A mobile chassis and robot

Abstract

The application belongs to the technical field of robots, and provides a mobile chassis, which comprises a bearing body, a chassis body and a supporting assembly, the chassis body at least comprises a first connecting plate and a second connecting plate, the first connecting plate is movably connected with the second connecting plate; the supporting assembly is arranged between the bearing body and the chassis body, the supporting assembly at least comprises a first supporting piece and a second supporting piece, the first supporting piece is connected with the first connecting plate, the second supporting piece is connected with the second connecting plate, and the first supporting piece and the second supporting piece are movably connected with the bearing body respectively, so that the bearing body can be up and down with the change of the chassis body. The application also provides a robot with the above mobile chassis. The application realizes that the plane formed by the bearing body is basically similar to the bumpy road surface, reduces the jolt degree of the goods above the bearing body, and further improves the safety of the transported goods.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a mobile chassis and a robot. BACKGROUND

[0002] An automated guided vehicle (AGV) is an industrial vehicle / robot that is loaded with goods in an automatic or manual manner, automatically travels according to a set route, and drags the loading platform to a designated location, and then is unloaded in an automatic or manual manner.

[0003] Most of the prior art industrial vehicles / robots adopt a monolithic chassis design. When the automated guided vehicle moves to a position with uneven ground (in a concave-convex shape), the automated guided vehicle will appear in a state of jolting, which will affect the collision between the goods placed on the automated guided vehicle and the goods, or between the goods and the wall of the automated guided vehicle, thereby affecting the safety of the goods. SUMMARY

[0004] The purpose of the embodiment of the application is to provide a mobile chassis and a robot to solve the technical problem that the existing mobile carrier jolts when encountering uneven ground, and affects the safety of the goods placed on the chassis.

[0005] To achieve the above purpose, the technical solution adopted by the application is:

[0006] In a first aspect, the application provides a mobile chassis, comprising a carrier, a chassis main body and a support assembly: the chassis main body at least comprises a first connecting plate and a second connecting plate, the first connecting plate is hinged with the second connecting plate; the support assembly is arranged between the carrier and the chassis main body, the support assembly at least comprises a first support and a second support, the first support is arranged on the first connecting plate, the second support is arranged on the second connecting plate, and the first support and the second support are respectively connected with the carrier in a movable manner, so that the carrier can adapt to the change of the chassis main body and fluctuate up and down.

[0007] The mobile chassis provided by the present application has the advantages that, compared with the prior art, a multi-link structure, i.e., a polygon capable of deforming, is formed by the carrier, the first support, the second support, the first connecting plate and the second connecting plate, so that when a bumpy road is encountered, the first support and the second support are respectively movably connected with the carrier, the angle between the first support and / or the second support and the carrier can be changed to adapt to the slope of the road. At the same time, the plane formed by the carrier is basically similar to the bumpy road, which reduces the bumping degree of the goods placed above the carrier when the mobile chassis encounters an uneven road, thereby improving the safety of the transported goods and effectively preventing the goods from falling off the carrier.

[0008] In an embodiment of the present application, the second connecting plate is provided with a horizontal shaft in the first direction, and the second support has oppositely arranged upper and lower ends in the second direction, the upper end is movably connected with the carrier, and the lower end is sleeved on the horizontal shaft to allow the second support to rotate relative to the horizontal shaft. In this way, a hinged mode is achieved by a simple structure design, and the effect that the carrier deforms (is similar to the shape of the ground) when the mobile chassis encounters a bumpy road is achieved at the lowest cost.

[0009] In an embodiment of the present application, the carrier has a bottom provided with a first rotating shaft and a second rotating shaft, the first support is sleeved on the first rotating shaft, and the second support is sleeved on the second rotating shaft, and the chassis body, the carrier and the support assembly form a multi-link structure. In this way, the linkage assembly is used to realize the effect that a gap exists between the first connecting plate and the second connecting plate, so that the first connecting plate can rotate in two directions (clockwise / counterclockwise) relative to the second connecting plate.

[0010] In an embodiment of the present application, the chassis body is further provided with a linkage assembly; the linkage assembly has oppositely arranged left and right ends in a third direction, the left end is connected with the second connecting plate, and the right end is connected with the first connecting plate; the first connecting plate and the second connecting plate are provided with a gap by the linkage assembly, and the gap is used for relative rotating movement of the first connecting plate and the second connecting plate. In this way,

[0011] In an embodiment of the present application, the linkage assembly includes a mounting seat and a movable arm; the mounting seat is fixedly connected with the first connecting plate, and the mounting seat is provided with a first fixed shaft; one end of the movable arm is sleeved on the first fixed shaft, and the other end is fixedly connected with the second connecting plate. In this way, the first fixed shaft and the movable arm are used to realize the effect that the first connecting plate and the second connecting plate rotate in two directions (clockwise / counterclockwise).

[0012] In one embodiment of the present application, the mobile chassis comprises at least two power wheels symmetrically fixed to the two sides of the first connecting plate; the mounting seat is provided with a second fixed shaft, and the power wheels are mounted on the second fixed shaft. In this way, the linkage assembly achieves the effect of reducing the size of the area used on the chassis body, saving area and reducing cost.

