sides of the chassis, and the center of the line connecting their wheel tracks (wheel track center) is the robot's rotation center. The symmetrical arrangement results in better structural stability.

[0135] Understandably, reference Figure 3 As shown, the relative positions of the auxiliary omnidirectional wheel 330 and the main omnidirectional wheel 320 are such that, during the robot's movement, the auxiliary omnidirectional wheel 330 contacts the obstacle first compared to the main omnidirectional wheel 320. This can be understood as the auxiliary omnidirectional wheel 330 being positioned in front of the main omnidirectional wheel 320 along the robot's direction of travel. Here, "in front" does not necessarily mean directly in front.

[0136] The auxiliary swivel wheel 330 is located in front of the main swivel wheel 320. In one structural form, the auxiliary rotation center of the auxiliary swivel wheel 330 is located on or outside a preset circumference. The preset circumference is centered on the wheel center of the drive wheel 310 and has a radius equal to the distance from the main rotation center of the main swivel wheel 320 to the center of the preset circumference. This ensures that the auxiliary swivel wheel 330 contacts the obstacle before the main swivel wheel 320, thus solving the problem of the main swivel wheel 320 getting stuck when encountering an obstacle.

[0137] In some cases, refer to Figure 3 As shown, the main rotation center of the main omnidirectional wheel 320 and the wheelbase center of the drive wheel 310 form a first line a, and the auxiliary rotation center of the auxiliary omnidirectional wheel 330 and the wheelbase center of the drive wheel 310 form a second line b. The orthographic projections of the first and second lines onto the horizontal plane form an angle c. This can be understood as the auxiliary omnidirectional wheel 330 being positioned to the left or right of the main omnidirectional wheel 320, allowing it to contact the obstacle first in various situations, thus enabling obstacle crossing. When the robot attempts to cross obstacles at an angle, the frequency of jamming increases, further improving the stability of the robot's chassis.

[0138] At this time, the auxiliary rotation center of the auxiliary omnidirectional wheel 330 is located at the preset circumference, and this included angle can be understood as the central angle of the preset circumference. When the auxiliary omnidirectional wheel 330 is installed on both sides of the main omnidirectional wheel 320 and is not rigidly supported by the ground, the impact force in the opposite direction of the robot's movement when the robot crosses obstacles can be reduced.

[0139] The included angle can be 30°, 45°, 60° or other angles, and the specific value of the included angle is not limited.

[0140] When multiple main casters 320 are provided, each main caster 320 can be equipped with an auxiliary caster 330. The main casters 320 can also share the auxiliary casters 330. The specific selection can be made according to the needs.

[0141] It is understandable that the axis of symmetry of the main caster wheel 320 is perpendicular to the axis of symmetry of the drive wheel 310, resulting in a symmetrical structure with good structural stability.

[0142] In some cases, refer to Figure 3 As shown, the main rotation center of the main omnidirectional wheel 320, projected onto the horizontal plane, lies on the axis of symmetry of the drive wheel 310, forming a cross-shaped wheel system that enhances the robot's static and dynamic stability. A cross-shaped wheel system typically consists of two drive wheels 310 and two main omnidirectional wheels 320. Of course, auxiliary omnidirectional wheels 330 can also be incorporated into other wheel system layouts, such as a front-mounted main omnidirectional wheel 320 and a rear-mounted main omnidirectional wheel 320; or a front-mounted main omnidirectional wheel 320 and a rear-mounted main omnidirectional wheel 320.

[0143] Understandably, the main caster wheel 320 includes a front main caster wheel 320 and a rear main caster wheel 320. Auxiliary caster wheels 330 are symmetrically arranged on both sides of the front main caster wheel 320. The main caster wheels 320 are located on both the front and rear sides, increasing stability by increasing the wheelbase. The front of the chassis is the main area encountering obstacles. The auxiliary caster wheels 330 on both sides of the front main caster wheel 320 solve the problem of the robot getting stuck when crossing obstacles, simplify the chassis structure, and ensure the stability of the robot chassis.

[0144] Here, "front" refers to the direction the chassis is traveling, and "back" refers to the opposite direction.

[0145] In some cases, the auxiliary swivel wheels 330 are symmetrically arranged on both sides of the main swivel wheels 320, with the axis of symmetry of the drive wheel as the axis of symmetry. The symmetrical structure is more stable.

[0146] Of course, the auxiliary casters 330 can also be set at the front and rear of the chassis, that is, the two rear main casters 320 are also equipped with auxiliary casters 330.

[0147] It should be noted that the heights of the first mounting position 114, the second mounting position 1121, and the third mounting position 1131 can be adjusted according to the heights of the drive wheel 310, the main caster wheel 320, and the auxiliary caster wheel 330.

[0148] refer to Figure 11As shown, a first mounting position 114, a second mounting position 1121, and a third mounting position 1131 are provided on the bottom shell 110. The first mounting position 114 is provided on the left and right sides of the bottom shell 110, and the first mounting position 114 is provided with a hole structure. The second mounting position 1121 and the third mounting position 1131 are provided on the front and rear sides of the bottom shell 110. In order to meet the height requirements of the main universal wheel 320 and the auxiliary universal wheel 330, the bottom shell 110 is provided with a second protrusion 112, which forms the second mounting position 1121. The bottom shell 110 is provided with a third protrusion 113, which forms the third mounting position 1131. The height of the second protrusion 112 and the third protrusion 113 can be adjusted according to the height of the main universal wheel 320 and the auxiliary universal wheel 330.

[0149] Below, for reference Figures 11 to 17 As shown, the bottom shell 110 will be further explained.

[0150] refer to Figures 11 to 14 As shown, the bottom shell 110 is constructed as an integral structure. The integral bottom shell 110 structure has high structural strength, facilitates the installation of functional modules, simplifies the structure of the chassis and makes it easy to process. It can also reduce the number of chassis parts and improve the assembly efficiency of the chassis.

[0151] The bottom shell 110 is provided with multiple mounting positions for installing functional modules. Each functional module is installed on the bottom shell 110 through different mounting positions. There is no assembly relationship between functional modules, no cumulative error between systems, simple assembly, higher assembly accuracy, and improved efficiency and pass rate during mass production.

[0152] The functional modules installed on the bottom housing 110 include multiple components such as the battery module 500, drive wheel 310, suspension mechanism 200, main caster wheel 320, auxiliary caster wheel 330, charging module 700, collision avoidance and avoidance module 800, communication module, and second player 600. Of course, the functional modules installed on the bottom housing 110 are not limited to these; other functional modules may also be installed on the bottom housing 110 depending on the chassis's function and application.

[0153] refer to Figure 11 and Figure 12 As shown, the base shell 110 cooperates with multiple functional modules to achieve a many-to-one assembly of multiple functional modules corresponding to one base shell 110. This non-nested assembly facilitates assembly and maintenance, solving the problems of nested robot assembly, where modules are interconnected, making disassembly and assembly inconvenient, and requiring complete overhaul and reconstruction for upgrades. The technical solution of this application is also scalable in design; during upgrades and iterations, functional modules can be upgraded individually and continued to be assembled onto the base shell 110, thereby improving the robot's performance.

[0154] Understandably, the bottom shell 110 is provided with a first protrusion 111, which restricts a fourth mounting position 1111 with an opening, so that the functional module can be installed into the space below the first protrusion 111 through the opening. The upper surface of the first protrusion 111 is set as a fifth mounting position 1112, and the fourth mounting position 1111 and the fifth mounting position 1112 are separated by the first protrusion 111.

[0155] It should be noted that the fourth mounting position 1111 can be understood as the entire space restricted by the first protrusion 111, and the fifth mounting position 1112 can be understood as the space above the first protrusion 111. The functional modules installed at the fourth mounting position 1111 and the fifth mounting position 1112 can be fixedly installed through the various side walls of the first protrusion 111, which is simple in structure and easy to assemble and disassemble.

[0156] As shown in the reference figure, the first protrusion 111 is designed with an opening at the bottom to facilitate the installation and removal of the functional module. A cover 1122 is used at the opening to enclose the functional module installed in the fourth mounting position 1111 below the first protrusion 111, thus placing the functional module within a closed space and reducing interference from the external environment. The cover 1122 may employ a heat-conducting structure to optimize heat dissipation from the battery module 500.

[0157] It is understandable that the third and fourth sides of the bottom shell 110 are provided with first mounting positions 114 for mounting the suspension mechanism 200. The third and fourth sides are opposite sides, and the first protrusion 111 is located between the first mounting positions 114. By making full use of the space between the first mounting positions 114, the internal structure of the chassis can be more compact, the size of the chassis can be minimized, and it is convenient to pass through narrow spaces in the home environment.

[0158] Understandably, the fourth mounting position 1111 is used to install the first functional module, and the fifth mounting position 1112 is used to install the second functional module. The weight of the first functional module is greater than that of the second functional module in order to lower the center of gravity of the bottom shell 110.

[0159] refer to Figure 36As shown, the area below the first protrusion 111 can be used to install the battery module 500. The battery module 500 is relatively heavy, and its placement at the bottom lowers the center of gravity of the chassis and the robot, making the chassis and robot structure more stable and less prone to tipping over. This solves the problems of the robot's high center of gravity, easy tipping, poor impact resistance, and poor static and dynamic stability. The area above the first protrusion 111 (the fifth mounting position 1112) can be used to install other functional modules, such as a player or recorder. The weight of the functional modules installed at the fifth mounting position 1112 should be as low as possible compared to the functional modules installed at the fourth mounting position 1111, which lowers the center of gravity of the chassis and improves its stability. When the battery module 500 is installed below the first protrusion 111, the first protrusion 111 also has through holes for installing power distribution components, facilitating connection between the battery and wiring harness for power supply.

