Mobile chassis device of a service robot

Abstract

The present invention relates to the field of robot technology, and more specifically, to a mobile chassis device for a service robot, comprising a vehicle body, a vehicle shell disposed on the outside of the vehicle body, a sensor assembly disposed on the inside of the vehicle shell, a battery assembly disposed inside the vehicle body, and a charging assembly disposed at the bottom of the battery assembly. The mobile chassis device for the service robot can quickly disassemble two sets of fixed shells by means of a docking portion and a pulling portion disposed at the vehicle shell. After the movable protrusion in the pulling portion is pressed into the interior of a docking frame, the pulling portion is pulled out of the docking frame as a whole, thereby shortening the time consumed during inspection and maintenance. At the same time, the two sides of the service robot are exposed to the outside, which is also convenient for maintenance and inspection, and avoids the situation where the wires are pulled off and damaged. The design is ingenious and practical.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a mobile chassis device of a service robot. Background Art

[0002] With the rapid development of science and technology at home and abroad, intelligent robots are now constantly penetrating into many aspects of our human life. Their intelligence and advancement are gradually changing people’s previous production and lifestyles, greatly facilitating people’s daily lives and improving the efficiency of industrial production. In the service areas involved in human activities, various service robots are common.

[0003] The patent with publication number CN207858815U discloses a motion chassis structure of a multifunctional commercial service robot, including a bottom plate connected to the robot, and also including a driving component located on the lower surface of the bottom plate, a magnetic navigation module, an RFID module and a power supply located on the upper surface of the bottom plate. A plurality of evenly arranged balancing components that can keep the bottom plate level are arranged near its outer edge on the lower surface of the bottom plate, so that the robot can walk smoothly on uneven ground, effectively improve walking balance, and has a compact structure and high walking function.

[0004] It has the advantages of diversified functions, light weight, low cost and high walking position accuracy.

[0005] However, when the mobile device of the service robot needs to be inspected and maintained, the chassis shell needs to be disassembled. The common service robot chassis shell is fixed to the body by screws. When the screws are removed, the inspection and maintenance time will undoubtedly increase. In addition, since the operation display panel is mostly set at the top, when the internal circuit integrated board is removed from the bottom, there will be wires connected to the operation display panel, which may cause the wires to be pulled off, and it is also easy for the wires to be pressed during installation.

[0006] In view of this, we propose a mobile chassis device for a service robot.

[0007] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0008] The object of the present invention is to provide a mobile chassis device for a service robot to solve the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A mobile chassis device of a service robot comprises a body, a body shell arranged outside the body, a sensor assembly arranged inside the body shell, a battery assembly arranged inside the body, and a charging assembly arranged at the bottom of the battery assembly;

[0011] The sensor assembly includes a two-dimensional laser scanner arranged in the center of the vehicle body near the front end, an anti-collision touch edge arranged on the outside of the bottom of the vehicle body shell, a plurality of ultrasonic sensors regularly distributed on the outside of the vehicle body shell, and a plurality of downward-looking sensors arranged below the front end of the vehicle body;

[0012] The battery assembly includes a battery compartment shell fixedly connected to the top surface of the bottom plate by bolts, a battery soft pack arranged inside the battery compartment shell, and anti-collision foam filled in the gap between the battery soft pack and the battery compartment shell;

[0013] The charging assembly includes an electrode fixing block, a plurality of charging electrode sheets adhered and fixed to the bottom surface of the electrode fixing block, and a positioning nut arranged at the corner position of the bottom surface of the electrode fixing block, wherein the electrode fixing block is made of insulating rubber, the charging electrode sheets are made of copper alloy with excellent conductivity and wear resistance, and the positioning nut is threadedly connected to the bottom surface of the battery compartment shell;

[0014] The vehicle body shell includes a docking portion, a fixed shell disposed at the front and rear ends, and a pumping portion disposed inside the docking portion;

[0015] The docking part includes a docking frame, an I-shaped plate arranged inside the docking frame, a rotating screw rotatably connected to the upper part of the docking frame, a rod end gear arranged at the end of the rotating screw, a moving plate sleeved outside the rotating screw, and a plate surface plug rod arranged on the outer side wall of the moving plate;

[0016] The fixed housing comprises an arc-shaped housing, a docking plate arranged at the end of the arc-shaped housing, and a T-shaped plug plate arranged on the outer side wall of the docking plate;

[0017] The pulling part includes an insert block, a limiting rod arranged at the corner position of the top surface of the insert block, a rod end tooth plate arranged at the top end of one of the limiting rods, a spring arranged in a hole inside the insert block, and a movable protrusion arranged at the end of the spring in the hole;

[0018] A driving assembly is provided at the bottom of both left and right ends of the vehicle body near the middle position, and the driving assembly includes a driving module and a floating spring suspension mechanism arranged inside the driving module;

