Connecting mechanism, chassis and robot

Abstract

The invention discloses a connecting mechanism, a chassis and a robot, and relates to the technical field of robots. The connecting mechanism comprises a mounting seat; the flexible seat is connected to one side of the mounting seat, and the flexible seat can generate elastic deformation in at least two directions; and the first connector is connected to the mounting seat through a flexible seat. According to the connecting mechanism provided by the invention, the connecting stability of the first connector in use can be improved.

Description

Technical Field

[0001] This application relates to the technical field of robots, and in particular to a connecting mechanism, a chassis, and a robot. Background Art

[0002] To expand the functions of a robot, some robots are configured with replaceable function modules. The function module and the robot chassis need to be connected through a connector.

[0003] In the related art, after the function module is connected to the chassis, when subjected to vibrations and other conditions, the connection of the connector may become unstable. Summary of the Invention

[0004] This application provides a connecting mechanism, a chassis, and a robot to improve the connection stability when the first connector is connected to the second connector in the function module.

[0005] In a first aspect, this application provides a connecting mechanism, including:

[0006] A mounting seat;

[0007] A flexible seat connected to one side of the mounting seat, and the flexible seat can generate elastic deformation in at least two directions;

[0008] A first connector connected to the mounting seat through the flexible seat.

[0009] In some possible embodiments, the connecting mechanism further includes a first limiting member disposed at the end side of the flexible seat.

[0010] In some possible embodiments, the connecting mechanism further includes a second limiting member connected to the side of the flexible seat facing the mounting seat;

[0011] The second limiting member is received in the first limiting member, and there is a gap between the second limiting member and the first limiting member.

[0012] In some possible embodiments, the first limiting member is provided with a first limiting groove and a second limiting groove that are spaced apart from each other. The first limiting groove and the second limiting groove are disposed at both ends of the first limiting member, and the connecting mechanism includes two second limiting members;

[0013] The two second limiting members are respectively received in the first limiting groove and the second limiting groove of the first limiting member, and the two second limiting members are spaced apart from the inner walls of the first limiting groove and the second limiting groove.

[0014] In some possible implementations, the connection mechanism has a first direction and a second direction that intersect each other, the mounting seat includes a mounting plate and a connecting plate, the connecting plate is vertically disposed on one side of the mounting plate and connected to the mounting plate, the flexible seat is connected to a side of the connecting plate facing the mounting plate, and the first connector is located on a side of the flexible seat away from the connecting plate;

[0015] The connecting mechanism also includes two first guide members, which are arranged on the side of the mounting plate facing the connecting plate, and the two first guide members are arranged at both ends of the mounting plate along the second direction, and the two first guide members are provided with guide grooves extending along the first direction on the sides opposite to each other.

[0016] In some possible implementations, the guide groove includes a first limiting surface, a second limiting surface, and a third limiting surface, the first limiting surface, the second limiting surface, and the third limiting surface are all extended along the first direction, and the second limiting surface is connected between the first limiting surface and the third limiting surface;

[0017] The first limiting surface is located at a side of the guide groove close to the mounting plate, and the second limiting surfaces of the two first guide members are arranged opposite to each other;

[0018] The third limiting surface is gradually inclined in a direction away from the first limiting surface from a side close to the second limiting surface to a side away from the second limiting surface.

[0019] In some possible implementations, a first guide portion is disposed at one end of the first limiting surface away from the connecting plate, and the first guide portion gradually inclines toward a direction close to the mounting plate from the end close to the connecting plate to the end away from the connecting plate;

[0020] And / or, a second guide portion is disposed at one end of the second limiting surface away from the connecting plate, and the second guide portion gradually inclines in a direction away from the other second guide portion from the end close to the connecting plate to the end away from the connecting plate;

[0021] And / or, a third guide portion is disposed at one end of the third limiting surface away from the connecting plate, and the third guide portion is gradually inclined in a direction away from the mounting plate from an end close to the connecting plate to an end away from the connecting plate.

[0022] In some possible implementations, a limiting protrusion is further provided on a side of the first guide member facing away from the mounting plate, and the limiting protrusion is located at an end of the guide groove close to the connecting plate.

[0023] In some possible embodiments, a communication hole communicating with the guiding groove is further formed in the first guiding member, and the axial direction of the communication hole is perpendicular to the first direction;

[0024] The connecting mechanism further includes a locking unit. The locking unit is installed on a side of the mounting plate facing away from the first guiding member. The locking unit penetrates through the mounting plate and is slidably inserted into the communication hole. The locking unit is telescopically arranged relative to a side of the first guiding member facing the guiding groove.