[0160] The length and height of the suspension mechanism 200 can be matched with the first protrusion 111 to lower the center of gravity of the chassis, improve the stability of the chassis, and prevent the chassis and robot from tipping over.

[0161] The fifth mounting position 1112 may, but is not limited to, have four mounting holes.

[0162] It should be noted that the reference Figure 11 and Figure 18 As shown, the drive wheel 310 is mounted on the bottom shell 110 via the suspension mechanism 200. The mounting position for mounting the drive wheel 310 is the first mounting position 114, which means that the suspension mechanism 200 is mounted on the first mounting position 114. The shape of the first mounting position 114 is adapted to the bottom shape of the suspension mechanism 200. With the suspension mechanism 200 mounted on the first mounting position 114, the bottom shell 110 can also support the suspension mechanism 200, ensuring the structural stability of the suspension mechanism 200.

[0163] The first and second sides of the base shell 110 are provided with second mounting positions 1121 for mounting the main caster wheels 320. The first and second sides are two sides arranged along the chassis travel direction, and the first protrusion 111 is located between the second mounting positions 1121. The main caster wheels 320 are provided on the other two sides of the first protrusion 111 to support and guide the movement of the chassis and to enable obstacle crossing.

[0164] The first and second sides of the bottom shell 110 are also provided with auxiliary casters 330. The auxiliary casters 330 work together with the main casters 320 to improve the obstacle crossing function of the chassis.

[0165] It is understood that the bottom shell 110 is also provided with a third mounting position 1131 for mounting the auxiliary universal wheel 330. The auxiliary rotation center of the third mounting position 1131 is located on or outside the preset circumference. The positions of the second mounting position 1121 and the third mounting position 1131 are consistent with the positions of the main universal wheel 320 and the auxiliary universal wheel 330 in the wheel system mentioned above. For details, please refer to the above, and it will not be repeated here.

[0166] In some cases, the preset circumference is centered on the center of the drive wheel's track and has a radius equal to the distance from the center of the second mounting position 1121 to the center of the circle.

[0167] It is understandable that the first side of the bottom shell 110 is provided with a sixth mounting position 115 for mounting at least one of the avoidance mechanism 820 and the collision mechanism 810. The first side is the front side in the direction of travel. The avoidance mechanism 820 has the function of identifying obstacles and trying to avoid collisions with obstacles. Even if the chassis collides with an obstacle, the collision mechanism 810 can still play a collision prevention role.

[0168] The sixth mounting position 115 may, but is not limited to, have eight mounting holes for installing the anti-collision structure.

[0169] It should be noted that when the chassis is equipped with both the avoidance mechanism 820 and the collision mechanism 810, the avoidance mechanism 820 and the collision mechanism 810 can be integrated into an avoidance and collision module 800. The avoidance and collision module 800 is installed in the sixth mounting position 115, and the installation method is simple.

[0170] In some cases, a seventh mounting position 116 for installing a heat dissipation module 400 is provided on the second side of the bottom shell 110. The heat dissipation module 400 can be installed on the rear side of the first protrusion 111. The heat dissipation module 400 can dissipate heat from the heat-generating component 470, prevent heat from accumulating in the chassis, and promote the dissipation of heat in the chassis.

[0171] Among them, the heating element 470 can be a control chip, circuit board or other device.

[0172] In some cases, the second side of the bottom housing 110 is provided with an eighth mounting position 117 for mounting the charging module 700. The seventh mounting position 116 is located on the inner side of the bottom housing 110, and the eighth mounting position 117 is located on the outer side of the bottom housing 110. The charging module 700 is mounted on the outer side of the bottom housing 110, that is, on the outer side of the chassis. The charging module 700 can be independently installed and removed without disassembling the bottom housing 110, which facilitates the installation, removal, and replacement of the charging module 700. The eighth mounting positions 117 can be symmetrically distributed on the outer side of the bottom housing 110.

[0173] In some cases, the bottom shell 110 is provided with a ninth mounting position 1120 for installing a communication module. The ninth mounting position 1120 can be provided with multiple mounting holes, which can be adjusted as needed. The communication module can be at least one of a radar 910, an infrared communication module 920, and a laser positioning module.

[0174] Here, the outer side of the bottom shell 110 is based on the chassis. The bottom shell 110 and the upper shell define the installation space. The side facing the installation space is the inner side, and the side away from the installation space is the outer side.

[0175] refer to Figure 12 As shown, the eighth mounting position 117 is located on the lower surface of the bottom shell 110, making full use of the space below the bottom shell 110, facilitating compatibility with charging piles, and reducing the overall size of the chassis. Of course, the eighth mounting position 117 is not limited to being located on the lower surface of the bottom shell 110, but can also be located on other sides.

[0176] The base shell 110 can also be provided with other mounting positions for mounting sensors or other components, and the hole positions of the mounting positions can be selected as needed. It should be noted that the functional modules are not limited to being connected to the base shell 110 via holes and fasteners, but can also be installed via plug-in or snap-fit ​​methods.

[0177] The chassis body has the functions of installing various functional modules as described above, and also has the functions of water guiding, drainage and waterproofing. The following description uses the bottom shell 110 as an example to illustrate the functions of water guiding, drainage and waterproofing.

[0178] Understandably, reference Figure 1 , Figure 2 , Figures 13 to 17 As shown, the bottom shell 110 is provided with a water guiding section, which slopes downward toward the edge of the bottom shell 110 and is located on at least one side of the first protrusion 111. The water guiding section directs water entering the chassis toward the edge of the bottom shell 110, so that the water is discharged from the chassis through the drainage section 131, thus serving the functions of drainage and waterproofing. The water guiding section can be provided on one or more sides of the bottom shell 110, allowing drainage from one or more sides of the bottom shell 110, providing a flexible structure and wide applicability.

[0179] Understandably, the bottom shell 110 is provided with a partition that extends upward along the water guide section. The partition can separate water on both sides of the partition so that water can be discharged from different areas. It can divert water to allow it to be discharged quickly and prevent water from entering various functional components.

[0180] Understandably, reference Figure 1 and Figure 2As shown, the chassis body has a first opening 121, which faces the first side of the bottom shell 110. This allows water to enter the installation space from the first side of the chassis, and water primarily enters from the first side. (Reference) Figures 13 to 17 As shown, the partition gradually decreases in the direction from the first side to the second side, and the partition gradually prevents water from flowing to the second side, so that water is discharged from the first side as much as possible.

[0181] The first and second sides are the front and rear sides, respectively. When the second player 600 is mounted on the chassis, the first opening 121 corresponds to the playback port of the second player 600. To ensure the sound effect of the playback port, the upper housing is provided with a sound-transmitting element 123, forming the first opening 121 for sound transmission. Of course, the first opening 121 is not limited to being a playback port; it can also be the installation gap of the collision mechanism 810, the transceiver port of the linear light source of the avoidance mechanism 820, or other structures that require an opening.

[0182] Understandably, the water guiding section includes a first water guiding section 118, which is disposed on the first side of the bottom shell 110. The first water guiding section 118 is located below the first opening 121. The first water guiding section 118 receives water entering through the first opening 121 and discharges the water along the edge of the bottom shell 110. A first partition 119 is provided on the first side of the bottom shell 110. The first partition 119 protrudes upward relative to the first water guiding section 118 by a first preset height. The first partition 119 prevents water from flowing to the second side, thereby reducing the impact on other structures. The first water guiding section 118 gradually slopes downward along the edge of the bottom shell 110 from the first partition 119.

[0183] Here, the edge of the bottom shell 110 can be understood as the entire edge of the front side of the first partition 119. (Reference) Figure 15 As shown, the upper surface of the first water guide 118 forms an angle greater than 90° with the vertical plane to facilitate water discharge.

[0184] Understandably, the first partition 119 is provided with mounting holes for installing functional modules. The first partition 119 also has installation and support functions. The multifunctional first partition 119 makes the chassis structure more compact.

[0185] The water guiding section also includes a second water guiding section 1110. A second partition 1113 is provided on the third and fourth sides of the bottom shell 110. At least one side of the second partition 1113 is provided with the second water guiding section 1110. The second water guiding section 1110 can guide water in this area to the edge of the bottom shell 110 and discharge it. The second partition 1113 prevents water from flowing to the other side of the second water guiding section 1110.

[0186] At least one of the front and rear sides of the second partition 1113 is provided with a second water guide 1110.

[0187] The second partition 1113 protrudes upwards along the upper surface of the support plate 1118 at a second preset height, thus preventing water from continuing to flow. A suspension mechanism 200 is installed above the support plate 1118, and the second partition 1113 is inserted into the suspension mechanism 200, which can provide auxiliary positioning for the installation of the suspension mechanism 200, thereby improving the installation efficiency of the suspension mechanism 200.

[0188] The second water guide portion 1110 is at least part of the upper surface of the support plate portion 1118. Therefore, it can also be understood that the second partition portion 1113 protrudes upward along the second water guide portion 1110 by a second preset height. Generally, the second preset height is less than the first preset height.