[0019] The driving module includes a wheel hub motor and a rubber tire arranged outside the wheel hub motor;

[0020] The floating spring suspension mechanism comprises a connecting portion for connecting the driving module with the floating spring suspension mechanism, a rotating shaft fixing seat arranged outside one end of the connecting portion, a spring supporting plate arranged outside the other end of the connecting portion, a tension spring arranged between the connecting portion and the spring supporting plate, and a tension spring support arranged outside the connecting portion for providing a hanging point for the tension spring;

[0021] Caster assemblies are provided at the corners of the bottom of the vehicle body, and the caster assemblies include a docking plate, a rotating frame arranged below the docking plate, a caster frame arranged inside the rotating frame, two groups of rolling wheels arranged inside the caster frame, a T-shaped plate arranged between the rotating frame and the top convex plate of the caster frame, a pad arranged below the T-shaped plate, a plurality of fixing screws arranged between the T-shaped plate and the pad, and a compression spring sleeved on the outside of the fixing screws.

[0022] In the technical solution of the present invention, the vehicle body includes a bottom plate, a connecting plate and a bearing plate arranged from bottom to top, the bottom plate and the connecting plate are connected by connecting columns welded and fixed at the corner positions of the top surface of the bottom plate, the top end of the connecting column is fixedly connected to the bottom surface of the connecting plate by bolts, four connecting parts are clamped and fixed on the top surface of the connecting plate, the top end of the connecting part is welded and fixed to the bottom surface of the bearing plate, and the four connecting parts are distributed in a quadrilateral arrangement of two in front and two in the back.

[0023] In the technical solution of the present invention, the hub motor has an overall flat structure, and is composed of a fixed rotor and an externally rotating stator. A threaded rod is fixedly connected to the outer wall of the fixed rotor of the hub motor by bolts, and the rubber tire is covered on the outside of the hub motor stator.

[0024] In the technical solution of the present invention, the connecting part includes a connecting rod, a locking nut arranged on the outer wall of the connecting rod near the bottom end and threadedly connected to the outer threaded rod of the hub motor rotor, and a pin rotatably connected to the outer wall of the connecting rod near the top end, a circular hole for providing a clamping point for the tension spring support is opened on the top protrusion of the connecting rod, and the two ends of the pin extend to the outside of the outer walls of the two ends of the rotating shaft fixing seat respectively, and threaded grooves are opened at the end positions of both ends of the pin and are matched with nuts.

[0025] In the technical solution of the present invention, the rotating shaft fixing seat and the spring support plate are fixedly connected to the outer wall of the base plate by bolts, and a seat body through groove which passes through from top to bottom is provided on the top surface of the rotating shaft fixing seat. The hook at one end of the tension spring is hung on the tension spring support column, and the hook at the other end of the tension spring is hung on the cross bar at the top end of the spring support plate.

[0026] In the technical solution of the present invention, the docking plate is fixedly connected to the bottom surface of the base plate by bolts, the rotating frame is rotatably connected to the bottom surface of the docking plate, the caster frame is rotatably connected to the inside of the rotating frame by a connecting shaft, and a circular hole for the fixing screw to pass through is provided on the top surface of the top convex plate of the caster frame, the two ends of the two groups of rolling wheel center rods are rotatably connected to the inner side wall of the caster frame, and the T-shaped plate is welded and fixed to the rotating frame.

[0027] In the technical solution of the present invention, the pad is slidably connected to the outer side of the fixing screw, the diameter of the fixing screw rod body is smaller than the aperture of the circular hole on the top convex plate of the caster frame, the top end of the fixing screw extends above the T-shaped plate and is equipped with a matching nut, and the upper and lower ends of the compression spring respectively conflict with the bottom surface of the top convex plate of the caster frame and the top surface of the pad.

[0028] In the technical solution of the present invention, the top surface of the docking frame is clamped and fixed on the bottom surface of the connecting plate, and a frame wall through hole that passes through the inside and outside is opened on the outer wall of the docking frame near the bottom end. The I-shaped plate is integrally formed with the docking frame, and the two ends of the rotating screw are rotatably connected to the inner wall of the docking frame. The rod end gear is clamped and fixed at the end position of the rotating screw, the movable plate is threadedly connected to the rotating screw, and the plate surface plug rod is integrally formed with the movable plate.

[0029] In the technical solution of the present invention, the docking plate and the arc-shaped shell are integrally formed, the T-shaped plug plate is welded and fixed to the outer side wall of the docking plate, and the size of the T-shaped plug plate is adapted to the size of the I-shaped plate.