[0013] In one embodiment of the present application, the mobile chassis comprises at least two universal wheels arranged on the first connecting plate and the second connecting plate along the diagonal line of the chassis body. In this way, the universal wheels are arranged to realize the function of turning when the mobile chassis encounters obstacles or corners, and the two universal wheels arranged along the diagonal line of the mobile chassis can make the mobile chassis more balanced / stable during rotation.

[0014] In one embodiment of the present application, the chassis body is further provided with a damping assembly, the damping assembly comprising a floating plate and an elastic member, the floating plate being connected to the first connecting plate and the second connecting plate along a third direction; the elastic member being arranged between the floating plate and the chassis body. In this way, the damping assembly better cooperates with the linkage assembly to achieve the effect of connecting the first connecting plate and the second connecting plate, and to reduce the jolt degree of the mobile chassis as a whole.

[0015] In one embodiment of the present application, the bearing body comprises a connecting plate and a fixing assembly; the connecting plate is provided with two connecting plates arranged at the two ends of the fixing assembly along the third direction; the fixing assembly comprises a first profile and a second profile, the first profile being fixedly connected to the first rotating shaft and the second rotating shaft, and the second profile being arranged on both sides of the first profile. In this way, the weight of the mobile chassis as a whole can be reduced, thereby reducing the production cost, and in addition, the relative rotation difficulty of the first connecting plate and the second connecting plate can be reduced.

[0016] In a second aspect, the present application provides a robot comprising the mobile chassis of any one of the above embodiments.

[0017] Since the robot uses the mobile chassis of any one of the above embodiments, it at least has the beneficial effects of the above embodiments, which will not be repeated here.

[0018] In one embodiment of the present application, the robot further comprises a shell and a control panel, the shell being arranged on the outer circumferential side of the mobile chassis, and the control panel being in communication connection with the control system in the mobile chassis. In this way, the control panel and the mobile chassis are in communication connection, which is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on these drawings.

[0020] Figure 1 The overall structure schematic diagram of one embodiment of the mobile chassis provided by the present application;

[0021] Figure 2 The overall structure schematic diagram of another embodiment of the mobile chassis provided by the present application;

[0022] Figure 3 The structure schematic diagram of the second support in one embodiment of the mobile chassis provided by the present application;

[0023] Figure 4 The structure schematic diagram of the support assembly in one embodiment of the mobile chassis provided by the present application;

[0024] Figure 5 The structure schematic diagram of the linkage assembly in one embodiment of the mobile chassis provided by the present application;

[0025] Figure 6 The partial enlarged schematic diagram of Figure 5 ;

[0026] Figure 7 The overall structure schematic diagram of another embodiment of the mobile chassis provided by the present application;

[0027] Figure 8 The top view of Figure 7 ;

[0028] Figure 9 The structure schematic diagram of the mobile chassis with the damping assembly in one embodiment provided by the present application;

[0029] Figure 10 The structure schematic diagram of the damping assembly of the mobile chassis provided by the present application;

[0030] Figure 11 The overall structure schematic diagram of the robot provided by the present application.

[0031] In the drawings, various reference signs represent:

[0032] 100-carrier; 110-bottom; 120-first rotating shaft; 130-second rotating shaft; 140-connecting plate; 150-fixing assembly; 151-first profile; 152-second profile; 160-tray;

[0033] 200 - chassis body; 210 - first connecting plate; 220 - second connecting plate; 221 - horizontal shaft; 230 - linkage assembly; 231 - left end; 232 - right end; 233 - gap; 234 - mounting seat; 234a - first fixing shaft; 234b - limiting block; 234c - second fixing shaft; 235 - movable arm;

[0034] 300 - support assembly; 310 - first support; 320 - second support; 321 - upper end; 322 - lower end;

[0035] Y - first direction; Z - second direction; X - third direction;

[0036] 400 - power wheel;

[0037] 500 - universal wheel;

[0038] 600 - damping assembly; 610 - floating plate; 611 - first guide rod; 612 - second guide rod; 613 - limiting plate; 620 - elastic member;

[0039] 700 - sensing assembly;

[0040] 800 - power supply assembly; 810 - communication assembly;

[0041] 900 - housing;

[0042] 1000 - control panel. DETAILED DESCRIPTION

[0043] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0044] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0045] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0046] Referring to Figure 1 and Figure 2 In one embodiment of the present application, a mobile chassis is provided, which comprises a bearing body 100, a chassis body 200 and a support assembly 300; the chassis body 200 comprises at least a first connecting plate 210 and a second connecting plate 220, the first connecting plate 210 is hinged to the second connecting plate 220; the support assembly 300 is arranged between the bearing body 100 and the chassis body 200, the support assembly 300 comprises at least a first support 310 and a second support 320, the first support 310 is arranged on the first connecting plate 210, the second support 320 is arranged on the second connecting plate 220, and the first support 310 and the second support 320 are respectively movably connected to the bearing body 100, so that the bearing body 100 can be raised and lowered to adapt to the change of the chassis body 200.