[0189] refer to Figure 13 and Figure 14 As shown, the second water guiding part 1110 is disposed in front of the second partition part 1113. The second water guiding part 1110 guides the water between the first partition part 119 and the second partition part 1113. The second partition part 1113 prevents the water from continuing to flow backward.

[0190] It is understood that a support plate portion 1118 is provided on the third and fourth sides, and a third water guide portion 1114 is provided on the second side. The support plate portion 1118 and the third water guide portion 1114 are connected. The third water guide portion 1114 is inclined downward towards the position connected to the support plate portion 1118. The upper surface of the support plate portion 1118 is not higher than the edge of the third water guide portion 1114, so that the third water guide portion 1114 can guide water to the upper surface of the support plate portion 1118 and discharge it through the support plate portion 1118.

[0191] In some cases, the third water guide section 1114 is used to install the heat dissipation module 400, which is mounted above the third water guide section 1114.

[0192] It should be noted that the upper surface of the support plate portion 1118 is not higher than the edge of the third water guide portion 1114, which can prevent water on the upper surface of the support plate portion 1118 from overflowing into the third water guide portion 1114. Even if some water overflows into the third water guide portion 1114, the water in the third water guide portion 1114 can flow back to the support plate portion 1118 and be discharged through the support plate portion 1118.

[0193] In this case, a second water guide section 1110 (not shown in the figure) can also be provided on the rear side of the second partition section 1113. The second water guide section 1110 can guide the water flowing out of the third water guide section 1114 to the edge of the bottom shell 110 and discharge it.

[0194] It is understandable that the first protrusion 111 is provided with a third partition 1115 on the side wall facing the support plate 1118. The third partition 1115 is suitable for insertion into the positioning groove 2109 of the suspension mechanism 200. The third partition 1115 can also serve to position the suspension mechanism 200.

[0195] The third partition 1115 may be located between the first partition 119 and the second partition 1113, or the third partition 1115 may be located behind the second partition 1113, depending on the specific needs.

[0196] refer to Figure 30 As shown, when the third partition 1115 deviates from the axis of symmetry of the suspension mechanism 200, the suspension mechanism 200 can be provided with two positioning slots 2109. One positioning slot 2109 is positioned with the third partition 1115 on the left side of the bottom shell 110, and the other positioning slot 2109 is positioned with the third partition 1115 on the right side of the bottom shell 110, making the suspension mechanism 200 more versatile.

[0197] When the bottom shell 110 is provided with a first protrusion 111, the first water guiding part 118 is located on one side of the first protrusion 111, and the first partition part 119 is located between the first water guiding part 118 and the first protrusion 111. The first partition part 119 can prevent water from flowing to the first protrusion 111.

[0198] refer to Figure 13 and Figure 14 As shown, a fourth partition 1116 is connected between the first partition 119 and the first protrusion 111. The first protrusion 111, the first partition 119, and the fourth partition 1116 enclose a drainage area. The first protrusion 111, the first partition 119, and the fourth partition 1116 form a closed ring. The bottom shell 110 is provided with a first drainage hole 1117 corresponding to the position of the drainage area so that water in the drainage area can be discharged through the first drainage hole 1117, thus preventing water from accumulating on the upper surface of the bottom shell 110.

[0199] It should be noted that the cross-sectional area of ​​the first drain hole 1117 can be as small as possible. The first protrusion 111, the first partition 119 and the fourth partition 1116 form a closed ring, so the amount of water entering the drainage area is generally less. The size of the first drain hole 1117 only needs to meet the drainage requirements, so as to reduce dust, debris and other things from entering the installation space through the first drain hole 1117.

[0200] The fourth partition 1116 serves to connect the first partition 119 and the first protrusion 111, and also strengthens and supports the first partition 119.

[0201] By combining the structure of multiple partitions, the installation space inside the chassis can be divided into a front cavity and a rear cavity, and the two are separated by partitions to isolate the water step by step. The water is then discharged through the water guide, so that the water sprayed or splashed can flow away before it reaches the rear cavity, making the rear cavity almost free of water.

[0202] The front cavity can be understood as the space in front of the first partition 119, and the rear cavity can be understood as the space behind the support plate 1118.

[0203] A channel exists between the front and rear cavities, separated by a partition. The first partition 119 is located near the front cavity and is at a higher elevation, allowing only the front wiring to pass through it. The first partition 119 prevents a large amount of water from entering the front cavity, which has a sloping surface; the water flows away along this slope. If a small amount of water crosses the first partition 119 and reaches the second partition 1113, it will be blocked there. The blocked water will then flow outwards from the first protrusion 111 along the second water guide 1110 to the chassis. If a small amount of water enters the rear cavity at this point, it will not cause much impact. The rear cavity is connected to the upper surface of the support plate 1118, and the components in the rear cavity are arranged in a higher space; water from the second water guide 1110 will not affect the components.

[0204] The bottom shell 110 is designed with a hydrophobic structure, that is, the bottom shell 110 can be made of hydrophobic materials or have a hydrophobic coating, which shortens the time that water stays on the bottom shell 110 and ensures that water is quickly discharged from the bottom shell 110.

[0205] Understandably, reference Figures 11 to 14 As shown, the bottom shell 110 is constructed as a heat-conducting structure, enabling it to dissipate heat itself. The heat dissipation feature is that the entire bottom shell 110 provides sufficient heat dissipation area. Even without heat dissipation holes, the bottom shell 110 can conduct heat through its own structure, preventing dust, impurities, and other foreign objects from entering the chassis through the heat dissipation holes. This ensures the cleanliness of the chassis's internal space and also prevents foreign objects from affecting the operation of the functional modules within the chassis, thus helping to extend the chassis's lifespan.

[0206] The bottom shell 110 can be made of aluminum, which has good thermal conductivity and is lightweight. Alternatively, the bottom shell 110 can be made of composite materials, as long as they meet the requirements for heat dissipation and strength. There is no limitation on the material of the bottom shell 110 here.

[0207] Other chassis components that require heat dissipation (such as circuit boards) can have their heat conducted to the outside through the bottom shell 110 for heat dissipation.

[0208] In some cases, refer to Figure 12As shown, the bottom shell 110 is provided with heat sinks 1119 in at least a portion to help dissipate internal heat. Heat sinks 1119 are also provided below the heat dissipation module 400 to assist in heat dissipation.

[0209] In summary, the bottom shell 110 has multiple functions, including mounting functional modules, waterproofing, and heat dissipation.

[0210] Based on the foregoing, the chassis can be waterproofed via the bottom shell 110. Meanwhile, referring to... Figures 18 to 25 As shown, the chassis can also be waterproofed in other ways.

[0211] refer to Figures 20 to 24 As shown, the chassis body is provided with a second opening 122 and a guide section 131. The guide section 131 is located below the second opening 122. The chassis body is connected to a suspension mechanism 200. The suspension mechanism 200 is provided with a connecting port 21014, which is in fluid communication with the second opening 122 through the guide section 131. The second opening 122 is located above the connecting port 21014. Water enters the installation space through the second opening 122 and falls into the guide section 131. The water is then guided through the guide section 131 to the connecting port 21014, thus guiding the water in the guide section 131 into the suspension mechanism 200. The suspension mechanism 200 is a mechanical structure and does not involve electrical control components. Water entering the suspension mechanism 200 will not affect its operation. Water can also be discharged through the gaps in the suspension mechanism 200. This drainage method is simple and does not require additional drainage structures.

[0212] refer to Figure 19 As shown, the second opening 122 may be located, but is not limited to, at the top of the bottom shell 110 body.

[0213] When a small amount of splashed water or other liquid enters the installation space through the second opening 122, it can be discharged directly through the suspension mechanism 200 without entering the bottom shell 110 and without affecting other components of the chassis.

[0214] refer to Figures 20 to 24 As shown, the chassis body includes an upper shell and a bottom shell 110. The upper shell covers the bottom shell 110. The upper shell has a second opening 122 and a guide section 131. The bottom shell 110 is connected to the suspension mechanism 200. The split structure is convenient for disassembly and assembly and has a simple structure.

[0215] When the upper housing includes a first housing 120 and a second housing 130 located below the first housing 120, the first housing 120 covers the second housing 130. The first housing 120 is provided with a second opening 122, and the second housing 130 is provided with a guide portion 131. The guide portion 131 is provided with a second drain hole 132 that communicates with the connecting port 21014. The first opening 121 is located above the guide portion 131. The guide portion 131 overlaps the connecting port 21014 and communicates with the connecting port 21014 through the second drain hole 132. The structure is simple and easy to assemble and disassemble.

[0216] refer to Figure 22 and Figure 25 As shown, the second housing 130 is provided with a clearance groove 133, which is used to avoid the ribs of the first housing 120 to ensure that the first housing 120 and the second housing 130 can be accurately positioned and installed. The clearance groove 133 is connected to the flow guide 131. When there is water in the clearance groove 133, it can flow into the flow guide 131.

[0217] In some cases, the depth of the guide section 131 is greater than the depth of the relief groove 133 to ensure drainage effect and also to ensure the structural strength of the upper shell.

[0218] refer to Figure 20 and Figure 21 As shown, the first housing 120 is provided with a water-blocking part 124 extending upward along the edge of the second opening 122. The water-blocking part 124 extends upward relative to the upper surface of the first housing 120 and can play a certain blocking role, blocking water from the outside of the first housing 120.

