Robot chassis and robot

Abstract

The utility model relates to the field of robots, and provides a chassis of a robot and the robot, and the chassis of the robot comprises a chassis body and a detection assembly; the detection assembly comprises first detection pieces and a second detection piece, and the two first detection pieces are arranged on the two sides of the central axis of the chassis body correspondingly and suitable for forming a first detection area in front of the chassis body; the two second detection pieces are arranged on the two sides of the central axis of the chassis body correspondingly and suitable for forming a second detection area in front of the chassis body, and the second detection area at least partially covers a detection blind area between the first detection area and the chassis of the robot. The obstacle avoidance effect of the chassis is improved, and especially for the situation that an obstacle suddenly falling into the detection blind area in the advancing process of the chassis cannot be detected by the first detection area, the strain capacity of the chassis to emergencies is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a chassis of a robot and the robot. Background Art

[0002] Service robots need to have sufficient perception and obstacle avoidance capabilities when facing different usage environments. Usually, a detection area is formed at a certain distance away from the robot to achieve obstacle avoidance in advance.

[0003] However, there are problems that the detection range is limited in the detection area far away from the robot setting and obstacles within a certain distance around the robot cannot be detected. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a chassis of a robot, on the basis of a first detection member detecting obstacles at a certain distance from the chassis of the robot, a second detection member is arranged to form a second detection area to cover the blind area between the first detection area and the chassis of the robot, thereby improving the obstacle avoidance effect of the chassis of the robot.

[0005] The utility model also provides a robot.

[0006] The chassis of the robot according to the first embodiment of the utility model comprises:

[0007] Chassis body;

[0008] A detection component, the detection component comprising a first detection member and a second detection member, the two first detection members are respectively arranged on both sides of the central axis of the chassis body, and are suitable for forming a first detection area in front of the chassis body;

[0009] The two second detection members are respectively arranged on both sides of the central axis of the chassis body, suitable for forming a second detection area in front of the chassis body, and the second detection area at least partially covers the detection blind area between the first detection area and the chassis of the robot.

[0010] The chassis of the robot according to the embodiment of the utility model is a component device that can move the robot. The moving direction of the chassis is the extension direction of the central axis of the chassis body. The central axis of the chassis body is also located at the symmetry axis of the chassis body. Two first detection components are symmetrically arranged on both sides of the central axis. The first detection components can transmit signals to the outside of the chassis body. The directions of the transmission signals of the two first detection components are inclined toward the central axis of the chassis body. The transmission signals emitted by the two first detection components intersect to form a first detection area. During the movement of the chassis, the first detection area sweeps against an obstacle and then reflects. The reflected signal is received by the first detection component, and the chassis is braked or the forward path is changed, so that the forward path of the chassis is planned in advance, and the obstacle avoidance effect is effectively improved.

[0011] At this time, a detection blind area that cannot be covered by the first detection area is formed from the intersection of the transmission signals emitted by the two first detection members to the chassis body. By setting the second detection member, the second detection area formed by the transmission signal of the second detection member covers part of the detection blind area, so as to improve the obstacle avoidance effect of the chassis, and especially for the situation where an obstacle suddenly falls into the detection blind area during the forward movement of the chassis and cannot be detected by the first detection area, the chassis's ability to respond to emergencies is guaranteed.

[0012] According to an embodiment of the present utility model, the two first detection members are symmetrically arranged with the central axis of the chassis body as the symmetry axis;

[0013] The two second detection members are symmetrically arranged with the central axis of the chassis body as a symmetry axis.

[0014] According to an embodiment of the present invention, the second detection member is arranged between the first detection members.

[0015] According to an embodiment of the present invention, the angle between the edges of the second detection area is greater than or equal to 180 degrees.

[0016] According to an embodiment of the present utility model, the detection assembly further includes a third detection member, and two third detection members are respectively arranged on both sides of the central axis of the chassis body;

[0017] Each of the third detection elements forms an independent third detection area, and the third detection area at least partially covers the detection blind area not covered by the second detection area.

[0018] According to an embodiment of the present utility model, the two third detection members are symmetrically arranged with the central axis of the chassis body as a symmetry axis, and the second detection member is arranged between the two third detection members.