[0030] In the technical solution of the present invention, the outer wall of the plug block is provided with a block surface opening that is compatible with the size of the frame wall through hole, the limit rod and the plug block are integrally formed, the rod end tooth plate is clamped and fixed to the top of the limit rod, and the two ends of the spring in the hole are respectively welded and fixed to the inner hole wall of the block surface opening and the outer wall of the movable protrusion, and the end of the movable protrusion extends to the outside of the frame wall through hole.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The mobile chassis device of the service robot has a docking part and a pulling part arranged at the body shell. After the movable protrusion in the pulling part is pressed into the interior of the docking frame, the pulling part is pulled out from the interior of the docking frame as a whole, so that the two sets of fixed shells can be quickly disassembled, thereby shortening the time consumed during inspection and maintenance; at the same time, the two sides of the service robot are exposed to the outside, which is also convenient for maintenance and inspection, and avoids the situation of wire pulling out and pressure damage. The design is ingenious and practical.

[0033] 2. The mobile chassis device of the service robot, the driving module in the driving assembly is directly driven by a separate hub motor, without involving any intermediate transmission mechanism, thereby reducing its own noise, while also improving the dynamic response speed of the driving module and improving the overall chassis usage experience.

[0034] 3. The mobile chassis device of the service robot has greatly improved the safety of the robot during operation by adding a sensor component to the overall structure and integrating the control of many sensors inside the sensor component. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is one of the overall structural schematic diagrams of the invention;

[0036] Figure 2 This is the second schematic diagram of the overall structure of the invention;

[0037] Figure 3 It is a schematic diagram of some structures in the invention;

[0038] Figure 4 It is a side view of the overall structure of the invention;

[0039] Figure 5 A bottom view of the overall structure of the invention;

[0040] Figure 6 It is a schematic diagram of the structure of the driving component in the invention;

[0041] Figure 7 It is a structural schematic diagram of the connecting part in the invention;

[0042] Figure 8 It is a schematic diagram of the structure of the caster assembly in the invention;

[0043] Fig. 9 A bottom view of the charging assembly of the invention;

[0044] Fig.10 It is a schematic diagram of the structure of the vehicle body shell in the invention;

[0045] Fig.11 It is a schematic diagram of the structural disassembly of the vehicle body shell in the invention;

[0046] Fig.12 It is a schematic diagram of the cross-section structure of the docking part in the invention;

[0047] Fig.13 It is a schematic diagram of the structure of the fixed housing in the invention;

[0048] Fig.14 It is a schematic diagram of the structure of the pumping part in the invention.

[0049] Description of reference numerals:

[0050] 100, vehicle body; 110, bottom plate; 120, connecting plate; 130, bearing plate; 140, connecting column; 150, connecting piece;

[0051] 200, drive assembly; 210, drive module; 211, hub motor; 212, rubber tire; 220, floating spring suspension mechanism; 221, connecting part; 2210, connecting rod; 2211, locking nut; 2212, pin; 222, rotating shaft fixing seat; 2220, seat body through groove; 223, tension spring; 224, tension spring support; 225, spring support plate;

[0052] 300, caster assembly; 310, docking plate; 320, rotating frame; 330, caster frame; 340, rolling wheel; 350, T-shaped plate; 360, pad; 370, fixing screw; 380, compression spring;

[0053] 400, sensor assembly; 410, two-dimensional laser scanner; 420, anti-collision touch edge; 430, ultrasonic sensor; 440, downward sensor;

[0054] 500, battery assembly; 510, battery soft pack; 520, battery compartment shell; 530, anti-collision foam;

[0055] 600, charging assembly; 610, electrode fixing block; 620, charging electrode sheet; 630, positioning nut;

[0056] 700, vehicle body shell; 710, docking part; 711, docking frame; 7110, frame wall through hole; 712, I-shaped plate; 713, rotating screw; 714, rod end gear; 715, moving plate; 716, plate surface plug rod; 720, fixed shell; 721, arc-shaped shell; 722, docking plate; 723, T-shaped plug plate; 730, pulling part; 731, plug block; 7310, block surface opening; 732, limit rod; 733, rod end gear plate; 734, spring in the hole; 735, movable protrusion. DETAILED DESCRIPTION

[0057] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] See also Figure 1-Figure 14 As shown, this embodiment provides a technical solution:

[0059] A mobile chassis device of a service robot includes a vehicle body 100, a vehicle body shell 700 disposed outside the vehicle body 100, a sensor assembly 400 disposed inside the vehicle body shell 700, a battery assembly 500 disposed inside the vehicle body 100, and a charging assembly 600 disposed at the bottom of the battery assembly 500;

[0060] In the present invention, the sensor assembly 400 includes a two-dimensional laser scanner 410 disposed in the center of the vehicle body 100 near the front end, an anti-collision edge 420 disposed on the outside of the bottom of the vehicle body shell 700, a plurality of ultrasonic sensors 430 regularly distributed on the outside of the vehicle body shell 700, and a plurality of downward-looking sensors 440 disposed below the front end of the vehicle body 100;