[0219] When the chassis is equipped with radar 910, radar 910 is rotatably inserted into the second opening 122. A gap is provided between the outer wall of radar 910 and the wall of the second opening 122. Radar 910 is recessed into the upper housing, ensuring that radar 910 can rotate freely for positioning. Water entering the guide section 131 through the gap can be discharged through the suspension mechanism 200. The installation method of radar 910 is simple and meets the dual requirements of radar 910 movement and installation. It solves the problem of waterproofing inside the chassis after radar 910 is mounted on the chassis due to the rotation of radar 910 itself and the installation wiring.

[0220] In the case where the chassis body includes an upper shell and a lower shell 110, and the upper shell includes a first shell 120 and a second shell 130, the second shell 130 is provided with a mounting groove 134. The mounting groove 134 is located below the second opening 122. The radar 910 is fixed in the mounting groove 134 and there is a gap between the mounting groove 134 and the wall of the mounting groove 134. The mounting groove 134 is connected to the guide section 131.

[0221] Taking the installation of radar 910 at the second opening 122 as an example, the water-blocking part 124 (which can be understood as a flange) can prevent the intrusion of liquid in small amounts. If the water volume is large, water will flow into the chassis through the gap between radar 910 and the second housing. To avoid problems caused by water seeping into this gap, a downward-facing water-blocking ring is added to the installation structure of radar 910. The water-blocking ring prevents water from entering the radar 910 mounting groove 134 through the opening of the radar 910 wiring. The mounting groove 134 is part of the second housing 130, which serves to fix radar 910. The gap between the second housing 130 and radar 910 is sealed by tightening the screws to press the rubber gasket. Since the radar 910 is installed on the second housing 130, the water that seeps in from the second opening 122 will inevitably accumulate at the bottom of the radar 910. If there is a large amount of water, the water will be guided to the second drain hole 132 through the guide part 131. The second drain hole 132 is connected to the suspension mechanism 200 on both sides, so that the water can be discharged from the suspension mechanism 200.

[0222] Based on the foregoing, the water is blocked on the outside of the upper housing by the water-blocking part 124, so that a small amount of splashed water will not enter the chassis through the gap between the upright lidar 910 and the housing; the flow guide part 131 is connected to the suspension mechanism 200, so that even if a large amount of splashed water enters the mounting slot 134 of the lidar 910, it can be smoothly discharged through the flow guide part 131 and the suspension mechanism 200, so that the internal components of the chassis are not affected.

[0223] The "water" mentioned above can be understood as a fluid, and is not limited to pure water, such as fruit juice, vegetable soup, etc.

[0224] In some cases, the functional modules are waterproofed, leaving gaps in the front housing. The waterproof modules are placed in the front housing, while the rear housing is more sealed, housing modules that are difficult to seal. Since there are wiring connections between the front and rear housings, complete separation is impossible. Therefore, multiple partitions are created between the two, with hydrophobic structures in each partition to allow liquid flowing through the front housing to drain smoothly without affecting the rear housing, thus achieving high overall waterproof performance.

[0225] Due to the unsealed upper shell caused by the speaker, collision mechanism 810, etc., the upper shell cannot be completely sealed. The combination of waterproofing of the functional module and waterproofing of the chassis body achieves a better waterproofing effect for the chassis, solving the problem of waterproofing difficulty.

[0226] Waterproofing functional modules refers to making each module as self-sealing as possible, thus giving it a certain degree of waterproofing capability. When functional modules include components such as radar 910, line laser, and speakers, these modules are inherently waterproof. The collision mechanism 810 is designed with a waterproof shell, and the control circuit board is also coated with conformal coating. Waterproof functional modules are preferably located in the front half of the chassis. The control circuit board, communication module, and charging module 700 of the chassis have poor sealing and can be installed in the rear half of the bottom shell 110 for unified handling.

[0227] For functional modules, waterproof versions of sensors and components are selected where possible. For those that cannot be selected, waterproof housings are designed for sealing. Once these modules are waterproof, they can be directly incorporated into the overall device design. For components for which waterproof housings cannot be manufactured, they are placed in a suitable position on the chassis and waterproofed through an overall hydrophobic design.

[0228] Below, for reference Figures 26 to 35 The suspension mechanism 200 is described below. The suspension mechanism 200 can be used for wheel damping, and the wheel can be a drive wheel or a driven wheel. The following description uses the suspension mechanism for drive wheel damping as an example.

[0229] refer to Figure 28 and Figure 29 As shown, the suspension mechanism 200 includes a first support part 202, a second support part 203, and a shock absorber. The first support part 202 is provided with an installation structure for connecting the drive wheel 310. The second support part 203 is used to connect to the chassis body. The shock absorber is disposed between the first support part 202 and the second support part 203. The shock absorber buffers road bumps and improves the stability of the chassis.

[0230] The first support 202 is adapted to move relative to the second support 203 along the extension and retraction direction of the shock absorber. The first support 202 is fixed relative to the drive wheel 310. When the drive wheel 310 encounters an uneven road section or an obstacle, the drive wheel 310 and the first support 202 float up or fall down synchronously. The shock absorber adjusts its extension and retraction to alleviate the impact of the float of the drive wheel 310 on the second support 203, that is, to alleviate the impact of the float of the drive wheel 310 on the stability of the chassis and ensure that the chassis moves smoothly.

[0231] The direction of extension and retraction of the shock-absorbing component can be understood as the direction in which vibration needs to be reduced by extension and retraction, such as the up and down direction or the front and back direction. Here, up and down and front and back are not strictly limited to vertical and horizontal, and can be slightly tilted.

[0232] The mounting structure of the first support 202 can be configured as a hole or a rod. In some cases, the mounting structure is configured as a hole, and the drive wheel 310 is also provided with a hole. The first support 202 and the drive wheel 310 are fixedly connected by fasteners passing through the holes.

[0233] The shock-absorbing component includes a first shock-absorbing part 201, which is located between a first support part 202 and a second support part 203. A first-level protective part 204 is provided on the outside of the first shock-absorbing part 201, which surrounds the first shock-absorbing part 201 and restricts a closed space so that the first shock-absorbing part 201 is placed in the closed space, preventing impurities from entering the first shock-absorbing part 201, avoiding noise caused by contact between larger particles and the first shock-absorbing part 201, and preventing impurities from affecting the cleaning and shock-absorbing effect of the first shock-absorbing part 201.

[0234] In some cases, the first-level protective part 204 is located between the first support part 202 and the second support part 203 so that the first-level protective part 204 can accurately protect the first shock absorber 201. This can reduce the size and weight of the first-level protective part 204, thereby reducing the overall weight of the suspension mechanism 200 and reducing the weight of the chassis.

[0235] It should be noted that the first damping part 201 can be configured as a spring, a damping pad, or a spring and damper structure, but the structural form of the first damping part 201 is not limited to these. Other damping structures that need protection can be used as the first damping part 201.

[0236] refer to Figure 28 and Figure 29 As shown, the first damping part 201 is configured as a helical spring. Dust easily adheres to the surface of the spring, making it inconvenient to clean. By providing a first-level protective part 204 on the outside of the first damping part 201, the first damping part 201 can be kept clean. The extension and retraction direction of the first damping part 201 is vertical, which can be understood as the suspension mechanism 200 being vertically suspended, using a straight up-and-down stroke damping method.

[0237] Below, for reference Figure 28 and Figure 29 As shown, the structure of the first-level protective unit 204 will be further explained.

[0238] It is understood that the first-level protective unit 204 includes a first sleeve 2041 and a second sleeve 2042. The first end of the first sleeve 2041 is connected to the first support 202, and the first end of the second sleeve 2042 is connected to the second support 203. The second ends of the first sleeve 2041 and the second ends of the second sleeve 2042 are interlocked. The first end of the first sleeve 2041 cooperates with the first support 202 to close the first end of the first sleeve 2041, and the first end of the second sleeve 2042 cooperates with the second support 203 to close the first end of the second sleeve 2042. The second ends of the first sleeve 2041 and the second ends of the second sleeve 2042 are closed by interlocking to ensure that the first-level protective unit 204 restricts the enclosed space.

[0239] At this point, the closure is not strictly limited to a seal. There may be installation gaps at various connection points, such as gaps at the socket joints, to ensure that the first sleeve 2041 and the second sleeve 2042 can move relative to each other.

[0240] To ensure the sealing effect of the connection between the first sleeve 2041 and the second sleeve 2042, at least one of the first sleeve 2041 and the second sleeve 2042 can be provided with a first telescopic part. The second end of the first sleeve 2041 and the second end of the second sleeve 2042 can be fixedly connected. The first telescopic part is used to adapt to the extension and retraction of the first shock absorber 201. The structure is simple and the protection effect is better.

[0241] It should be noted that the first telescopic part can be located at a partial position of at least one of the first sleeve 2041 and the second sleeve 2042. Of course, the first-level protective part 204 is not limited to including the first sleeve 2041 and the second sleeve 2042. In this case, the first-level protective part 204 is provided with the first telescopic part, which is adapted to extend and retract along the telescopic direction of the first shock-absorbing part 201. That is, the first-level protective part 204 can also be configured as an integral structure, and the first-level protective part 204 can be provided with a telescopic tube section; the first-level protective part 204 can also be provided with multiple sleeves, one or more of which are provided with the first telescopic part.

[0242] The first telescopic part mentioned above can be configured as a folding telescopic or an elastic telescopic, but is not limited to this, and can be selected according to the specific needs.