[0025] In a second aspect, the present application further provides a chassis, including a chassis main body and the connecting mechanism provided in each of the above embodiments. A plugging groove and an assembly hole communicating with the plugging groove are formed on one side of the chassis main body;

[0026] The mounting seat of the connecting mechanism is installed inside the chassis main body. The first connector penetrates through the assembly hole and protrudes into the plugging groove.

[0027] In a third aspect, the present application further provides a robot, including a functional module and the chassis provided in each of the above embodiments;

[0028] The functional module includes a main body structure and a second connector arranged on one side of the main body structure. The main body structure is inserted into the plugging groove, and the second connector is detachably connected to the first connector.

[0029] In some possible embodiments, the functional module further includes a guiding plate. The guiding plate is connected to the main body structure, and guiding wing plates are arranged on both opposite sides of the guiding plate.

[0030] Advantages of the present application: In the connecting mechanism provided by the present application, the first connector is connected to the flexible seat, and the flexible seat can elastically deform in at least two directions. Thus, the first connector can have a higher degree of freedom, can compensate for errors in the processing of the chassis and the functional module and position deviations when the chassis and the functional module are connected, is conducive to realizing the alignment connection between the first connector and the second connector on the functional module, and improves the connection efficiency between the chassis and the functional module. In addition, after the first connector and the second connector are connected, the flexible seat can absorb vibrations received by the first connector, ensuring the connection stability and reliability between the first connector and the second connector. Description of the Drawings

[0031] To more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for the embodiments will be briefly introduced below. It should be understood that the following accompanying drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related accompanying drawings can also be obtained based on these drawings.

[0032] Figure 1 Shows a schematic perspective view of the connecting mechanism in some embodiments;

[0033] Figure 2 Shows a schematic partial cross-sectional view of the connecting mechanism in some embodiments;

[0034] Figure 3 Shows a schematic partial perspective view of the connecting mechanism in some embodiments;

[0035] Figure 4 Shows a schematic partial front view of the connecting mechanism in some embodiments;

[0036] Figure 5 Shows a schematic partial top view of the connecting mechanism in some embodiments;

[0037] Figure 6 Shows a schematic view of the flexible member in some embodiments;

[0038] Figure 7 Shows a schematic perspective view of another part of the connecting mechanism in some embodiments;

[0039] Figure 8 Shows a schematic perspective view of the first guiding member in some embodiments;

[0040] Figure 9 Shows a schematic front view of the first guiding member in some embodiments;

[0041] Figure 10 Shows a schematic perspective view of the locking unit in some embodiments;

[0042] Figure 11 Shows a schematic cross-sectional view of the locking unit in one state in some embodiments;

[0043] Figure 12 Shows a schematic cross-sectional view of the locking unit in another state in some embodiments;

[0044] Figure 13 Shows a schematic view of the sliding member and the holding member in some embodiments;

[0045] Figure 14Shows a schematic cross-sectional installation structure of a bolt in some embodiments;

[0046] Figure 15 Shows a schematic structure of a bolt and a rolling member in some embodiments;

[0047] Figure 16 Shows a schematic structure of a chassis in some embodiments;

[0048] Figure 17 Shows a schematic structure of a functional module in some embodiments;

[0049] Figure 18 Shows a schematic structure of a guide plate in some embodiments;

[0050] Figure 19 Shows a three-dimensional schematic structure of a guide plate in some embodiments;

[0051] Figure 20 Shows a schematic structure when the chassis is connected to the functional module in some embodiments.

[0052] Description of main element symbols:

[0053] 1000 - Connection mechanism;

[0054] 100 - Mounting seat; 110 - Mounting plate; 120 - Connecting plate;

[0055] 200 - Flexible seat; 210 - Assembly groove; 220 - Mounting through hole;

[0056] 300 - First connector;

[0057] 410 - First limiting member; 411 - First limiting groove; 412 - Second limiting groove; 420 - Second limiting member;

[0058] 500 - First guiding member; 501 - Guiding groove; 510 - First limiting surface; 511 - First guiding portion; 520 - Second limiting surface; 521 - Second guiding portion; 530 - Third limiting surface; 531 - Third guiding portion; 540 - Limiting convex portion; 550 - Communication hole;