[0061] Furthermore, the two-dimensional laser scanner 410 is used for autonomous navigation and active obstacle avoidance when the robot is moving, and the anti-collision touch edge 420 is used for real-time detection of low-position obstacles of the robot. When the anti-collision touch edge 420 collides with an obstacle, it will trigger the robot to stop running. The ultrasonic sensor 430 is used for the detection of obstacles in the middle position and transparent objects such as glass doors. When the robot is about to enter the step section, the downward sensor 440 can sense the suspended ground in advance, and then trigger the robot to stop running, so as to avoid the robot from falling from the step surface due to further operation, thereby enhancing the safety of the robot during operation. Through the fusion detection and control of the above many sensors, the safety of the robot during operation is guaranteed from many aspects.

[0062] In the present invention, the battery assembly 500 includes a battery compartment shell 520 fixedly connected to the top surface of the bottom plate 110 by bolts, a battery soft pack 510 disposed inside the battery compartment shell 520, and an anti-collision foam 530 filled in the space between the battery soft pack 510 and the battery compartment shell 520;

[0063] Furthermore, the battery compartment shell 520 is used to protect the battery pack 510 from being disturbed by external factors, and the anti-collision foam 530 prevents the battery pack 510 from being hit and causing safety accidents.

[0064] In the present invention, the charging assembly 600 includes an electrode fixing block 610, a plurality of charging electrode sheets 620 adhered and fixed to the bottom surface of the electrode fixing block 610, and a positioning nut 630 arranged at the corner position of the bottom surface of the electrode fixing block 610. The electrode fixing block 610 is made of insulating rubber, and the charging electrode sheet 620 is made of a copper alloy with excellent conductivity and wear resistance. The positioning nut 630 is threadedly connected to the bottom surface of the battery compartment shell 520.

[0065] Furthermore, the charging assembly 600, as an important component of the robot chassis, is arranged at the front lower side of the battery assembly 500, and is relatively hidden and not exposed, so as to prevent accidental human touch during charging and ensure the safety during charging.

[0066] In this embodiment, Figure 10-Figure 14 As shown, the vehicle body shell 700 includes a docking portion 710, a fixed shell 720 disposed at the front and rear ends, and a pumping portion 730 disposed inside the docking portion 710;

[0067] Specifically, the docking part 710 includes a docking frame 711, an I-shaped plate 712 arranged inside the docking frame 711, a rotating screw rod 713 rotatably connected to the upper part of the docking frame 711, a rod end gear 714 arranged at the end of the rotating screw rod 713, a movable plate 715 sleeved on the outside of the rotating screw rod 713, and a plate surface plug rod 716 arranged on the outer wall of the movable plate 715.

[0068] Furthermore, the fixed housing 720 includes an arc-shaped housing 721 , a docking plate 722 disposed at an end of the arc-shaped housing 721 , and a T-shaped plug plate 723 disposed on an outer side wall of the docking plate 722 .

[0069] Furthermore, the docking frame 711 is used to ensure the strength of the overall structure of the docking part 710, and the I-shaped plate 712 is used to provide a docking area for the fixed shell 720. After the rod end gear 714 rotates, it drives the rotating screw 713 to rotate, and drives the movable plate 715 to move toward the connecting plate 120, so that the plate surface plug rod 716 can be inserted into the interior of the connecting plate 120.

[0070] In this embodiment, Fig.14 As shown, the pulling part 730 includes an insert block 731, a limiting rod 732 arranged at the corner position of the top surface of the insert block 731, a rod end tooth plate 733 arranged at the top end of one of the limiting rods 732, an inner spring 734 arranged in the hole inside the insert block 731, and a movable protrusion 735 arranged at the end of the inner spring 734.

[0071] Specifically, the outer wall of the plug block 731 is provided with a block surface opening 7310 that is compatible with the size of the frame wall through hole 7110, the limiting rod 732 and the plug block 731 are integrally formed, the rod end tooth plate 733 is clamped and fixed to the top of the limiting rod 732, and the two ends of the spring 734 in the hole are respectively welded and fixed to the inner hole wall of the block surface opening 7310 and the outer wall of the movable protrusion 735, and the end of the movable protrusion 735 extends to the outside of the frame wall through hole 7110.

[0072] Furthermore, the movable protrusion 735 is pressed to retract it into the interior of the docking frame 711, and the plug block 731 is pulled out from the docking frame 711. When the rod end gear plate 733 moves downward, it will drive the rod end gear 714 to rotate, and the limiting rod 732 is also pulled out as the plug block 731 is pulled out, thereby releasing the restriction on the T-shaped plug plate 723, so that the fixed shell 720 can be quickly taken out of the docking frame 711.