[0243] It is understandable that when the first-level protective part 204 includes a first body 2041 and a second body 2042, a first positioning part 2043 is provided at the first end of the first body 2041, and a second positioning part 2044 is provided at the first end of the second body 2042. The two ends of the first shock absorber 201 are respectively positioned at the first positioning part 2043 and the second positioning part 2044. The two ends of the first shock absorber 201 are limited and fixed by the first positioning part 2043 and the second positioning part 2044, which can ensure the connection stability of the first shock absorber 201.

[0244] refer to Figure 28 and Figure 29 As shown, the first positioning part 2043 and the second positioning part 2044 are configured as annular grooves, and the first shock-absorbing part 201 is configured as an elastic member. The end of the elastic member is limited in the annular groove to ensure the stability of the elastic member.

[0245] It should be noted that the end of the first-level protective part 204 can be fixed to the first support part 202 and the second support part 203 by fasteners, making the first-level protective part 204 easy to assemble and disassemble. Alternatively, the first-level protective part 204 can also be supported and abutted against the first support part 202 and the second support part 203 by the elastic force of the elastic element. In other words, the installation method of the first-level protective part 204 is diverse, and the specific method can be selected according to needs. Furthermore, the first-level protective part 204 can be configured as a rigid structure or an elastic structure. A rigid structure can provide auxiliary support, while an elastic structure offers flexibility and variety, and is not limited here; the specific method can be selected according to needs.

[0246] The following is a reference Figure 28 , Figure 29 , Figure 31 and Figure 32 The structure of the first support portion 202 and the second support portion 203 will be further explained as shown.

[0247] Understandably, the second support portion 203 is connected to a guide portion 205, which passes through the first support portion 202. The guide portion 205 guides and limits the movement of the first support portion 202, which floats relative to the second support portion 203, ensuring that the first support portion 202 moves along the guiding direction of the guide portion 205. The first shock absorber portion 201 is sleeved on the outside of the guide portion 205, and the guide portion 205 also guides and provides auxiliary support to the first shock absorber portion 201, ensuring that the first shock absorber portion 201 extends and retracts in a preset direction. The guide portion 205 passes through the inside of the first-level protective portion 204, and the fit between the first-level protective portion 204 and the guide portion 205 keeps the end of the first-level protective portion 204 closed.

[0248] In some cases, the first damping part 201 is located on one side of the first support part 202, and the other side of the first support part 202 is connected to the third sleeve 206. The third sleeve 206 is sleeved on the outside of the guide part 205. The third sleeve 206 protects the guide part 205 on the other side of the first support part 202 to prevent impurities and dust from adhering to the surface of the guide part 205, so as to ensure that the frictional resistance of the relative movement between the guide part 205 and the first support part 202 remains stable, and to ensure that the first support part 202 can float or fall smoothly, thereby ensuring the damping effect of the suspension mechanism 200.

[0249] The guide portion 205 is configured as a columnar structure, and both ends of the guide portion 205 are fixed to the second support portion 203 by fasteners. The second support portion 203 includes a first mounting portion 2031 and a second mounting portion 2032. The first mounting portion 2031 is located above the second mounting portion 2032. The upper end of the guide portion 205 is fixed to the first mounting portion 2031, and the lower end of the guide portion 205 is fixed to the second mounting portion 2032. The first mounting portion 2031 and the second mounting portion 2032 can be configured as plate-like structures. Of course, the structures of the first mounting portion 2031 and the second mounting portion 2032 can be adjusted as needed according to structural requirements.

[0250] The first damping part 201 is located on the upper side of the first support part 202, and the third sleeve 206 is located on the lower side of the first support part 202. However, the relative positions of the first damping part 201 and the third sleeve 206 are not limited to this and can be adjusted according to actual needs. In some cases, the first damping part 201 can be provided on both the upper and lower sides of the first support part 202. In this case, the outer side of the first damping part 201 is provided with a first-level protective part 204, and there is no need to provide the third sleeve 206.

[0251] It is understandable that the first support part 202 is provided with a connecting bearing 207, and the guide part 205 passes through the connecting bearing 207. That is, the first support part 202 and the guide part 205 are connected through the connecting bearing 207 to reduce the frictional resistance of the movement of the first support part 202 relative to the guide part 205.

[0252] When a third sleeve 206 is provided on the other side of the first support 202, the third sleeve 206 is connected to one side of the connecting bearing 207, and the third sleeve 206 cooperates with the connecting bearing 207 to surround the guide 205. At this time, a first damping part 201 is provided on the other side of the connecting bearing 207.

[0253] In some cases, one end of the third sleeve 206 is fitted onto the outside of the connecting bearing 207, and the other end of the third sleeve 206 is fixed to the second mounting part 2032 of the second support part 203, ensuring that the third sleeve 206 surrounds the outside of the guide part 205. This structure is simple and easy to assemble and disassemble. Alternatively, the third sleeve 206 is fixedly connected to the connecting bearing 207. In this case, the third sleeve 206 is provided with a second telescopic part, which is adapted to extend and retract along the telescopic direction of the first shock-absorbing part 201. The cooperation between the third sleeve 206 and the connecting bearing 207 can improve the sealing of the connection, providing better protection and dustproof effect for the guide part 205.

[0254] The third set 206 can be fixed to the second mounting part 2032 by fasteners. The installation method of the third set 206 is simple, but not limited to this. The third set 206 can also be installed by snap-fit ​​or welding.

[0255] Among them, the connecting bearing 207 can be a linear bearing, which can reduce the resistance of the first support part 202 in raising and lowering adjustment.

[0256] The first set 2041, the second set 2042 and the third set 206 mentioned above can be made of soft elastic material or a combination of soft elastic material and hard material to eliminate gaps and achieve better suspension protection effect.

[0257] Understandably, the second support portion 203 is provided with a first limiting portion 208, and the first support portion 202 is limited to its lower limit position by the first limiting portion 208. When the chassis encounters a depression in an uneven ground, the first support portion 202 contacts the first limiting portion 208. At this time, the drive wheel 310 adapts to the environment and always contacts the ground to provide driving force for the chassis operation, thus preventing the drive wheel 310 from slipping.

[0258] The third body 206 surrounds the first limiting part 208. The first limiting part 208 is located outside the guide part 205. When the first support part 202 is connected to the connecting bearing 207, the lower end of the connecting bearing 207 is limited to the first limiting part 208. The first support part 202 is located at the lower limit position. The structure is simple and the connecting bearing 207 is connected.

[0259] The first limiting part 208 can be configured as a block structure or a ring structure. The first limiting part 208 can be a washer. The washer has a certain elasticity and can also play a certain buffering role.

[0260] Understandably, the second support portion 203 is provided with a second limiting portion 209, and the first support portion 202 is limited to its upper limit position by the second limiting portion 209. When the chassis is in a normal flat environment, the first support portion 202 is in contact with the second limiting portion 209. At this time, the drive wheels 310 of the chassis are on the same horizontal plane and the drive wheels 310 are in rigid contact with the ground, ensuring the stability of the chassis.

[0261] When the chassis is equipped with two drive wheels 310 and two main omnidirectional wheels 320, the first support part 202 is at the upper limit position, the drive wheels 310 and the main omnidirectional wheels 320 are on the same horizontal plane, and both the drive wheels 310 and the main omnidirectional wheels 320 are in rigid contact with the ground. When the chassis is in a planar environment, the first support part 202 is at the upper limit position, that is, the suspension mechanism 200 has no upper stroke but has a lower stroke, which ensures the stability of the robot's movement process while also taking into account a certain degree of adaptability to the ground environment.

[0262] When the first support 202 is in the upper or lower limit position, the first sleeve 2041 and the second sleeve 2042 always have an overlapping area, and the linear bearing and the third sleeve 206 also always have an overlapping area, that is, a relatively closed protective space can be formed without affecting the stroke movement.

[0263] In some cases, the second support part 203 is provided with a first mounting part 2031 and a second mounting part 2032. A connecting plate 2033 is provided between the first mounting part 2031 and the second mounting part 2032. The connecting plate 2033 is located outside the guide part 205. The connecting plate 2033 is provided with a second limiting part 209. The second limiting part 209 can limit the first support part 202. The connecting plate 2033 can play a protective role outside the first-level protective part 204.

[0264] In some cases, refer to Figure 31 As shown, connecting plates 2033 are provided on both sides of the first mounting part 2031 and the second mounting part 2032. The first mounting part 2031, the second mounting part 2032 and the connecting plates 2033 form an irregularly shaped closed-loop structure. The second support part 203 has a simple structure and good support stability. The second limiting part 209 includes a limiting plate 2034 protruding from the side wall of the connecting plate 2033 and a pad layer located below the limiting plate 2034. At the upper limit position, the first support part 202 abuts against the pad layer.

[0265] The shock-absorbing components will be explained further below.

[0266] In summary, the shock-absorbing component includes a first shock-absorbing part 201, which includes an elastic element. Multiple first shock-absorbing parts 201 can be arranged in the front-rear direction of the drive wheel 310 to ensure a good shock absorption effect. (Reference) Figure 28 and Figure 29 As shown, two first damping parts 201 are symmetrically arranged in the front and rear directions of the drive wheel 310. The first damping parts 201 are symmetrical about the axis of the drive wheel 310, which is simple in structure and can ensure the stability of the chassis.

[0267] The damping component also includes a second damping part 212, which can be configured as a damping element.