[0059] 600 - Locking unit; 610 - Support frame; 611 - Installation cavity; 612 - First opening; 613 - Second opening; 614 - Avoidance hole; 621 - Sliding member; 6211 - Sliding surface; 622 - Driving member; 630 - Second guiding member; 631 - Through hole; 632 - Notch; 641 - First elastic member; 642 - Second elastic member; 651 - Bolt; 652 - Rolling member; 660 - Blocking member; 661 - Connection port; 671 - Hall sensor; 672 - Magnetic member; 680 - Holding member;

[0060] 2000 - Chassis; 2100 - Chassis main body; 2110 - Plug - in slot; 2120 - Assembly hole; 2130 - Through - hole;

[0061] 3000 - Functional module; 3001 - Connection side; 3100 - Main body structure; 3110 - Plug - in protrusion; 3120 - Handle position; 3200 - Guide plate; 3210 - Guide wing plate; 3220 - Pin hole; 3300 - Second connector; 2400 - Movable wheel;

[0062] X - First direction; Y - Second direction; Z - Third direction. Detailed implementation manners

[0063] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as limiting the present application.

[0064] In the description of the present application, it should be understood that the terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

[0065] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more unless otherwise specifically defined.

[0066] In the present application, unless otherwise clearly specified and limited, the terms such as "install", "connect", "connection", "fix", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0067] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0068] like Figure 1 , Figure 16 and Figure 17 As shown, a connection mechanism 1000 is provided in the embodiment, which can be applied to a chassis 2000 in a robot, and can realize the connection between the chassis 2000 and the functional module 3000.

[0069] like Figure 1 As shown, the connection mechanism 1000 includes a mounting seat 100, a flexible seat 200 and a first connector 300. The flexible seat 200 can be connected to one side of the mounting seat 100. The flexible seat 200 is elastic and can be elastically deformed in at least two directions. In some embodiments, the flexible seat 200 can be made of a flexible block such as silicone, rubber, thermoplastic elastomer (TPE) or thermoplastic polyurethane (TPU).

[0070] In the embodiment, the first connector 300 may be connected to a side of the flexible seat 200 facing away from the mounting seat 100 , that is, the first connector 300 is connected to the mounting seat 100 through the flexible seat 200 .

[0071] like Figure 1 , Figure 16 and Figure 17 As shown, in use, the first connector 300 can be connected to the second connector 3300 in the functional module 3000, so as to realize the electrical connection between the chassis 2000 and the functional module 3000, and realize the transmission of electric energy and data signals. Preferably, the flexible seat 200 can be elastically deformed in three different directions: the first direction X, the second direction Y, and the third direction Z. In some embodiments, the first direction X, the second direction Y, and the third direction Z can be perpendicular to each other.

[0072] In some other embodiments, the flexible seat 200 may also be elastically deformed in any two directions of the first direction X, the second direction Y, and the third direction Z.

[0073] Therefore, the first connector 300 can have a higher degree of freedom, compensating for errors during the processing of the chassis 2000 and the functional module 3000 and position deviations when the chassis 2000 and the functional module 3000 are connected, facilitating the alignment connection between the first connector 300 and the second connector 3300 and improving the connection efficiency between the chassis 2000 and the functional module 3000. Additionally, after the first connector 300 and the second connector 3300 are connected, the flexible seat 200 can absorb vibrations received by the first connector 300, ensuring the connection stability and reliability between the first connector 300 and the second connector 3300.

[0074] As Figure 1 shown, in some embodiments, the mounting seat 100 may include a mounting plate 110 and a connecting plate 120 that are perpendicular to each other. The connecting plate 120 may be connected to one side of the mounting plate 110 and is disposed near one side edge of the mounting plate 110. In the embodiment, the mounting plate 110 and the connecting plate 120 may be fixedly connected by means such as welding, snap connection, or bolt connection.

[0075] In some embodiments, the flexible seat 200 may be fixedly connected to the side of the connecting plate 120 facing the mounting plate 110 by means such as screw connection or bonding. The first connector 300 may be disposed on the side of the flexible seat 200 facing away from the connecting plate 120.

[0076] As Figures 1 to 6 shown, in some embodiments, the connecting mechanism 1000 further includes a first limiting member 410, and the first limiting member 410 is disposed at the end side of the flexible seat 200. In this embodiment, there are two first limiting members 410, and the two first limiting members 410 may be respectively disposed on both sides of the flexible seat 200 along the third direction Z. Preferably, both of the two first limiting members 410 are spaced apart from the flexible seat 200. Thus, when the flexible seat 200 undergoes elastic deformation in the third direction Z, the two first limiting members 410 can limit the degree of deformation of the flexible seat 200 within the space of a preset interval distance, avoiding problems such as damage caused by excessive deformation of the flexible seat 200. In the embodiment, the first limiting member 410 may be fixedly connected to the connecting plate 120 by means such as bolt connection.