[0073] In the present invention, the vehicle body 100 includes a bottom plate 110, a connecting plate 120 and a bearing plate 130 arranged from bottom to top. The bottom plate 110 and the connecting plate 120 are connected by connecting columns 140 welded and fixed at the corner positions of the top surface of the bottom plate 110. The top of the connecting column 140 is fixedly connected to the bottom surface of the connecting plate 120 by bolts. Four connecting members 150 are clamped and fixed on the top surface of the connecting plate 120. The top of the connecting member 150 is welded and fixed to the bottom surface of the bearing plate 130. The four connecting members 150 are arranged in a quadrilateral arrangement with two in front and two in the back.

[0074] Specifically, the vehicle body 100 includes a bottom plate 110, a connecting plate 120 and a bearing plate 130 arranged from bottom to top. The bottom plate 110 and the connecting plate 120 are connected by connecting columns 140 welded and fixed at the corner positions of the top surface of the bottom plate 110. The top of the connecting column 140 is fixedly connected to the bottom surface of the connecting plate 120 by bolts. Four connecting members 150 are clamped and fixed on the top surface of the connecting plate 120. The top of the connecting member 150 is welded and fixed to the bottom surface of the bearing plate 130. The four connecting members 150 are arranged in a quadrilateral with two in front and two in the back.

[0075] Furthermore, the base plate 110 is used to ensure the strength of the overall structure of the vehicle body 100, the connecting column 140 is used to connect the base plate 110 and the connecting plate 120, the connecting member 150 is used to connect the connecting plate 120 and the supporting plate 130, and the supporting plate 130 is used to provide a placement platform for the robot.

[0076] In this embodiment, Figure 6-Figure 7 As shown, a driving assembly 200 is disposed near the middle position at the bottom of both left and right ends of the vehicle body 100. The driving assembly 200 includes a driving module 210 and a floating spring suspension mechanism 220 disposed inside the driving module 210.

[0077] Specifically, the driving module 210 includes a hub motor 211 and a rubber tire 212 disposed outside the hub motor 211 .

[0078] Furthermore, the hub motor 211 has a flat structure as a whole. The hub motor 211 consists of a fixed rotor and an externally rotating stator. A threaded rod is fixedly connected to the outer wall of the fixed rotor of the hub motor 211 by bolts, and the rubber tire 212 is wrapped around the outside of the stator of the hub motor 211.

[0079] Furthermore, when the hub motor 211 is running, the rotor is fixed and the stator rotates around the axis. Since the outer ring of the stator of the hub motor 211 is covered with a thick and wear-resistant rubber tire 212, the stator can directly replace the driving wheel and perform the same function.

[0080] In this embodiment, Figure 6-7 As shown, the floating spring suspension mechanism 220 includes a connecting portion 221 for connecting the driving module 210 with the floating spring suspension mechanism 220, a rotating shaft fixing seat 222 arranged on the outside of one end of the connecting portion 221, a spring support plate 225 arranged on the outside of the other end of the connecting portion 221, a tension spring 223 arranged between the connecting portion 221 and the spring support plate 225, and a tension spring support 224 arranged on the outside of the connecting portion 221 for providing a hanging point for the tension spring 223.

[0081] Specifically, the connecting part 221 includes a connecting rod 2210, a locking nut 2211 which is arranged on the outer wall near the bottom end of the connecting rod 2210 and is threadedly connected to the outer threaded rod of the rotor of the hub motor 211, and a pin shaft 2212 which is rotatably connected to the outer wall near the top end of the connecting rod 2210. A circular hole for providing a clamping point for the tension spring support 224 is provided on the top protrusion of the connecting rod 2210. Both ends of the pin shaft 2212 extend to the outside of the outer walls of the two ends of the rotating shaft fixing seat 222 respectively. Threaded grooves are provided at the end positions of both ends of the pin shaft 2212 and are matched with nuts.

[0082] Furthermore, the shaft fixing seat 222 and the spring support plate 225 are both fixedly connected to the outer wall of the base plate 110 by bolts. A seat body through groove 2220 that passes through from top to bottom is provided on the top surface of the shaft fixing seat 222. The hook at one end of the tension spring 223 is hung on the tension spring support 224, and the hook at the other end of the tension spring 223 is hung on the cross bar at the top of the spring support plate 225.

[0083] Furthermore, when the chassis of the mobile robot touches the ground, the tension spring 223 in the floating spring suspension mechanism 220 will be stretched due to the gravity of the robot itself, and the tension of the spring will be further converted into the downward force of the driving module 210 on the ground through the connecting rod 2210, thereby providing the mobile robot with gripping friction during movement. Affected by the undulation of the ground, the elongation of the tension spring 223 will change at any time, so the downward force of the driving module 210 on the ground will also be adjusted at any time. Due to the buffering effect of the tension spring 223, the force of the ground on the main body of the vehicle 100 through the driving module 210 will not produce a large rigid impact, thereby greatly reducing the possibility of abnormal sound and noise in the chassis of the mobile robot.