[0047] The bearing body 100 refers to a lifting component arranged on the mobile chassis for placing and transporting goods. In order to place goods with large weight, the bearing body 100 can be made of materials with high hardness and strength, such as profiled steel or solid steel, which are not limited here. The bearing body 100 can be integrated or split, and at least part of the area is connected to the first support 310 and the second support 320, so that the bearing body 100, the first support 310, the second support 320, the first connecting plate 210 and the second connecting plate 220 form a polygonal structure that can be deformed, so that the bearing body 100 can adapt to the change of the included angle between the first connecting plate 210 and the second connecting plate 220.

[0048] The chassis body 200 refers to a component arranged on the mobile chassis close to the ground, which is used to place / support the parts in the mobile chassis, and make the parts have a distance from the ground, so as to facilitate the flexible movement of the mobile chassis on the ground. The chassis body 200 in the embodiment is multi-segmented, which is used to solve the problem that the traditional power transport robot with an integrated chassis body 200 is easy to have the driving wheel floating when encountering uneven ground. The shape and material of the chassis body 200 are not limited here, as long as they meet the implementation principle in the embodiment and are within the protection scope of the embodiment.

[0049] Support assembly 300 refers to the component for pulling the distance between chassis body 200 and carrier 100 in order to protect the electronic components such as circuit board and sensor in the mobile chassis. When the mobile chassis walks on the plane, support assembly 300 can be vertically set between chassis body 200 and carrier 100, or can be angularly connected with chassis body 200 / carrier 100. When the mobile chassis encounters bumpy road (uneven road), support assembly 300 and chassis body 200 / carrier 100 have at least one hinged point to adapt to the angle change of chassis body 200.

[0050] Chassis body 200 includes at least first connecting plate 210 and second connecting plate 220. In the present application, chassis body 200 is a multi-segment structure, which can include two connecting plates, three connecting plates, four connecting plates, or the like. The number of connecting plates included in chassis body 200 is not specifically limited. In order to facilitate the description and be simple and clear, in one scheme provided in the present example, chassis body 200 includes first connecting plate 210 and second connecting plate 220. First connecting plate 210 is a front plate of chassis body 200, and second connecting plate 220 is a rear plate of chassis body 200. First connecting plate 210 and second connecting plate 220 are hingedly connected. Through the hinge connection, first connecting plate 210 and second connecting plate 220 can realize relative rotation to adapt to the angle change of the current relative to the horizontal plane when encountering bumpy road (uneven road). For example, when the mobile chassis encounters a convex road (the included angle between the convex surface and the horizontal plane is less than 15°), first connecting plate 210 rotates clockwise along the hinge position with second connecting plate 220 by several unit angle values to climb the convex road. Unlike the traditional mobile chassis like a car, the whole chassis adapts to the slope change, which reduces the bumping degree of the mobile chassis when encountering the slope problem and improves the safety of transporting goods. The hinge connection between first connecting plate 210 and second connecting plate 220 can be connected through a hinge chain, can be connected through a hinge, or can be connected through an external connecting device to realize the relative rotation of the two, and the like. The specific connection mode is not limited herein. The schemes that can realize the action principle in the present example are within the protection scope, and will not be illustrated one by one.

[0051] Please refer to Figure 1 and Figure 2The support assembly 300 comprises a plurality of supporting members for supporting the gap between the carrier 100 and the chassis body 200, and can comprise a supporting member connecting the first connecting plate 210 and the carrier 100, and a supporting member connecting the carrier 100 and the second connecting plate 220. There can also be a plurality of supporting members for supporting the distance between the first connecting plate 210 and the carrier 100, and / or a plurality of supporting members for supporting the distance between the carrier 100 and the second connecting plate 220. Therefore, in order to facilitate the description of the operation mechanism of the embodiment, the support assembly 300 at least comprises a first supporting member 310 and a second supporting member 320, the first supporting member 310 is connected to the first connecting plate 210, and the second supporting member 320 is connected to the second connecting plate 220, and the first supporting member 310 and the second supporting member 320 are respectively connected to the carrier 100, so that the carrier 100 can be adapted to the change of the chassis body 200 and can be up and down. Referring to Figure 1 and Figure 2 The first supporting member 310 can be one or more supporting rods / supporting plates, and / or the second supporting member 320 can be one or more supporting rods / supporting plates. In order to improve stability, the embodiment is described by taking the first supporting member 310 and the second supporting member 320 each comprising two supporting rods as an example, as shown in Figure 2

[0052] It is worth noting that when the first supporting member 310 and the second supporting member 320 each comprise two supporting rods, the carrier 100 can be U-shaped, O-shaped, S-shaped, or multi-segmented, so as to ensure that the carrier 100 at least has a part of the structure that can be connected to the oppositely arranged first supporting member 310 and the second supporting member 320.

[0053] In the embodiment, when the mobile chassis encounters a bumpy road (uneven road surface), the first connecting plate 210 will rotate counterclockwise / clockwise along the position hinged to the second connecting plate 220 to adapt to the bumpy road, so that the first supporting member 310 rotates, and the second supporting member 320 and the carrier 100 form a surface that also rotates, so that the carrier 100 forms a surface that deforms and substantially conforms to the bumpy road surface.