[0077] In some embodiments, the first limiting member 410 may be provided with a first limiting groove 411 and a second limiting groove 412 that are oppositely spaced. That is, the opening side of the first limiting groove 411 may be oppositely disposed to the opening side of the second limiting groove 412. Preferably, both ends of the first limiting groove 411 along the third direction Z and both ends of the second limiting groove 412 along the third direction Z are open. The first limiting groove 411 and the second limiting groove 412 may be distributed along the second direction Y at both ends of the first limiting member 410.

[0078] In some embodiments, the connecting mechanism 1000 further includes a second limiting member 420, and the second limiting member 420 can be in a rod-shaped or sheet-like structure. An assembly groove 210 can be formed on one side of the flexible seat 200 facing the connecting plate 120. The flexible seat 200 extends and protrudes from the mounting seat 100 in the direction facing the first connector 300. The second limiting member 420 is inserted through the assembly groove 210 along the third direction Z, and the second limiting member 420 can be fixedly connected to the flexible seat 200 by means of bolt connection or bonding. In some embodiments, the flexible seat 200 is provided with a mounting through hole 220. The mounting through hole 220 communicates with the assembly groove 210. The first connector 300 is inserted through the mounting through hole 220.

[0079] In an embodiment, there are two second limiting members 420, and the two second limiting members 420 are respectively received in the first limiting groove 411 and the second limiting groove 412. And in the first direction X, there is a gap between the two second limiting members 420 and the inner walls of the first limiting groove 411 and the second limiting groove 412. In some embodiments, in the first direction X, both opposite sides of the two second limiting members 420 are spaced from the inner walls of the first limiting groove 411 and the second limiting groove 412. Additionally, in the second direction Y, there may be a gap between the second limiting member 420 and the inner walls of the first limiting groove 411 and the second limiting groove 412.

[0080] Thus, under the action of the second limiting member 420 and the inner walls of the first limiting groove 411 and the second limiting groove 412, the deformation amount of the flexible seat 200 in the first direction X and the second direction Y can be limited, and problems such as damage caused by excessive deformation of the flexible seat 200 can be avoided.

[0081] In some other embodiments, the first limiting member 410 may be provided with a through-hole structure for the second limiting member 420 to pass through, and the periphery of the through-hole structure may be a closed structure. The connecting mechanism 1000 may include one second limiting member 420. The second limiting member 420 can be inserted through the through-hole structure, and the periphery of the second limiting member 420 can be spaced from the inner wall of the through-hole structure.

[0082] In some embodiments, the first connector 300 can be a connector with a guiding post by itself, and the guiding post is arranged away from the flexible seat 200.

[0083] Such as Figure 1 、 Figures 7 to 9 、 Figures 16 to 20 As shown, in some embodiments, the connecting mechanism 1000 further includes two first guiding members 500, and the two first guiding members 500 can be fixedly arranged on the side of the mounting plate 110 facing the connecting plate 120 by means of bolt connection, welding or bonding. And the two first guiding members 500 are respectively arranged at both ends of the mounting plate 110 along the second direction Y.

[0084] In some embodiments, on one side of the two first guiding members 500 facing each other, guiding grooves 501 extending along the first direction X are formed, and the opening sides of the two guiding grooves 501 are arranged facing each other. When the functional module 3000 is installed on the chassis 2000, the two first guiding members 500 can provide a guiding function for the functional module 3000, enabling the functional module 3000 to be more smoothly installed on the chassis 2000.

[0085] In some embodiments, the guiding groove 501 may include a first limiting surface 510, a second limiting surface 520, and a third limiting surface 530. The first limiting surface 510, the second limiting surface 520, and the third limiting surface 530 are all arranged to extend along the first direction X. Among them, the first limiting surface 510 may be parallel to the mounting plate 110, and the first limiting surface 510 may be located on the side of the guiding groove 501 close to the mounting plate 110. The second limiting surface 520 may be located on the side of the guiding groove 501 away from the other first guiding member 500, and the second limiting surfaces 520 in the two first guiding members 500 may be arranged oppositely. In the embodiment, the second limiting surface 520 may be connected between the first limiting surface 510 and the third limiting surface 530. The third limiting surface 530 is generally arranged opposite to the first limiting surface 510, and the third limiting surface 530 is inclined relative to the first limiting surface 510. In some embodiments, the third limiting surface 530 may be inclined in a direction away from the first limiting surface 510 gradually from the side close to the second limiting surface 520 to the side away from the second limiting surface 520. Thus, under the combined action of the two first guiding members 500, a limiting function can be provided for the functional module 3000 in the second direction Y and the third direction Z.