[0084] In this embodiment, Figure 8 As shown, caster assemblies 300 are provided at the bottom corners of the vehicle body 100, and the caster assemblies 300 include a docking plate 310, a rotating frame 320 disposed below the docking plate 310, a caster frame 330 disposed inside the rotating frame 320, two sets of rolling wheels 340 disposed inside the caster frame 330, a T-shaped plate 350 disposed between the rotating frame 320 and the top convex plate of the caster frame 330, a pad 360 disposed below the T-shaped plate 350, a plurality of fixing screws 370 disposed between the T-shaped plate 350 and the pad 360, and a compression spring 380 sleeved on the outside of the fixing screw 370;

[0085] Specifically, the docking plate 310 is fixedly connected to the bottom surface of the base plate 110 by bolts, the rotating frame 320 is rotatably connected to the bottom surface of the docking plate 310, the caster frame 330 is rotatably connected to the inside of the rotating frame 320 by a connecting shaft, and a circular hole for the fixing screw 370 to pass through is opened on the top surface of the top convex plate of the caster frame 330, the two ends of the center rod of the two sets of rolling wheels 340 are rotatably connected to the inner side wall of the caster frame 330, and the T-shaped plate 350 is welded and fixed to the rotating frame 320.

[0086] Furthermore, the pad 360 is slidably connected to the outer side of the fixing screw 370, the diameter of the rod body of the fixing screw 370 is smaller than the aperture of the circular hole on the top convex plate of the caster frame 330, the top end of the fixing screw 370 extends above the T-shaped plate 350 and is equipped with an adaptive nut, and the upper and lower ends of the compression spring 380 respectively conflict with the bottom surface of the top convex plate of the caster frame 330 and the top surface of the pad 360.

[0087] Furthermore, the docking plate 310 is used to fix the caster assembly 300 on the bottom surface of the base plate 110, the rotating frame 320 is used to provide a rotation base point for the caster frame 330 and limit the rotation range of the caster frame 330, and the fixed screw 370 cooperates with the compression spring 380 and the T-shaped plate 350 to ensure the stability of the overall structure of the caster frame 330. When the rolling wheel 340 contacts the ground, the force of the ground on the rolling wheel 340 is transmitted to the caster frame 330, thereby changing the fixed position of the caster frame 330 in the rotating frame 320, causing the top convex plate of the caster frame 330 to tilt. At this time, the compression spring 380 between the pad 360 and the caster frame 330 will provide a force to the caster frame 330 through its own elastic force, thereby buffering the force of the ground.

[0088] Finally, it should be noted that the hub motor 211, two-dimensional laser scanner 410, anti-collision touch edge 420, ultrasonic sensor 430 and downward-looking sensor 440 involved in the present invention are all universal standard parts or parts known to technical personnel in this field, and their structures and principles are all known to technical personnel in this field through technical manuals or through conventional experimental methods. In the idle space of this device, the hub motor 211, two-dimensional laser scanner 410, anti-collision touch edge 420, ultrasonic sensor 430 and downward-looking sensor 440 are connected to an external power supply through wires. The specific connection means should refer to the working principle in the present invention. The electrical connection between each electrical component is completed in a sequential working order, and the detailed connection means are all well-known technologies in the art.

[0089] When the mobile chassis device of the service robot of the present invention is in use, the user issues a command through the robot to start the wheel hub motor 211, and the stator in the wheel hub motor 211 rotates around the axis, thereby driving the vehicle body 100 to move as a whole;

[0090] During the overall movement of the vehicle body 100, the tension spring 223 in the floating spring suspension mechanism 220 will be stretched due to the gravity of the robot itself, and the tension of the spring will be further converted into the downward force of the driving module 210 on the ground through the connecting rod 2210, thereby providing the mobile robot with a gripping friction force during movement. Affected by the fluctuation of the ground, the elongation of the tension spring 223 will change at any time, thereby adjusting the downward force of the driving module 210 on the ground at any time;

[0091] At this time, when the rolling wheel 340 contacts the ground, the force exerted by the ground on the rolling wheel 340 is transmitted to the caster frame 330, thereby changing the fixed position of the caster frame 330 in the rotating frame 320, causing the top convex plate of the caster frame 330 to tilt, and the compression spring 380 between the pad 360 and the caster frame 330 provides a force to the caster frame 330 through its own elastic force, thereby buffering the force exerted by the ground;

[0092] The driving assembly 200 and the caster assembly 300 cooperate to allow the service robot to move steadily as a whole. The two-dimensional laser scanner 410 in the sensor assembly 400 enables the robot to navigate autonomously and avoid obstacles actively during movement. The anti-collision edge 420, the ultrasonic sensor 430 and the downward sensor 440 cooperate to allow the service robot to reach the designated position safely.