[0054] ​The mobile chassis provided by the embodiment has the beneficial effect that, compared with the prior art, a polygon capable of deformation is formed by the carrier 100, the first support 310, the second support 320, the first connecting plate 210 and the second connecting plate 220, so that when a bumpy road is encountered, the slope of the road can be adapted by changing the included angle between the first support 310 and the second support 320, and the carrier 100 can be deformed to adapt to the change in the included angle, so that the plane formed by the carrier 100 is basically similar to the bumpy road, thereby reducing the bumping degree of the goods placed above the carrier 100 when the mobile chassis encounters an uneven road, and further improving the safety of the transported goods (safety refers to reducing the collision between goods, and the above collision is similar to the up-and-down collision between a passenger and a car seat when a car encounters a bumpy road), and effectively preventing the goods from falling off the carrier 100.

[0055] As shown in FIG. 1, Figure 3 In one embodiment provided by the application, the second connecting plate 220 is provided with a horizontal shaft 221 in the first direction Y, and the second support 320 is provided with an upper end 321 and a lower end 322 arranged oppositely in the second direction Z, the upper end 321 is movably connected with the carrier 100, and the lower end 322 is sleeved on the horizontal shaft 221, so as to allow the second support 320 to rotate relatively along the horizontal shaft 221.

[0056] The first direction Y refers to the direction along the width direction of the mobile chassis in the drawing. In order to facilitate the description of the structure, the direction in the drawing is positive, the positive direction is forward, and the negative direction is backward.

[0057] The second direction Z refers to the direction along the height direction of the mobile chassis in the drawing. In order to facilitate the description of the structure, the direction in the drawing is positive, the positive direction is upward, and the negative direction is downward.

[0058] The horizontal shaft 221 refers to a shaft member fixed on the second connecting plate 220 in the first direction Y. The horizontal shaft 221 can be fixed on the second connecting plate 220 by a fixing member, or can be fixed on the second connecting plate 220 by welding. The specific fixing manner is not limited to the above two manners, and other realizable manners are not exemplified one by one. It should be noted that no matter which fixing manner is adopted, the horizontal shaft 221 and the second connecting plate 220 need to have a height difference, so that the second support 320 can still produce relative rotation with respect to the horizontal shaft 221 after being sleeved on the horizontal shaft 221.

[0059] The second support 320 has oppositely arranged upper end 321 and lower end 322 along the second direction Z, the upper end 321 refers to the end face of the second support 320 above the second direction Z, and the lower end 322 refers to the end face of the second support 320 below the second direction Z. The upper end 321 is movably connected with the carrier 100, and the movable connection can be a hinged chain connection, a hinge connection, etc., not limited to the above two examples, and is not limited here. The lower end 322 is sleeved on the horizontal shaft 221, so that the second support 320 can rotate relative to the horizontal shaft 221 along the sleeving position.

[0060] It is worth mentioning that after the lower end of the second support 320 in the embodiment is sleeved on the horizontal shaft 221, it needs to be inserted on the second connecting plate 220, so that when the second support 320 rotates relative to the horizontal shaft 221, the interference problem between the second support 320 and the second connecting plate 220 is reduced.

[0061] In an embodiment provided by the embodiment, the second connecting plate 220 is hinged with the lower end 322 of the second support 320 through the horizontal shaft 221, so as to better realize that when the moving chassis encounters a bumpy road, the angle between the second connecting plate 220 and the first connecting plate 210 is increased when the moving chassis rotates relative to the first connecting plate 210, the similarity between the surface formed by the carrier 100 and the shape of the bumpy road is improved, and the safety of the transported goods on the moving chassis when encountering the bumpy road is improved.

[0062] As shown in Figure 4 In an embodiment provided by the application, the carrier 100 has a bottom 110, the bottom 110 is provided with a first rotating shaft 120 and a second rotating shaft 130, the first support 310 is sleeved on the first rotating shaft 120, and the second support 320 is sleeved on the second rotating shaft 130. The chassis body 200, the carrier 100 and the support assembly 300 form a multi-linkage structure.

[0063] The bottom 110 refers to the end face of the carrier 100 along the first direction Y, which faces the chassis body 200.

[0064] The first rotating shaft 120 refers to the shaft member sleeved on the first support 310 along the second direction Z, and can rotate clockwise / counterclockwise relative to the first support 310, thereby driving the carrier 100 to rotate clockwise / counterclockwise.

[0065] The second rotating shaft 130 refers to the shaft member sleeved on the second support 320 along the second direction Z, and can rotate clockwise / counterclockwise relative to the second support 320, thereby driving the carrier 100 to rotate clockwise / counterclockwise.

[0066] In one embodiment provided in the embodiment, the first support 310 is fixedly / movably connected to the first connecting plate 210, the second support 320 is indirectly hinged to the second connecting plate 220 through the horizontal shaft 221, the first connecting plate 210 is hinged to the second connecting plate 220, the first support 310 is movably connected to the carrier 100 through the first rotating shaft 120, and the second support 320 is movably connected to the carrier 100 through the second rotating shaft 130.