[0268] That is, the suspension mechanism 200 includes a first support part 202, a second support part 203, a damping element and an elastic element. The two ends of the damping element are respectively connected to the first support part 202 and the second support part 203; the two ends of the elastic element are respectively connected to the first support part 202 and the second support part 203. The elastic element is located on at least one side of the damping element. The elastic element cooperates with the damper to improve the stability of the robot when crossing obstacles and reduce the impact of the elastic element oscillation.

[0269] The damping element has a damping force in the compression direction, that is, the damping force of the damping element is upward. This damping force can not only suppress the oscillation generated by the elastic element, but also does not affect the rapid extension and release of the elastic element. The damping element can be a hydraulic damper or a pneumatic damper, and the specific structural form of the damping element is not limited.

[0270] It is understandable that the first support 202 is hinged to one end of the second damping part 212, and the second support 203 is hinged to the other end of the second damping part 212. The second damping part 212 is located between adjacent first damping parts 201. The hinged connection of the second damping part 212 can adapt to the state where the front and rear sides of the first support 202 are not the same height.

[0271] The second damping part 212 includes a damping element, a first hinge 2121 and a second hinge 2122. The first hinge 2121 is located above the damper, and the second hinge 2122 is located below the damper. The first hinge 2121 is hinged to the first mounting part 2031 of the second support part 203, and the second hinge 2122 is hinged to the second mounting part 2032 of the second support part 203. The second damping part 212 has a simple structure and is easy to assemble and disassemble.

[0272] Of course, the second damping part 212 is not limited to balancing the first support part 202 by hinged connection at both ends. It can also ensure the stability of both sides of the first support part 202 by sliding or a combination of sliding and rotation adjustment.

[0273] The first damping part 201 is symmetrically arranged on both sides of the second damping part 212, which can ensure that the two sides of the second damping part 212 are symmetrical and the force is balanced, thereby ensuring the stability of the suspension mechanism 200.

[0274] That is, elastic elements are symmetrically arranged on both sides of the damping element, and the axis of the damping element is collinear with the axis of the drive wheel 310.

[0275] The first damping part 201 is disposed on at least one side of the second damping part 212. That is, the first damping part 201 and the second damping part 212 adopt a separate structure and are installed independently. The first damping part 201 and the second damping part 212 have strong independence and are easy to disassemble and assemble. In other words, the elastic element is disposed on at least one side of the damping element, as described above, the elastic elements are symmetrically disposed on both sides of the damping element.

[0276] Below, for reference Figures 26 to 33 As shown, the second-level protective unit 210 will be further explained.

[0277] It is understood that the suspension mechanism 200 includes a second-level protection section 210, which includes a first shell section 2101. The first shell section 2101 surrounds the first support section 202 and the shock-absorbing component. The first shell section 2101 covers the outside of the second support section 203. The second-level protection section 210 prevents foreign objects from entering the first support section 202, the second support section 203 and the shock-absorbing component.

[0278] refer to Figure 31As shown, when the second support portion 203 is provided with a first mounting portion 2031 and a second mounting portion 2032, the first shell portion 2101 can cover the first mounting portion 2031 and the connecting plate 2033 within it. The second mounting portion 2032 supports the first shell portion 2101. The first shell portion 2101 is configured as a cover with an opening at the lower end, and the second mounting portion 2032 closes this opening to prevent foreign objects from entering the suspension mechanism 200 from the opening at the lower end. The cooperation between the first shell portion 2101 and the second mounting portion 2032 creates a relatively enclosed space within the suspension mechanism 200. Of course, the first shell portion 2101 can also cover the second support portion 203 within it.

[0279] When the suspension mechanism 200 is equipped with a first-level protective section 204 and a second-level protective section 210, the first-level protective section 204 provides precise protection for the shock-absorbing components, and the second-level protection protects the components inside. The first-level protective section 204 is located inside the second-level protective section 210, so the two-level protective sections provide protection and dust protection for the shock-absorbing components.

[0280] Understandably, the second-level protective part 210 also includes a second shell part 2102 connected to the first shell part 2101. The second shell part 2102 is used to cover part of the surface of the drive wheel 310. The second shell part 2102 can protect and shield the drive wheel 310, making the appearance of the chassis more concise.

[0281] In some cases, a partition plate is provided on the side of the first housing 2101 facing the drive wheel 310. The partition plate is located between the first support 202 and the drive wheel 310. The partition plate has holes through which fasteners for fixing the drive wheel 310 can pass, so as to ensure that the drive wheel 310 and the first support 202 can be fixedly connected. The partition plate serves to prevent foreign objects on the side where the drive wheel 310 is located from entering the first support 202, the second support 203, and the shock-absorbing components.

[0282] Understandably, the second-level protection section 210 is equipped with a wiring section, and the wiring inside the chassis can be guided, limited and fixed through the second-level protection section 210, so that the wiring inside the chassis is reasonably distributed.

[0283] refer to Figure 30 and Figure 32 As shown, the second-level protective part 210 is detachably connected to the side wall away from the drive wheel 310 with a first wiring part 2103, and the first wiring part 2103 restricts the first wiring channel 2104.

[0284] The first wiring section 2103 is detachably connected to the first housing section 2101. The sidewall of the first housing section 2101 faces the inner side of the bottom housing 110. The first wiring channel 2104 is adapted to pass through the wire harness between the bottom housing 110 and the first housing section 2101. The first wiring section 2103 is configured as an annular structure with an opening. The open side of the first wiring section 2103 is snapped into the first housing section 2101 for easy assembly and disassembly.

[0285] Understandably, reference Figure 26 As shown, the top surface of the second-level protective section 210 is provided with a second wiring section 2105, which includes a first plate 2106 and a second plate 2107. A second wiring channel 2108 is defined between the first plate 2106 and the second plate 2107. The top surface of the second-level protective section 210 has a large space, which facilitates the routing of various wire harnesses. The first plate 2106 and the second plate 2107 also serve to reinforce the top surface of the second-level protective section 210.

[0286] The first plate 2106 can be configured as a plate extending upward along the edge of the second-level protective part 210, and the second plate 2107 can be configured as a plate connected to the top surface of the second-level protective part 210. The second plate 2107 includes a first plate portion and a second plate portion forming an angle, which can enhance the strength and stability of the second plate 2107.

[0287] The second-level protection section 210 may be provided with at least one of the first wiring section 2103 and the second wiring section 2105, which can be selected according to the needs.

[0288] Below, for reference Figures 32 to 35 The cleaning component 211 will be described as shown. The cleaning component 211 can be used to clean the wheel body. The function of the wheel body is not limited here. It can be a drive wheel or a driven wheel. The cleaning component 211 is used to clean the drive wheel as an example for explanation.

[0289] Understandably, the suspension mechanism 200 is equipped with a cleaning component 211, which includes a cleaning structure facing the wheel body of the drive wheel 310 to clean the wheel body, remove foreign objects from the surface of the wheel body in a timely manner, ensure the cleanliness of the wheel body, and also avoid the impact of particulate matter on the driving stability of the drive wheel 310.

[0290] The cleaning component 211 can be connected to at least one of the second-level protection part 210, the first support part 202 and the second support part 203, so that the cleaning structure faces the wheel body of the drive wheel 310, so as to ensure the cleaning effect on the wheel body. The installation position of the cleaning component 211 is flexible.

[0291] The following explanation will take the example of the cleaning component 211 being installed in the second-level protective unit 210.

[0292] When the second-level protective part 210 is provided with a first shell 2101 and a second shell 2102, both the first shell 2101 and the second shell 2102 can be used to install the cleaning component 211. The second shell 2102 covers the top of the drive wheel 310, and the distance between the second shell 2102 and the drive wheel 310 is small. The cleaning component 211 is connected to the second shell 2102, which facilitates the installation and removal of the cleaning component 211 and also helps to simplify the structure of the cleaning component 211.

[0293] The cleaning component 211 includes a connecting structure connected to the second housing 2102 and a cleaning structure connected to the connecting structure. The cleaning structure is positioned facing the wheel surface of the drive wheel 310. The connecting structure can be connected to the second housing 2102 in various ways, such as by fastener fixing, snap-fitting, plugging, and magnetic attraction, making the structure of the cleaning component 211 flexible.

[0294] The cleaning component 211 is snapped into the second housing 2102, that is, the connecting structure is snapped into the second housing 2102. The cleaning component 211 has good fixation stability and is easy to disassemble and assemble.

[0295] refer to Figure 34 and Figure 35 As shown, the connection structure includes a first insertion part 2112, a second insertion part 2113, and a first snap-fit ​​part 2114. The second insertion part 2113 and the first snap-fit ​​part 2114 are located on opposite sides of the first insertion part 2112. The second shell part 2102 is provided with a third insertion part 21010, a fourth insertion part 21011, and a second snap-fit ​​part 21012. The fourth insertion part 21011 and the second snap-fit ​​part 21012 are located on opposite sides of the third insertion part 21010. The first insertion part 2112 is inserted into the third insertion part 21010, the second insertion part 2113 is inserted into the fourth insertion part 21011, and the first snap-fit ​​part 2114 is snap-fitted into the second snap-fit ​​part 21012. One side of the connecting structure is limited by the insertion of the first insertion part 2112 and the third insertion part 21010, while the other side of the connecting structure is fixed by the snap-fit ​​of the first snap-fit ​​part 2114 and the second snap-fit ​​part 21012. The structure is simple and easy to disassemble and assemble, thus facilitating the cleaning of the cleaning part 211. The second insertion part 2113 and the fourth insertion part 21011 can ensure that the connecting structure and the second shell part 2102 can be quickly positioned.