[0093] When maintenance is required later, the movable protrusion 735 is pressed to retract it into the docking frame 711, and the plug 731 is pulled out of the docking frame 711. When the rod end gear plate 733 moves downward, it drives the rod end gear 714 to rotate, and drives the rotating screw rod 713 to rotate, and drives the movable plate 715 away from the connecting plate 120, so that the plate plug rod 716 leaves the inside of the connecting plate 120;

[0094] At the same time, the limiting rod 732 will also release the restriction on the T-shaped plug plate 723 as the plug block 731 is pulled out, so that the fixed shell 720 can be quickly taken out of the docking frame 711.

[0095] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A mobile chassis device for a service robot, comprising a vehicle body (100), a vehicle body shell (700) arranged outside the vehicle body (100), a sensor assembly (400) arranged inside the vehicle body shell (700), a battery assembly (500) arranged inside the vehicle body (100), and a charging assembly (600) arranged at the bottom of the battery assembly (500); The sensor assembly (400) comprises a two-dimensional laser scanner (410) arranged in the center of the vehicle body (100) near the front end, an anti-collision touch edge (420) arranged on the outside of the bottom of the vehicle body shell (700), a plurality of ultrasonic sensors (430) regularly distributed on the outside of the vehicle body shell (700), and a plurality of downward-looking sensors (440) arranged below the front end of the vehicle body (100); The battery assembly (500) comprises a battery compartment shell (520) arranged near the bottom of the vehicle body (100), a battery soft pack (510) arranged inside the battery compartment shell (520), and anti-collision foam (530) filled in the gap between the battery soft pack (510) and the battery compartment shell (520); The charging assembly (600) comprises an electrode fixing block (610), a plurality of charging electrode sheets (620) adhered and fixed to the bottom surface of the electrode fixing block (610), and a positioning nut (630) arranged at the corner of the bottom surface of the electrode fixing block (610), the electrode fixing block (610) is made of insulating rubber, the charging electrode sheets (620) are made of a copper alloy with excellent conductivity and wear resistance, and the positioning nut (630) is threadedly connected to the bottom surface of the battery compartment shell (520); Features: The vehicle body shell (700) comprises a docking portion (710), a fixed shell (720) arranged at the front and rear ends, and a pulling portion (730) arranged inside the docking portion (710); The docking portion (710) comprises a docking frame (711), an I-shaped plate (712) disposed inside the docking frame (711), a rotating screw rod (713) rotatably connected to the upper part of the interior of the docking frame (711), a rod end gear (714) disposed at the end of the rotating screw rod (713), a moving plate (715) sleeved outside the rotating screw rod (713), and a plate surface plug rod (716) disposed on the outer side wall of the moving plate (715); The fixed housing (720) comprises an arc-shaped housing (721), a docking plate (722) arranged at the end of the arc-shaped housing (721), and a T-shaped plug plate (723) arranged on the outer side wall of the docking plate (722); The pulling part (730) comprises an insert block (731), a limiting rod (732) arranged at a corner position of the top surface of the insert block (731), a rod end tooth plate (733) arranged at the top end of one of the limiting rods (732), an inner hole spring (734) arranged inside the insert block (731), and a movable protrusion (735) arranged at the end of the inner hole spring (734); A driving assembly (200) is provided at the bottom of both left and right ends of the vehicle body (100) near the middle position, and the driving assembly (200) comprises a driving module (210) and a floating spring suspension mechanism (220) arranged inside the driving module (210); The driving module (210) comprises a wheel hub motor (211) and a rubber tire (212) arranged outside the wheel hub motor (211); The floating spring suspension mechanism (220) comprises a connecting portion (221) for connecting the driving module (210) and the floating spring suspension mechanism (220), a rotating shaft fixing seat (222) arranged outside one end of the connecting portion (221), a spring support plate (225) arranged outside the other end of the connecting portion (221), a tension spring (223) arranged between the connecting portion (221) and the spring support plate (225), and a tension spring support (224) arranged outside the connecting portion (221) for providing a hanging point for the tension spring (223); The bottom corners of the vehicle body (100) are each provided with a caster assembly (300), the caster assembly (300) comprising a docking plate (310), a rotating frame (320) disposed below the docking plate (310), a caster frame (330) disposed inside the rotating frame (320), two sets of rolling wheels (340) disposed inside the caster frame (330), a T-shaped plate (350) disposed between the rotating frame (320) and the top convex plate of the caster frame (330), a pad (360) disposed below the T-shaped plate (350), a plurality of fixing screws (370) disposed between the T-shaped plate (350) and the pad (360), and a compression spring (380) sleeved on the outside of the fixing screws (370).