[0086] In some embodiments, a first guiding portion 511 is arranged at one end of the first limiting surface 510 away from the connecting plate 120, and the first guiding portion 511 may be inclined. Specifically, the first guiding portion 511 may be inclined in a direction close to the mounting plate 110 gradually from the end close to the connecting plate 120 to the end away from the connecting plate 120.

[0087] In some embodiments, a second guiding portion 521 is arranged at one end of the second limiting surface 520 away from the connecting plate 120. The second guiding portion 521 is also inclined. The second guiding portion 521 is inclined in a direction away from the other second guiding portion 521 gradually from the end close to the connecting plate 120 to the end away from the connecting plate 120.

[0088] In some embodiments, a third guiding portion 531 is arranged at one end of the third limiting surface 530 away from the connecting plate 120. The third guiding portion 531 is inclined in a direction away from the mounting plate 110 gradually from the end close to the connecting plate 120 to the end away from the connecting plate 120.

[0089] In some embodiments, one end of the guiding groove 501 away from the connecting plate 120 can be generally in a horn shape. When installing the functional module 3000 on the chassis 2000, a larger tolerance space can be provided for the initial position of the functional module 3000. Additionally, the first guiding portion 511, the second guiding portion 521, and the third guiding portion 531 can provide a guiding function for the functional module 3000, enabling the accurate positioning of the functional module 3000 with respect to the chassis 2000 and also enabling the accurate alignment and connection of the second connector 3300 on the functional module 3000 with the first connector 300 on the chassis 2000.

[0090] In some embodiments, a limiting convex portion 540 is further protrudingly provided on a side of the first guiding member 500 away from the mounting plate 110, and the limiting convex portion 540 can be located at one end of the guiding groove 501 close to the connecting plate 120. Thus, the insertion depth of the functional module 3000 into the chassis 2000 can be limited by the limiting convex portion 540 to prevent overshoot.

[0091] As Figure 1 and Figure 10 shown, in some embodiments, the connecting mechanism 1000 further includes two sets of locking units 600. The locking units 600 can be installed on a side of the mounting plate 110 away from the first guiding member 500, and the two sets of locking units 600 are arranged in one-to-one correspondence with the two first guiding members 500. The locking units 600 can be used to lock the functional module 3000 to the chassis 2000 to prevent the functional module 3000 from being disengaged from the chassis 2000 randomly.

[0092] As Figure 1 、 Figure 8 、 Figures 10 to 15 shown, in some embodiments, the locking unit 600 can include a support frame 610, a sliding member 621, a second guiding member 630, a first elastic member 641, a latch 651, a second elastic member 642, and a driving member 622.

[0093] Among them, one side of the support frame 610 can be fixedly connected to the side of the mounting plate 110 away from the first guiding member 500 by means of bolt connection, bonding, or snap connection, etc. The support frame 610 has an installation cavity 611, a first opening 612, and a second opening 613, and the installation cavity 611 can be communicatively arranged with the first opening 612 and the second opening 613. In the embodiment, the first opening 612 can be arranged along the first direction X. The second opening 613 can be located on a side of the support frame 610 facing the mounting plate 110, and the second opening 613 can be arranged along the third direction Z. Additionally, an avoidance hole 614 arranged along the second direction Y is further formed on the support frame 610, and the avoidance hole 614 is communicative with the installation cavity 611.

[0094] In some embodiments, one end of the second guide member 630 is received in the mounting cavity 611 and can be fixedly connected to the support frame 610 by means of bolt connection or bonding. The other end of the second guide member 630 can pass through the second opening 613 along the third direction Z and can protrude toward the side of the mounting plate 110 relative to the support frame 610. In some embodiments, the protruding end of the second guide member 630 relative to the second opening 613 can sequentially pass through the mounting plate 110 and the first guide member 500. And the end face of the second guide member 630 near one end of the first guide member 500 can be flush with the first limiting surface 510 or slightly lower than the first limiting surface 510. In addition, the second guide member 630 is also provided with a through hole 631 penetrating the second guide member 630 along the third direction Z and a notch 632 extending along the third direction Z, and the notch 632 can be arranged away from the second opening 613. In the embodiment, a communication hole 550 communicating with the guide groove 501 can be formed on the first guide member 500. The axial direction of the communication hole 550 is perpendicular to the first direction X. Preferably, the axial direction of the communication hole 550 can be parallel to the third direction Z.