[0296] When the cleaning component 211 is installed on the chassis, referring to the spatial orientation of the chassis, the opposite side can be understood as the left and right sides or the top and bottom sides of the cleaning component 211.

[0297] A connecting portion 2115 is provided between the first insertion portion 2112 and the first snap-fit ​​portion 2114 to create a gap between them. A protrusion is provided on the side of the first snap-fit ​​portion 2114 opposite to the gap, and this protrusion snaps into the second snap-fit ​​portion 21012, which has a groove or hole. During the disassembly and assembly of the cleaning component 211, pressing the first snap-fit ​​portion 2114 towards the gap causes it to elastically deform, allowing the protrusion to quickly enter the second snap-fit ​​portion 21012, thus achieving engagement.

[0298] refer to Figure 35 As shown, the first snap-fit ​​part 2114 is provided with two protrusions, and a snap-fit ​​groove is formed between the two protrusions. One of the protrusions is inserted into the hole of the second snap-fit ​​part 21012, and the other protrusion is located on the outside of the second snap-fit ​​part 21012. This not only ensures the snap-fit ​​stability, but also provides a point of leverage for the disassembly of the cleaning part 211.

[0299] The first insertion part 2112 is provided with a first reinforcing rib 2116, and the second insertion part 2113 is provided with a second reinforcing rib 21013. The first reinforcing rib 2116 enhances the structural strength of the cleaning part 211, and the second reinforcing rib 21013 strengthens the second shell part 2102. While ensuring structural strength, the volume of the first insertion part 2112 and the second insertion part 2113 can be reduced as much as possible, which helps to reduce the size of the chassis.

[0300] The second housing 2102 may be provided with one or more cleaning components 211, and the position of the cleaning components 211 can be selected as needed.

[0301] In some cases, a cleaning element 211 is provided at the end of the second housing 2102. That is, the cleaning element 211 is located at the lower opening of the second housing 2102. In this case, the cleaning element 211 can also prevent foreign objects from entering the second housing 2102 and can also protect the suspension mechanism 200.

[0302] The ends of the second shell portion 2102 can be understood as the two ends where the second shell portion 2102 forms an opening, but are not limited to the very end; any position near the end can be understood as the end of the second shell portion 2102.

[0303] refer to Figure 34 As shown, cleaning components 211 are provided on both lower sides of the second shell 2102, and both sides of the second shell 2102 are protected by the cleaning components 211.

[0304] The cleaning structure is configured with a brush body 2117, which faces the drive wheel 310. The brush body 2117 cleans the wheel, resulting in a simple structure and good cleaning effect. The brush body 2117 contacts the surface of the wheel to ensure cleaning effectiveness, but a gap can also be left between the brush body 2117 and the wheel to remove larger particles from the wheel surface. Of course, the cleaning structure is not limited to a brush body 2117; it can also be configured for water spray cleaning or air spray cleaning, depending on the specific needs.

[0305] It should be noted that the cleaning component 211 described above can be installed on suspension mechanisms 200 of various structural forms, as well as on suspension drive devices formed by the combination of suspension mechanism 200 and drive wheel 310, and is not limited to the suspension mechanism 200 described above. The suspension mechanism 200 described above can be installed on chassis of various structural forms, and is not limited to the chassis described above.

[0306] The aforementioned drive wheel 310 includes a hub motor, a fixed bracket, and a wheel body. The hub motor is fixedly connected to the first support part 202 through the fixed bracket. The hub motor is used to drive the wheel 310 body to rotate, thereby driving the chassis and robot to move.

[0307] Based on the foregoing, one or more of the aforementioned wheel system, base 110, waterproof structure, suspension mechanism 200, and suspension drive device can be applied to the chassis. The chassis may also have other functions, which will be described below.

[0308] refer to Figures 1 to 41 As shown, this application also provides a chassis, including: a base shell 110 body and functional modules. The chassis body has multiple mounting positions, which can be located on the base shell 110 or the upper shell, depending on the needs. The functional modules are detachably connected to their corresponding mounting positions. The functional modules are connected through the chassis body, and the functional modules are highly independent, allowing for independent assembly and disassembly. The chassis body can carry different functional modules, with no cumulative installation errors between the modules and minimal installation errors. A mounting position can be understood as a portion of the chassis area, and can be a portion of the chassis's perforated structure.

[0309] The functional module includes a battery module 500, a second player 600, and a suspension drive device. Suspension drive devices are located on the third and fourth sides of the chassis body, with the battery module 500 positioned between them. The second player 600 is positioned above the battery module 500. The second player 600 is lighter than the battery module 500, which lowers the chassis's center of gravity.

[0310] The battery module 500 is encased in a plastic shell with a battery connector on the top. Assembly is completed by connecting it to the connector on the main body and then closing the battery cover. The battery shell also has an auxiliary handle for easy battery removal.

[0311] The playback port of the second player 600 faces the first side of the chassis body, which is one case where the playback port is the first opening 121. Water can enter through the first opening 121; the relevant waterproofing solutions can be found above and will not be repeated here.

[0312] With a second player 600 installed in the chassis and a first player installed in the main body, the first player is configured as a mid-high frequency player, and the second player 600 is configured as a subwoofer player. The subwoofer player and the mid-high frequency player together form a sound system with better sound playback effect, which can be applied to robots with audio-visual playback functions.

[0313] The subwoofer player can be a subwoofer speaker, which can be a single unit that integrates the speaker enclosure, speaker, mounting pads, etc. The subwoofer player can achieve a certain degree of waterproofing, and water splashes have little effect on it. It can also be directly disassembled from the chassis.

[0314] A heat dissipation module 400 is provided on the second side of the chassis body. The heat dissipation module 400 dissipates heat from the heat-generating component 470, which can be a circuit board or a control chip. The circuit board can be a combination of a chassis control board and a power control board. This circuit board has many wire harnesses, generates a lot of heat, and needs to be firmly fixed and can prevent water droplet splashing to a certain extent. The heat dissipation module 400 can be assembled into a whole and can be modularly disassembled.

[0315] Combination Figures 36 to 41 As shown, the heat dissipation module 400 is described.

[0316] refer to Figure 40 As shown, the heat dissipation module 400 includes a heat dissipation section 410, a first fan 420, and a second fan 430. The first fan 420 and the second fan 430 are located on opposite sides of the heat dissipation section 410, with the second fan 430 being higher than the first fan 420. The heat dissipation section 410, the first fan 420, and the second fan 430 work together to dissipate heat through a combination of heat conduction and heat convection, dissipating heat downwards to solve the problem of heat generated by the base potentially injuring the user.

[0317] Here, the height of the first fan 420 and the second fan 430 can be understood as the height of the rotation axis, or the maximum height that the fan blades can reach. One of the first fan 420 and the second fan 430 draws in air while the other discharges, ensuring the fluidity of the airflow.

[0318] The heat dissipation unit 410 includes heat dissipation fins 411, which extend laterally and are arranged in multiple ways along the height direction.

[0319] A first mounting plate 412 is provided at one end of the heat dissipation part 410, and a second mounting plate 413 is provided at the other end. The first mounting plate 412 is connected to the first fan 420, and the second mounting plate 413 is connected to the second fan 430. Both the first mounting plate 412 and the second mounting plate 413 have ventilation openings to ensure airflow.

[0320] The heat dissipation module 400 is used to dissipate heat from the heat-generating component 470, and the heat dissipation part 410 corresponds at least to a local area of ​​the heat-generating component 470 to promote heat dissipation.

[0321] refer to Figure 40 As shown, the heat-generating component 470 includes a first control board 471 and a second control board 472. The first control board 471 is a power control device, and the second control board 472 is a chassis main control device, such as a navigation control device. The first control board 471 and the second control board 472 are distributed vertically. The first control board 471 and the second control board 472 are connected to the heat dissipation part 410 through a heat-conducting plate 473. The heat-conducting plate 473 conducts heat to the heat dissipation part 410, and with the cooperation of the heat dissipation part 410 and the fan, heat dissipation is fully achieved.

[0322] A first heat-conducting element 450 is provided between the heat dissipation part 410 and the heat-generating element 470, and a second heat-conducting element 460 is provided between the heat dissipation part 410 and the bottom shell 110 to ensure heat conduction effect. Both the first heat-conducting element 450 and the second heat-conducting element 460 can be made of thermally conductive silicone or other materials with good thermal conductivity.

[0323] The heat dissipation module 400 is also provided with a back plate 440. The back plate 440 is located on the side of the heat-generating element 470 away from the heat dissipation part 410. The height of the back plate 440 is higher than that of the heat-generating element 470. When the heat dissipation module 400 is installed on the bottom shell 110, the back plate 440 faces the first protrusion 111, blocking the water inlet of the second opening 122 from flowing to the heat-generating element 470. The back plate 440 can block water from the heat-generating element 470.

[0324] The backplate 440 is also provided with a wiring channel 441 to facilitate the positioning and guidance of the wiring harness connected to the heating element 470.

[0325] The backplate 440 includes a first limiting block 442 and a second limiting block 443. The first limiting block 442 and the second limiting block 443 restrict the inclined extension of the wiring groove 441 to prevent the wire harness from detaching from the backplate 440 and ensure the fixed stability of the wire harness.