[0067] In the embodiment, the first support 310 is indirectly hinged to the carrier 100 through the first rotating shaft 120, and the second support 320 is indirectly hinged to the carrier 100 through the second rotating shaft 130. In the embodiment, the hinged mode is realized by a simple structure design, so that the carrier 100 can be deformed (similar to the shape of the ground) when the second connecting plate 220 and the first connecting plate 210 form an angle to adapt to the bumpy road after the mobile chassis encounters the bumpy road at the lowest cost.

[0068] Please refer to Figure 5 and Figure 6 In one embodiment provided in the application, the chassis body is further provided with a linkage assembly 230; the linkage assembly 230 has oppositely arranged left and right ends 231 and 232 along the third direction X, the left end 231 is connected to the second connecting plate 220, and the right end 232 is connected to the first connecting plate 210; the first connecting plate 210 and the second connecting plate 220 are provided with a gap 233 through the linkage assembly 230, and the gap 233 is used for relative rotating movement of the first connecting plate 210 and the second connecting plate 220.

[0069] The linkage assembly 230 refers to a component for connecting the first connecting plate 210 and the second connecting plate 220, and enabling relative rotation between the first connecting plate 210 and the second connecting plate 220. Therefore, at least one end of the linkage assembly 230 is hingedly connected to the chassis body 200, which can be hingedly connected between the linkage assembly 230 and the first connecting plate 210, hingedly connected between the linkage assembly 230 and the second connecting plate 220, or hingedly connected with the first connecting plate 210 and the second connecting plate 220 respectively. The above-mentioned hinged connection can be direct hinged connection between the two, or indirect hinged connection through a third component. The linkage assembly 230 has oppositely arranged left and right ends 231 and 232 along the third direction X, the left end 231 is connected to the second connecting plate 220, and the right end 232 is connected to the first connecting plate 210.

[0070] The third direction X refers to the direction of the length of the mobile chassis in the drawing. In order to facilitate the description of the structure, the direction in the drawing can be positive, the positive direction is right, and the negative direction is left.

[0071] The gap 233 refers to the distance between two adjacent sides of the first connecting plate 210 and the second connecting plate 220 after they are connected by the linkage component 230 when the chassis body 200 is on a horizontal plane. In other words, the distance value of the gap 233 is limited by the linkage component 230. By setting the gap 233, the first connecting plate 210 and the second connecting plate 220 can rotate relative to each other. Only when the gap 233 is present can the first connecting plate 210 rotate clockwise / counterclockwise with the second connecting plate 220. If the first connecting plate 210 and the second connecting plate 220 have no gap or partially overlap, the first connecting plate 210 can only rotate in one direction relative to the second connecting plate 220.

[0072] In this embodiment, a gap 233 is created between the first connecting plate 210 and the second connecting plate 220 through a linkage component, which enables the first connecting plate 210 to rotate in both directions (needle / counterclockwise) relative to the second connecting plate 220, thereby improving the usability of the mobile chassis.

[0073] like Figure 6 As shown, in one embodiment provided by this application, the linkage component 230 includes a mounting base 234 and a movable arm 235. The mounting base 234 is disposed on the first connecting plate 210, and the mounting base 234 is provided with a first fixed shaft 234a along the first direction Y. The fixed end of the movable arm 235 is sleeved on the first fixed shaft 234a, and the free end of the movable arm 235 is fixedly connected to the second connecting plate 220.

[0074] Mounting base 234 is used to fix the position of linkage component 230 on chassis body 200. It can be set on the first connecting plate 210 or the second connecting plate 220. Since the setting methods are similar, for ease of explanation, the mounting base 234 is set on the first connecting plate 210 as an example.

[0075] The first fixed shaft 234a is a component used to indirectly hinge the linkage assembly 230 to the first connecting plate 210. The first fixed shaft 234a is fixed on the mounting base 234, and the movable arm 235 is sleeved on the first fixed shaft 234a. Since the first fixed shaft 234a is fixedly set, when an external force is applied to the first connecting plate 210, the first fixed shaft 234a does not rotate, but the movable arm 235 rotates relative to the first fixed shaft 234a.

[0076] The movable arm 235 is a main component used to connect the first connecting plate 210 and the second connecting plate 220 and to determine the size of the gap between the first connecting plate 210 and the second connecting plate 220.

[0077] In an embodiment, a bearing is arranged between the first fixed shaft 234a and the movable arm 235, so that the movable arm 235 can move more flexibly relative to the first fixed shaft 234a.

[0078] In an embodiment, a damping member is arranged between the first fixed shaft 234a and the movable arm 235, so that the movable arm 235 can swing more stably relative to the first fixed shaft 234a.

[0079] In an embodiment, a limiting block 234b is arranged on the mounting seat 234, and the limiting block 234b is arranged on the side of the movable arm 235 that is not constrained, so as to prevent the movable arm 235 from falling off the first fixed shaft 234a. That is, the movable arm 235 is completely constrained in the first direction Y by the limiting block 234b and the mounting seat 234, and has no possibility of movement in the first direction Y. The movable arm 235 can only rotate relative to the first fixed shaft 234a.