[0095] In some embodiments, the sliding member 621 can be slidably arranged in the mounting cavity 611 along the first direction X and is located on the side of the second guide member 630 facing the first opening 612. In addition, two spaced sliding surfaces 6211 can be arranged on the side of the sliding member 621 facing away from the second opening 613, and the two sliding surfaces 6211 can be in the same plane. In the embodiment, the sliding surface 6211 can be inclined relative to the first direction X. Specifically, from the end of the sliding surface 6211 near the first opening 612 to the end away from the first opening 612, it can be gradually inclined toward the direction close to the second opening 613.

[0096] In the embodiment, the driving member 622 can be installed on the side of the support frame 610 facing the mounting plate 110. The output shaft of the driving member 622 can pass through the first opening 612 and abut against the sliding member 621. The driving member 622 can be used to drive the sliding member 621 to move toward the direction close to the second guide member 630. In some embodiments, the driving member 622 can be an electric push rod.

[0097] In some other embodiments, the driving member 622 can also be a cylinder or an electric cylinder or other structures.

[0098] In some embodiments, the first elastic member 641 can be arranged along the first direction X and is arranged between the second guide member 630 and the sliding member 621. When the first elastic member 641 is in a compressed state, the first elastic member 641 can exert an elastic force on the sliding member 621 to make the sliding member 621 move away from the second guide member 630.

[0099] In some embodiments, the latch 651 and the second elastic member 642 are both disposed in the through hole 631. The latch 651 can slide through the through hole 631 along the third direction Z, and one end of the latch 651 can be telescopically disposed relative to the through hole 631 toward one end of the first guide member 500. When the latch 651 extends out of the through hole 631 toward one end of the first guide member 500, the latch 651 can protrude from the side of the first guide member 500 facing away from the mounting plate 110. When the latch 651 protrudes from the side of the first guide member 500 facing away from the mounting plate 110, it will pass through the communication hole 550. It can be understood that the locking unit 600 is slidably inserted into the communication hole 550.

[0100] In the embodiment, the second elastic member 642 can also be disposed along the third direction Z and is located between the latch 651 and the inner wall of the mounting cavity 611. One end of the second elastic member 642 can abut against an inner wall of the mounting cavity 611 opposite to the second opening 613, and the other end of the second elastic member 642 can abut against the latch 651. In the embodiment, when the second elastic member 642 is in a compressed state, the second elastic member 642 can be used to drive the latch 651 to move in a direction close to the first guide member 500.

[0101] In some embodiments, two symmetrical rolling members 652 are rotatably connected to the circumferential side of one end of the latch 651 facing the second elastic member 642. The rotation axis of the rolling member 652 can be parallel to the second direction Y. In addition, the rolling member 652 can be inserted through the notch 632, and the two rolling members 652 can respectively abut against two sliding surfaces 6211 on the sliding member 621. Correspondingly, the rolling member 652 can be located on the side of the sliding surface 6211 facing away from the second opening 613.

[0102] In some embodiments, the locking unit 600 further includes a blocking member 660. The blocking member 660 is disposed at the first opening 612 and can be fixedly connected to the support frame 610 by means of bolt connection or the like. In the embodiment, the blocking member 660 can be used to limit the sliding member 621 from sliding out of the first opening 612, and a connection port 661 communicating with the first opening 612 is formed on the blocking member 660. The output shaft of the driving member 622 can pass through the connection port 661 and abut against the sliding member 621.

[0103] In some embodiments, a Hall sensor 671 is further provided at the bottom of the support frame 610, and the Hall sensor 671 can be provided near the second guide member 630 relative to the first opening 612. And the Hall sensor 671 is electrically connected to the driving member 622. A magnetic member 672 cooperating with the Hall sensor 671 is provided on the sliding member 621. When the driving member 622 drives the sliding member 621 to slide to a preset position, the magnetic member 672 triggers the Hall sensor 671, and the Hall sensor 671 triggers the driving member 622 to stop working. Exemplarily, the preset position may refer to the position of the sliding member 621 when the end face of the latch 651 facing away from the end of the first elastic member 641 is flush with the first limiting surface 510.

[0104] In some embodiments, the locking unit 600 further includes a gripping member 680. The gripping member 680 can be inserted into the avoidance hole 614 along the second direction Y, and extend into the installation cavity 611 to connect with the sliding member 621. During use, the operator can apply force to the sliding member 621 through the gripping member 680, so that the sliding member 621 can move toward or away from the second guide member 630.