[0326] The functional module includes an avoidance and collision module 800, which is connected to the edge of the chassis body. The avoidance and collision module 800 includes an avoidance mechanism 820 and a collision mechanism 810. The collision mechanism 810 is mounted on the bottom shell 110, and the avoidance mechanism 820 is mounted on the collision mechanism 810. The avoidance mechanism 820 can participate in mapping, avoid obstacles, and stop urgently upon collision.

[0327] The avoidance and collision module 800 includes an avoidance mechanism 820 and a collision mechanism 810. The avoidance mechanism 820 includes a top-mounted radar 910 (such as a lidar 910) and a front-mounted line laser system (such as two dual-transmitter, dual-receiver laser sensors). The radar 910 is used to create an environmental map and avoid obstacles, the line laser system is used to detect low-lying objects, and the collision mechanism 810 is used for protection. When all sensors malfunction or an object suddenly falls in front of the robot, the robot's collision plate is triggered, causing the robot to stop moving. The radar 910 is disassembled and assembled separately, while the line laser system is integrated with the collision mechanism 810 into a single unit. Both the line laser system and the collision mechanism 810 are made as waterproof components, so there is no need to worry about water splashes causing malfunctions after assembly.

[0328] The functional modules include a communication module suitable for interacting with the charging pile. The communication module and the charging module 700 are located on the same side of the chassis body. The communication module here may be equipped with an infrared communication module 920, which is used for communication between the robot and the charging pile and for assisting in charging and positioning. It can be charged and networked through the charging pile. The communication module includes receivers on both sides and a transceiver module in the middle.

[0329] The communication module and charging module 700 can be located at the rear of the chassis body, while the avoidance and collision module is located at the front of the chassis body.

[0330] The chassis body is equipped with a radar 910 and a mounting post 140 suitable for installation with the airframe. The chassis is connected to the airframe through the mounting post 140. Fasteners or other connection structures for connecting the chassis and the airframe can be installed through the mounting post 140. A wiring harness is also installed through the mounting post 140 to enable the chassis to supply power to the airframe, communicate with the airframe, or perform other connection functions between the chassis and the airframe.

[0331] The cross-sectional area of ​​the mounting post 140 gradually decreases towards the radar 910, which reduces the area obstructed by the mounting post 140 on the radar 910 and maximizes the scanning range of the radar 910. The cross-sectional area of ​​the mounting post 140 can be triangular, trapezoidal, or other shapes. Of course, the chassis body can also be equipped with a mounting rod 150 for positioning and limiting, which is simple in structure and easy to assemble and disassemble.

[0332] The chassis is designed with an axisymmetric structure, using the axis of symmetry of the drive wheel 310 as its axis of symmetry. This results in balanced forces on both sides of the chassis, leading to better stability. Different functional modules are arranged in the front and rear directions of the chassis, creating an asymmetrical structure in these directions.

[0333] refer to Figure 38 As shown, a wiring system 1000 is also provided inside the chassis. The wiring system 1000 enables the electrical connection between the power-consuming functional components and the charging module, and also enables the communication connection between the control components and each functional module.

[0334] When the chassis is applied to a home robot, the drive wheels 310 provide good mobility, and the aforementioned wheel system enables obstacle crossing. The modular design of each functional component and optimized installation positions facilitate easy disassembly, assembly, and modular replacement. The chassis is highly integrated and compact, allowing it to navigate narrow spaces and conforming to ergonomic principles. In home applications, the chassis has a low center of gravity, providing excellent static and dynamic stability and high mobility. It also features the ability to detect low-lying objects and create maps, can autonomously recharge, and can be used as an independent module with different upper structures. It can detect small objects on the floor or thresholds, identify objects, and perform obstacle crossing or avoidance. The chassis also provides cooling for the heat-generating component 470.

[0335] When the chassis is mounted on top of the body, it provides stable support for the body (such as the body and head) and flexible movement functions under high center of gravity. It can withstand certain impacts and be pushed in the event of static power failure. It can move during dynamic processes. In addition, the robot has a certain obstacle-crossing ability.

[0336] Through the design of the chassis body's dimensions, weight distribution, wheel arrangement, and suspension mechanism 200, the machine is designed to be less prone to tipping over and resistant to certain impacts when the center of gravity is high, thus achieving good static stability. This enables forward and reverse movement, turning, stationary rotation, hill climbing, and obstacle crossing, while also providing good motion stability. The bottom shell 110 does not have ventilation holes; instead, the heat dissipation module 400 conducts heat from the circuit boards and other heat-generating components 470 to the outside for heat dissipation. The waterproof structure design gives the chassis a certain degree of water resistance, ensuring it is unaffected by liquid splashes.

[0337] The aforementioned functional modules are installed within the structural frame of the chassis body, and the integrated wiring system constitutes the internal structure of the chassis. Besides providing mounting points and support for each module, the chassis body also functions as a heat sink and water channel. The bottom shell is an integrated shell for the robot chassis, possessing advantages such as high structural strength, easy assembly, high assembly precision, and waterproof and heat dissipation capabilities. The bottom shell 110 is made of metal. By placing all the heavier components at the bottom of the chassis and through reasonable arrangement, the chassis's center of gravity is kept low and near the center of rotation, thereby improving chassis stability. After assembling the various chassis modules and connecting the circuits, the upper shell is snapped onto the chassis and tightened to complete the assembly. Power-on testing is then performed, and once everything is normal, the program can be programmed to execute the corresponding tasks, forming the final product. Disassembly involves removing the upper shell to remove each module.

[0338] The above embodiments are for illustrative purposes only and are not intended to limit the scope of this application. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of this application do not depart from the spirit and scope of the technical solutions of this application and should be covered within the scope of the claims of this application.

Claims

1. A bottom shell for a robot chassis, characterized in that, The bottom shell is provided with multiple mounting positions for installing functional modules. The mounting positions include a first mounting position for installing a suspension mechanism and a drive wheel. The first mounting position is located on the third and fourth sides of the bottom shell, and the third and fourth sides are opposite to each other. The mounting positions also include a fourth mounting position and a fifth mounting position. The bottom shell is provided with a first protrusion. The fourth mounting position is located below the first protrusion, and the fifth mounting position is located above the first protrusion. The bottom shell is provided with a water guiding portion, which slopes downward toward the edge of the bottom shell and is located on at least one side of the first protrusion. The bottom shell is provided with a partition portion, which extends upward along the water guiding portion and gradually decreases in the direction from the first side to the second side of the bottom shell, with the first side and the second side being opposite sides. The water guiding portion includes a first water guiding portion and a second water guiding portion. The first water guiding portion is located on the first side of the bottom shell, and the first partition portion is located on the first side of the bottom shell. The third and fourth sides of the bottom shell are provided with second partition portions, and at least one side of the second partition portion is provided with the second water guiding portion. The third and fourth sides are provided with a support plate portion, and the second side is provided with a third water guiding portion. The support plate portion communicates with the third water guiding portion, and the upper surface of the support plate portion is not higher than the edge of the third water guiding portion.

2. The bottom shell of the robot chassis according to claim 1, characterized in that, The first protrusion is located between the first mounting positions, and the bottom shell is provided with a second mounting position for mounting the main caster wheel. The second mounting position is located on at least one side of the rotation axis of the drive wheel.

3. The bottom shell of the robot chassis according to claim 2, characterized in that, The bottom shell is also provided with a third mounting position for installing auxiliary casters, and the third mounting position is located in front of the second mounting position.

4. The bottom shell of the robot chassis according to claim 3, characterized in that, The auxiliary rotation center of the third mounting position is located on or outside a preset circumference. The preset circumference has the center of the wheel track of the drive wheel connected to the first mounting position as its center and the distance from the main rotation center of the second mounting position to the center of the circle as its radius.

5. The bottom shell of the robot chassis according to claim 1, characterized in that, The first side of the bottom shell is provided with a sixth mounting position for installing at least one of the avoidance mechanism and the collision mechanism, the second side of the bottom shell is provided with a seventh mounting position for installing a heat dissipation module, the first side and the second side are arranged opposite to each other, the second side of the bottom shell is provided with an eighth mounting position for installing a charging module, the seventh mounting position is located on the inner side of the bottom shell, and the eighth mounting position is located on the outer side of the bottom shell.

6. The bottom shell of the robot chassis according to claim 1, characterized in that, The first partition is provided with mounting holes for installing the functional modules.

7. The bottom shell of the robot chassis according to claim 1, characterized in that, The first protrusion has a third partition on its side wall facing the support plate, and the third partition is adapted to be inserted into the positioning groove of the suspension mechanism.

8. The bottom shell of the robot chassis according to any one of claims 1 to 5, characterized in that, The bottom shell is constructed as a single, integrally formed heat-conducting structure.

9. A chassis, characterized in that, The system includes a first housing and a bottom shell of a robot chassis as described in any one of claims 1 to 8, wherein the first housing covers the top of the bottom shell, and an installation space for installing the functional module is defined between the first housing and the bottom shell.

10. The chassis according to claim 9, characterized in that, The first functional module is installed in the fourth mounting position, and the second functional module is installed in the fifth mounting position. The weight of the first functional module is greater than the weight of the second functional module.

11. A robot, characterized in that, It includes a body and a chassis as described in claim 9 or 10, the chassis being connected to the underside of the body.

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