[0080] In this embodiment, the first fixed shaft 234a and the movable arm 235 are combined to achieve the effect of bidirectional (clockwise / counterclockwise) rotation between the first connecting plate 210 and the second connecting plate 220.

[0081] Please refer to Figure 6 , Figure 7 and Figure 8 In an embodiment, the mobile chassis includes at least two power wheels 400, which are symmetrically fixed to the two sides of the first connecting plate 210; the mounting seat 234 is provided with a second fixed shaft 234c, and the power wheels 400 are mounted on the second fixed shaft 234c.

[0082] The power wheel 400 refers to a component for providing walking power to the mobile chassis. The power wheel 400 can be a single rudder wheel type, a double rudder wheel type, or other types, which are not specifically limited here.

[0083] Please refer to Figure 8 The mobile chassis needs to be driven by the power wheel 400 to move forward / backward. In order to maintain balance, the mobile chassis includes at least two power wheels 400. Therefore, the mobile chassis can have two power wheels 400, four power wheels 400, or more, which are not specifically limited here. In order to illustrate the specific structure of this embodiment, two power wheels 400 are taken as an example for illustration, but the structure expressed in the drawings is not limited.

[0084] The two power wheels 400 are symmetrically arranged on the two sides of the first connecting plate 210, so as to provide stable forward movement of the mobile chassis and improve the safety of transporting goods.

[0085] The second fixed shaft 234c refers to a shaft member for fixing the power wheel 400 to the chassis body 200.

[0086] The mounting seat 234 is provided with an irregularly shaped mounting hole for buckling the second fixing shaft 234c to the mounting seat 234, and the mounting hole limits the rotation direction of the second fixing shaft 234c, so that the second fixing shaft 234c is constrained in the mounting hole and cannot rotate relative to the mounting hole, so that when the power wheel 400 rotates, the mobile chassis can first walk on the ground.

[0087] In the embodiment, the power wheel 400 is fixed on the mounting seat 234, so that the mounting seat 234 has the functions of fixing the power wheel 400 and limiting the movement of the arm 235, and therefore, the linkage assembly 230 can reduce the size of the area used on the chassis body 200, save the area, and reduce the cost.

[0088] As shown in Figure 8 , in an embodiment of the present application, the mobile chassis includes at least two universal wheels 500, and the two universal wheels 500 are respectively arranged on the first connecting plate 210 and the second connecting plate 220 along the diagonal line of the chassis body.

[0089] The universal wheel 500 refers to a component installed at the bottom of the mobile chassis (the mobile chassis moves along the third direction X) and can rotate horizontally by 360° under dynamic load or static load.

[0090] The mobile chassis can be provided with a plurality of universal wheels 500, and each universal wheel 500 is arranged on the first connecting plate 210 and the second connecting plate 220. In order to make the mobile chassis more balanced / stable during rotation, the mobile chassis is provided with at least one universal wheel 500 on the first connecting plate 210 and the second connecting plate 220, so as to realize the turning function of the mobile chassis. Therefore, the mobile chassis includes at least two universal wheels 500, and the two universal wheels 500 are respectively arranged on the first connecting plate 210 and the second connecting plate 220.

[0091] In the embodiment, the universal wheel 500 is arranged to realize the turning function of the mobile chassis when encountering obstacles or corners, and the two universal wheels 500 are arranged along the diagonal line of the mobile chassis, so that the mobile chassis is more balanced / stable during rotation.

[0092] Please refer to Figure 9 and Figure 10 , in an embodiment of the present application, the chassis body is further provided with a damping assembly 600, and the damping assembly 600 includes a floating plate 610 and an elastic member 620. The floating plate 610 is connected to the first connecting plate 210 and the second connecting plate 220 along the third direction X, respectively. The elastic member 620 is arranged between the floating plate 610 and the chassis body 200.

[0093] As shown in Figure 10As shown, the floating plate 610 refers to a component for connecting the first connecting plate 210 and the second connecting plate 220, and the floating plate 610 can be an integral component in a U shape or a split component, which is not specifically limited here. In order to clearly describe the function and form of the floating plate 610, the split component is taken as an example in the embodiment, and the following description is made. The floating plate 610 can include a first guide rod 611, a second guide rod 612, and a limiting plate 613. The first guide rod 611 is arranged on the first connecting plate 210, the second guide rod 612 is arranged on the second connecting plate 220, the first guide rod 611 and the second guide rod 612 pass through both ends of the limiting plate 613 and are sleeved on the limiting plate 613, and the first guide rod 611 and the second guide rod 612 are used to connect the first connecting plate 210 and the second connecting plate 220.

[0094] The elastic member 620 refers to a component capable of elastic deformation, is sleeved on the floating plate 610 (for example, when the floating plate 610 adopts the above-mentioned split structure, the elastic member 620 is sleeved on the first guide rod 611 or the second guide rod 612), and is used to reduce the vibration between the first connecting plate 210 and the second connecting plate 220 when encountering a bumpy road section. The elastic member 620 can be a spring, can be a rubber with elasticity, or can be a component with elastic deformation in a hollow shape, which is not specifically limited here. In the embodiment, the spring is taken as an example, which is illustrated in the drawings.