[0105] During use, when the functional module 3000 needs to be installed on the chassis 2000, the driving member 622 can be started to make the sliding member 621 squeeze the first elastic member 641 and move in the direction close to the second guide member 630. Under the squeezing action of the sliding surface 6211, the rolling member 652 can move in the direction away from the second opening 613, and the latch 651 can squeeze the second elastic member 642 driven by the rolling member 652 and retract relative to the guide groove 501 in the first guide member 500. When the latch 651 moves into place, the magnetic member 672 can act on the Hall sensor 671 to control the driving member 622 to stop working. After that, the functional module 3000 can be installed in the chassis 2000. For example, when the end surface of the latch 651 away from the first elastic member 641 is flush with the first limit surface 510, it can be recorded that the latch 651 moves into place.

[0106] After the functional module 3000 is installed in place, the driving member 622 can be started to retract the output shaft of the driving member 622. The sliding member 621 can move away from the second guide member 630 under the elastic force of the first elastic member 641, so that the sliding surface 6211 can cancel the pressure on the rolling member 652. The latch 651 can protrude from the side of the first guide member 500 away from the mounting plate 110 under the elastic force of the second elastic member 642, and be inserted into the latch hole 3220 on the functional module 3000 to achieve locking between the functional module 3000 and the chassis 2000.

[0107] like Figure 1 and Figure 16As shown, in an embodiment, a chassis 2000 is further provided, which may include a chassis main body 2100 and the connecting mechanism 1000 provided in the embodiment. In the embodiment, a plugging slot 2110 may be formed on one side of the chassis main body 2100. The mounting seat 100 of the connecting mechanism 1000 may be installed inside the chassis main body 2100. An assembly hole 2120 communicating with the plugging slot 2110 may be formed on the chassis main body 2100. The first connector 300 may pass through the assembly hole 2120 and protrude into the plugging slot 2110. The first guiding member 500 may also be exposed through a through hole 2130 on the chassis main body 2100 and protrude into the plugging slot 2110.

[0108] As Figure 1 , Figures 16 to 20 shown, in an embodiment, a robot is further provided, which may include a functional module 3000 and the chassis 2000 provided in the embodiment.

[0109] In some embodiments, the functional module 3000 may be a cleaning module, a delivery module, a security inspection module, etc., or an aggregate of multiple functional modules 3000. In the embodiment, the functional module 3000 may include a main body structure 3100 and a second connector 3300. The functional module 3000 also has a connection side 3001. A plugging protrusion 3110 is configured on one side of the main body structure 3100 facing the connection side 3001. The second connector 3300 may be connected to one side of the plugging protrusion 3110 facing the connection side 3001. When the functional module 3000 is connected to the chassis 2000, the plugging protrusion 3110 may be inserted into the plugging slot 2110, and the second connector 3300 may be connected to the first connector 300 in a plug-and-unplug manner in alignment. It can be understood that the second connector 3300 may be adapted to the first connector 300.

[0110] In some embodiments, the functional module 3000 further includes a guiding plate 3200, and the guiding plate 3200 may be fixedly connected to the bottom of the plugging protrusion 3110 by means of bolt connection or the like. Guiding wing plates 3210 are configured on both opposite sides of the guiding plate 3200. The guiding wing plates 3210 may extend along the first direction X, and the shape of the guiding wing plates 3210 is adapted to the shape of the guiding slot 501. When the functional module 3000 is installed on the chassis 2000, the guiding wing plates 3210 may cooperate with the first guiding member 500 to provide a guiding function for the installation of the functional module 3000, so that the functional module 3000 can be accurately aligned and installed with the chassis 2000.

[0111] In some embodiments, a pin hole 3220 adapted to the pin 651 is further formed on the guiding wing plate 3210. When the locking unit 600 locks the functional module 3000 and the chassis 2000, the pin 651 may be inserted into the pin hole 3220.

[0112] In some embodiments, both opposite sides of the main body structure 3100 are further provided with handle positions 3120. The handle positions 3120 can be groove-like structures parallel to the first direction X, which can facilitate the operator or a robotic arm to assemble the functional module 3000 onto the chassis 2000, or to disassemble the functional module 3000.

[0113] In some embodiments, the functional module 3000 is further provided with moving wheels 2400, which can facilitate the movement of the functional module 3000. The moving wheels 2400 can be installed at the bottom of the main body structure 3100, that is, on the side facing the bottom surface.