2. The mobile chassis device of the service robot according to claim 1, characterized in that: The vehicle body (100) comprises a bottom plate (110), a connecting plate (120) and a bearing plate (130) arranged from bottom to top, the bottom plate (110) and the connecting plate (120) are connected by connecting columns (140) fixed by welding at the corner positions of the top surface of the bottom plate (110), the top end of the connecting column (140) is fixedly connected to the bottom surface of the connecting plate (120) by bolts, four connecting members (150) are clamped and fixed on the top surface of the connecting plate (120), the top end of the connecting member (150) is fixedly welded to the bottom surface of the bearing plate (130), and the four connecting members (150) are arranged in a quadrilateral with two in front and two in the back.

3. The mobile chassis device of the service robot according to claim 1, characterized in that: The wheel hub motor (211) is in an overall flat structural form, and is composed of a fixed rotor and an externally rotating stator. A threaded rod is fixedly connected to an outer wall of the fixed rotor of the wheel hub motor (211) by bolts, and the rubber tire (212) is coated on the outside of the stator of the wheel hub motor (211).

4. The mobile chassis device of the service robot according to claim 1, characterized in that: The connecting portion (221) comprises a connecting rod (2210), a locking nut (2211) provided on an outer side wall of the connecting rod (2210) near the bottom end and threadedly connected to an outer side threaded rod of a rotor of a hub motor (211), and a pin (2212) rotatably connected to an outer side wall of the connecting rod (2210) near the top end, a round hole for providing a clamping point for the tension spring support (224) is provided on a top protrusion of the connecting rod (2210), two ends of the pin (2212) respectively extend to the outside of the outer side walls of both ends of the rotating shaft fixing seat (222), and threaded grooves are provided at the end positions of both ends of the pin (2212) and are matched with nuts.

5. The mobile chassis device of the service robot according to claim 2, characterized in that: The rotating shaft fixing seat (222) and the spring support plate (225) are both fixedly connected to the outer wall of the bottom plate (110) by bolts, and a seat body through groove (2220) that passes through from top to bottom is provided on the top surface of the rotating shaft fixing seat (222). The hook at one end of the tension spring (223) is hung on the tension spring support (224), and the hook at the other end of the tension spring (223) is hung on the crossbar at the top end of the spring support plate (225).

6. The mobile chassis device of the service robot according to claim 2, characterized in that: The docking plate (310) is fixedly connected to the bottom surface of the base plate (110) by means of bolts, the rotating frame (320) is rotatably connected to the bottom surface of the docking plate (310), the caster frame (330) is rotatably connected to the inside of the rotating frame (320) by means of a connecting shaft, a circular hole for the fixing screw (370) to pass through is provided on the top surface of the top convex plate of the caster frame (330), the two ends of the central rods of the two sets of rolling wheels (340) are rotatably connected to the inner side wall of the caster frame (330), and the T-shaped plate (350) is fixed to the rotating frame (320) by welding.

7. The mobile chassis device of the service robot according to claim 6, characterized in that: The pad (360) is slidably connected to the outside of the fixing screw (370); the diameter of the fixing screw (370) is smaller than the diameter of the circular hole on the top convex plate of the caster frame (330); the top end of the fixing screw (370) extends above the T-shaped plate (350) and is equipped with a matching nut; the upper and lower ends of the compression spring (380) respectively contact the bottom surface of the top convex plate of the caster frame (330) and the top surface of the pad (360).

8. The mobile chassis device of the service robot according to claim 2, characterized in that: The top surface of the docking frame (711) is fixedly engaged with the bottom surface of the connecting plate (120); a frame wall through hole (7110) penetrating from the inside to the outside is provided on the outer wall of the docking frame (711) near the bottom end; the I-shaped plate (712) and the docking frame (711) are integrally formed; both ends of the rotating screw rod (713) are rotatably connected to the inner wall of the docking frame (711); the rod end gear (714) is fixedly engaged with the end position of the rotating screw rod (713); the movable plate (715) is threadedly connected to the rotating screw rod (713); and the plate surface plug rod (716) and the movable plate (715) are integrally formed.

9. The mobile chassis device of the service robot according to claim 8, characterized in that: The docking plate (722) and the arc-shaped shell (721) are integrally formed, and the T-shaped plug plate (723) is welded and fixed to the outer side wall of the docking plate (722), and the size of the T-shaped plug plate (723) is compatible with the size of the I-shaped plate (712).

10. The mobile chassis device of the service robot according to claim 8, characterized in that: The outer side wall of the insert block (731) is provided with a block surface opening (7310) whose size matches that of the frame wall through hole (7110); the limiting rod (732) and the insert block (731) are integrally formed; the rod end tooth plate (733) is snap-fitted and fixed to the top end of the limiting rod (732); the two ends of the spring (734) in the hole are respectively welded and fixed to the inner side hole wall of the block surface opening (7310) and the outer side wall of the movable protrusion (735); and the end of the movable protrusion (735) extends to the outside of the frame wall through hole (7110).

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