[0095] It should be noted that, taking an implementable manner provided in the embodiment as an example, the elastic member 620 can be arranged on the first guide rod 611, can be arranged on the second guide rod 612, or can be arranged on the first guide rod 611 and the second guide rod 612. The example provided in the drawings is only one of the above-mentioned manners, but is not limited to the implementable manner given in the drawings, which is not specifically limited here.

[0096] It is worth mentioning that, in order to better play a damping effect, a plurality of damping assemblies 600 can be arranged along the first direction Y of the mobile chassis, which can achieve two effects:

[0097] First, the damping assemblies 600 can better cooperate with the linkage assembly 230 to achieve the effect of connecting the first connecting plate 210 and the second connecting plate 220;

[0098] Second, the damping assemblies 600 can better alleviate the relative vibration between the first connecting plate 210 and the second connecting plate 220 to reduce the overall bumping degree of the mobile chassis.

[0099] In order to facilitate the description, two damping assemblies 600 are taken as an example in the embodiment for explanation and description, and the two damping assemblies 600 are arranged on both sides of the mobile chassis along the first direction Y.

[0100] Please refer to Figure 7 and Figure 8In one embodiment of the present application, the carrier 100 comprises the connecting plates 140 and the fixing assembly 150; the connecting plates 140 are provided in two, respectively at the two ends of the fixing assembly 150 along the third direction X; the fixing assembly 150 comprises the first section bars 151 and the second section bars 152, the first section bars 151 are fixedly connected with the first rotating shaft 120 and the second rotating shaft 130, and the second section bars 152 are provided at the outer periphery of the first section bars 151.

[0101] The connecting plates 140 are provided at the two ends of the fixing assembly 150 on one hand, which can improve the stress strength of the carrier 100, and on the other hand, which is used for adapting to the size of the end face of the carrier 100. In order to save materials, the connecting plates 140 can adopt a hollow shape, which can reduce the weight of the moving chassis on one hand, and save materials and reduce costs on the other hand.

[0102] The fixing assembly 150 is used for connecting the carrier 100 and the supporting assembly 300, and comprises the first section bars 151 and the second section bars 152. The first section bars 151 and the second section bars 152 are iron or steel and materials (such as plastic, aluminum, glass fiber, etc.) with certain strength and toughness, which are made into objects with certain geometric shapes through processes such as rolling, extrusion and casting. The first section bars 151 and the second section bars 152 can be ordinary section steel, or high-quality section steel, for example, I-beam, H-beam or aluminum alloy steel, etc. The first section bars 151 and the second section bars 152 can be arranged in parallel, or can be arranged non-parallelly. The fixing assembly 150 and the connecting plates 140 form a plane with a weight-acting function for placing goods.

[0103] The second section bars 152 are provided at the outer periphery of the first section bars 151, which means that along the first direction Y, the second section bars 152 are provided in front of / rear of the first section bars 151, and the two second section bars 152 surround the two first section bars 151. In this embodiment, the two ends of the second section bars 152 are connected with the two connecting plates 140 respectively, but are not connected with the first rotating shaft 120 and the second rotating shaft 130.

[0104] The first section bars 151 are fixedly connected with the first rotating shaft 120 and the second rotating shaft 130, which is used for limiting the angle of rotation of the first rotating shaft 120 and the second rotating shaft 130 when the first connecting plate 210 rotates relative to the second connecting plate 220, so as to achieve that the carrier 100 can adapt to the angle change between the first connecting plate 210 and the second connecting plate 220, and make the plane formed by the carrier 100 similar to the shape of the ground on which the carrier 100 moves.

[0105] The principle of the moving chassis to move forward is as follows: when encountering an upward convex ground, the first connecting plate 210 rotates counterclockwise relative to the second connecting plate 220, since the first support 310 is fixedly connected with the first connecting plate 210, the first support 310 moves upward with the first rotating shaft 120 articulated thereto, the first rotating shaft 120 rotates counterclockwise with the first profile 151 connected thereto. In turn, the second connecting plate 220 connected with the first profile 151 also rotates counterclockwise, the second connecting plate 220 rotates counterclockwise relative to the horizontal shaft, so that the plane formed by the carrier 100 is similar to the shape of the ground on which the carrier 100 moves.

[0106] In the embodiment, the carrier 100 has two effects by adopting the multi-section design:

[0107] Firstly, the weight of the moving chassis as a whole can be reduced, thereby reducing the production cost.

[0108] Secondly, the second profile 152 arranged on the outer periphery of the first profile 151 can reduce the difficulty of relative rotation of the first connecting plate 210 and the second connecting plate 220.

[0109] Referring to Figure 8 In an embodiment of the present application, the moving chassis further comprises a sensing assembly 700 for sensing the surrounding obstacles or routes. The sensing assembly 700 can be a laser radar or a radar, which is not limited here. In the drawings, the laser radar is taken as an example to represent the installation position thereof. The sensing assembly 700 can be one or more, and in the embodiment, two sensing assemblies 700 are preferably arranged on the diagonal lines of the moving chassis. In this way, fewer sensing assemblies 700 can be used to solve the problem of blind area in detecting the external environment.