[0114] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0115] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A connecting mechanism, characterized in that, include: Mounting seat; A flexible seat connected to one side of the mounting seat, wherein the flexible seat can generate elastic deformation in at least two directions; The first connector is connected to the mounting seat through the flexible seat.

2. The connecting mechanism according to claim 1, wherein, The connecting mechanism further comprises a first limiting member, and the first limiting member is arranged at the end side of the flexible seat.

3. The connecting mechanism according to claim 2, characterized in that, The connecting mechanism further comprises a second limiting member, wherein the second limiting member is connected to a side of the flexible seat facing the mounting seat; The second limiting member is accommodated in the first limiting member, and a gap is provided between the second limiting member and the first limiting member.

4. The connecting mechanism according to claim 3, characterized in that, The first limiting member is provided with a first limiting groove and a second limiting groove which are spaced apart and opposite to each other, the first limiting groove and the second limiting groove are arranged at two ends of the first limiting member, and the connecting mechanism includes two second limiting members; The two second limiting members are respectively accommodated in the first limiting groove and the second limiting groove of the first limiting member, and the two second limiting members are spaced apart from the inner walls of the first limiting groove and the second limiting groove.

5. The connecting mechanism according to any one of claims 1 to 4, characterized in that, The connecting mechanism has a first direction and a second direction intersecting each other, the mounting seat comprises a mounting plate and a connecting plate, the connecting plate is vertically arranged on one side of the mounting plate and connected to the mounting plate, the flexible seat is connected to a side of the connecting plate facing the mounting plate, and the first connector is located on a side of the flexible seat away from the connecting plate; The connecting mechanism also includes two first guide members, which are arranged on the side of the mounting plate facing the connecting plate, and the two first guide members are arranged at both ends of the mounting plate along the second direction, and the two first guide members are provided with guide grooves extending along the first direction on the sides opposite to each other.

6. The connecting mechanism according to claim 5, characterized in that, The guide groove comprises a first limiting surface, a second limiting surface and a third limiting surface, wherein the first limiting surface, the second limiting surface and the third limiting surface are all extended along the first direction, and the second limiting surface is connected between the first limiting surface and the third limiting surface; The first limiting surface is located at a side of the guide groove close to the mounting plate, and the second limiting surfaces of the two first guide members are arranged opposite to each other; The third limiting surface is gradually inclined in a direction away from the first limiting surface from a side close to the second limiting surface to a side away from the second limiting surface.

7. The connecting mechanism according to claim 6, characterized in that A first guide portion is disposed at one end of the first limiting surface away from the connecting plate, and the first guide portion gradually inclines toward a direction close to the mounting plate from the end close to the connecting plate to the end away from the connecting plate; And / or, a second guide portion is disposed at one end of the second limiting surface away from the connecting plate, and the second guide portion gradually inclines in a direction away from the other second guide portion from the end close to the connecting plate to the end away from the connecting plate; And / or, a third guide portion is disposed at one end of the third limiting surface away from the connecting plate, and the third guide portion is gradually inclined in a direction away from the mounting plate from an end close to the connecting plate to an end away from the connecting plate.

8. The connecting mechanism according to claim 5, characterized in that, On the side of the first guiding member facing away from the mounting plate, a limiting convex portion is further protrudingly provided, and the limiting convex portion is located at one end of the guiding groove close to the connecting plate.

9. The connecting mechanism according to claim 5, characterized in that A communication hole communicating with the guiding groove is further formed in the first guiding member, and the axial direction of the communication hole is perpendicular to the first direction; The connecting mechanism further includes a locking unit, the locking unit is installed on the side of the mounting plate facing away from the first guiding member, the locking unit penetrates through the mounting plate, and is slidably inserted into the communication hole, and the locking unit is telescopically arranged relative to the side of the first guiding member facing the guiding groove.

10. A chassis, characterized in that, It includes a chassis main body and the connecting mechanism according to any one of claims 1 to 9, and a plug-in groove and an assembly hole communicating with the plug-in groove are formed on one side of the chassis main body; The mounting seat of the connecting mechanism is installed inside the chassis main body, the first connector penetrates through the assembly hole, and protrudes into the plug-in groove.

11. A robot, characterized in that, It includes a functional module and the chassis according to claim 10; The functional module includes a main body structure and a second connector arranged on one side of the main body structure, the main body structure is inserted into the plug-in groove, and the second connector is detachably connected to the first connector.

12. The robot according to claim 11, wherein The functional module further includes a guiding plate, the guiding plate is connected to the main body structure, and guiding wing plates are arranged on both opposite sides of the guiding plate.

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