[0110] Preferably, the sensing assembly 700 and the universal wheel 500 are arranged on the same diagonal line of the moving chassis, so that the moving chassis can be reminded of the roadblock / path at a better viewing angle and be facilitated to turn.

[0111] Preferably, in the embodiment, the moving chassis further comprises a power supply assembly 800 arranged on another diagonal line (different from the diagonal line on which the universal wheel 500 is arranged) of the moving chassis, which plays a role of counterweight, saves the counterweight block in the moving chassis, saves materials and reduces cost.

[0112] The moving chassis further comprises a communication assembly 810 such as a circuit board, in which a control system is stored, so as to facilitate the control of the movement state of the moving chassis.

[0113] The embodiment of the present application further provides a robot, which comprises the moving chassis described in any one of the above embodiments.

[0114] Since the mobile chassis used by the robot is any one of the above embodiments, it has at least the beneficial effects of each of the above embodiments, which will not be repeated here.

[0115] Referring to Figure 11 , in one embodiment of the present application, the robot further comprises a shell 900 and a control panel 1000, the shell 900 is arranged on the outer peripheral side of the mobile chassis, and the control panel 1000 is in communication connection with the control system in the mobile chassis.

[0116] The shell 900 is arranged on the outer peripheral side of the mobile chassis, and the outer peripheral side is the outer surface of a certain component, that is, the shell 900 can form a containing space, and the mobile chassis is arranged in the containing space.

[0117] The control panel 1000 is used to control and plan the walking route of the mobile chassis, and the intelligent operation can be realized through the control panel 1000. The control panel 1000 is used to communicate with the control system in the mobile chassis, realize bidirectional data transmission, and achieve the effect of controlling the mobile chassis of the robot from the outside. Figure 11 In the embodiment, the control panel 1000 is fixed by a support standing on the mobile chassis, and the height can be adjusted to adapt to the height of the operator, so as to facilitate the use of the operator.

[0118] In the embodiment, the upper part of the bearing body 100 of the mobile chassis is provided with a tray 160, which can be U-shaped or a plane, and the specific shape is not limited, and in Figure 11 , the tray 160 is taken as an example of a plane, which is used to place the goods to be carried.

[0119] The above only describes the preferred embodiments of the present application, and does not limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile chassis characterized by, The mobile chassis comprises: a bearing body; a chassis body comprising at least a first connecting plate and a second connecting plate, the first connecting plate being movably connected with the second connecting plate; a support assembly arranged between the bearing body and the chassis body, the support assembly comprising at least a first support and a second support, the first support being arranged on the first connecting plate and the second support being arranged on the second connecting plate, the first support and the second support being movably connected with the bearing body, so that the bearing body can rise and fall to adapt to the change of the chassis body; the mobile chassis further comprises a linkage assembly, one end of the linkage assembly being connected to the second connecting plate and the other end of the linkage assembly being connected to the first connecting plate, the first connecting plate and the second connecting plate having a movable gap therebetween; the linkage assembly comprises: a mounting seat arranged on the first connecting plate, the mounting seat being provided with a first fixing shaft; a movable arm, a fixed end of the movable arm being sleeved on the first fixing shaft, and a free end of the movable arm being fixed to the second connecting plate; the mobile chassis comprises at least two power wheels and two universal wheels, the two universal wheels being arranged on the first connecting plate and the second connecting plate along the diagonal line of the chassis body, and the two power wheels being symmetrically fixed to the two sides of the first connecting plate; the mounting seat is provided with a second fixing shaft, and the power wheel is mounted on the second fixing shaft; the chassis body is further provided with a damping assembly, the damping assembly comprising: a floating plate connected between the first connecting plate and the second connecting plate; a resilient member arranged between the floating plate and the first connecting plate and / or the second connecting plate.

2. The mobile chassis of claim 1, wherein: The second connecting plate is provided with a horizontal shaft in a first direction, the second support has oppositely arranged upper and lower ends in a second direction, the upper end is movably connected with the bearing body, and the lower end is sleeved on the horizontal shaft, and the second support can rotate relative to the horizontal shaft.

3. The mobile chassis of claim 1 or 2, wherein: The bottom of the bearing body is provided with a first rotating shaft and a second rotating shaft, the first support is sleeved on the first rotating shaft, and the second support is sleeved on the second rotating shaft.

4. The mobile chassis of claim 3, wherein, The bearing body comprises a connecting plate and a fixing assembly; the fixing assembly comprises a first profile and a second profile arranged side by side above the chassis body, the first profile fixedly connecting the first rotating shaft and the second rotating shaft, and the second profile arranged on both sides of the first profile; the connecting plate is provided with two and connected to both ends of the first profile and the second profile.

5. A robot, characterized by: The robot further comprises a shell and a control panel, the shell being arranged on the outer circumferential side of the mobile chassis, and the control panel being in communication connection with the control system in the mobile chassis.

6. The robot of claim 5, wherein, The robot further comprises a shell and a control panel, the shell being arranged on the outer circumferential side of the mobile chassis, and the control panel being in communication connection with the control system in the mobile chassis.

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