[0019] According to an embodiment of the present utility model, a detection inclination angle is formed between the third detection member and the vertical direction, and the detection inclination angle ranges from 10 degrees to 20 degrees.

[0020] According to an embodiment of the present invention, the height of the detection component from the ground is at least 100 mm.

[0021] According to an embodiment of the utility model, the chassis of the robot further includes a collision component, the collision component includes a collision plate, the collision plate is movable relative to the chassis body, and the detection component is higher than the upper surface of the collision plate.

[0022] According to an embodiment of the utility model, a collision sensor is provided between the collision plate and the chassis body, which is suitable for detecting the movement of the collision plate.

[0023] According to an embodiment of the utility model, the chassis of the robot further includes a fourth detection member, which is suitable for detecting obstacles around the chassis of the robot, and the fourth detection member, the detection assembly, and the collision sensor are sequentially arranged in a vertical direction.

[0024] According to an embodiment of the utility model, the chassis of the robot further comprises a connecting column, which is suitable for connecting the robot body, and the connecting column and the fourth detection member are arranged on both sides of the center of the chassis body along the central axis of the chassis body.

[0025] According to one embodiment of the utility model, the collision assembly further includes:

[0026] A collision bracket, the collision bracket is fixedly connected to the chassis body, and the detection component is installed on the collision bracket; the collision bracket can be movably connected to the collision plate.

[0027] The robot according to the embodiment of the second aspect of the utility model comprises a robot body and the chassis of the robot as described above, wherein the chassis of the robot is arranged below the robot body.

[0028] The beneficial effects of the robot according to the embodiment of the utility model are similar to those of the chassis of the robot in the embodiment of the first aspect of the utility model, and will not be described in detail here.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 is a top view of the chassis of the robot provided by an embodiment of the utility model;

[0032] Figure 2 It is a structural schematic diagram of the chassis and the first detection area of ​​the robot provided by an embodiment of the utility model;

[0033] Figure 3 It is a structural schematic diagram of the chassis and the second detection area of ​​the robot provided by an embodiment of the utility model;

[0034] Figure 4 It is a structural schematic diagram of the chassis and the third detection area of ​​the robot provided by the embodiment of the utility model;

[0035] Figure 5 It is a structural schematic diagram of a combination of a first detection area, a second detection area, and a third detection area provided in an embodiment of the utility model;

[0036] Figure 6 It is a structural schematic diagram of a third detection member of the chassis of the robot provided by an embodiment of the utility model;

[0037] Figure 7 It is a structural schematic diagram of the chassis of the robot provided by an embodiment of the utility model;

[0038] Figure 8 It is a side view of the chassis of the robot provided by the embodiment of the utility model;

[0039] Fig. 9 It is a schematic diagram of the structure of the collision component of the robot provided in the embodiment of the utility model.

[0040] Reference numerals:

[0041] 100, chassis body; 119, connecting column;

[0042] 200, detection component; 210, first detection member; 211, first detection area; 220, second detection member; 221, second detection area; 230, third detection member; 231, third detection area;

[0043] 300, collision assembly; 310, collision plate; 320, collision sensor; 330, collision bracket; 331, first frame; 332, second frame;

[0044] 400. Fourth test piece. DETAILED DESCRIPTION

[0045] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0046] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model 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 therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0047] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0048] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the 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, the first feature being "above", "above" and "above" the 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. The first feature being "below", "below" and "below" the 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.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0050] Combination Figures 1 to 3 and Figure 5 As shown, the chassis of the robot according to the embodiment of the first aspect of the utility model includes a chassis body 100 and a detection component 200; the detection component 200 includes a first detection member 210 and a second detection member 220, and the two first detection members 210 are respectively arranged on both sides of the central axis of the chassis body 100, suitable for forming a first detection area 211 in front of the chassis body 100; the two second detection members 220 are respectively arranged on both sides of the central axis of the chassis body 100, suitable for forming a second detection area 221 in front of the chassis body 100, and the second detection area 221 at least partially covers the detection blind area between the first detection area 211 and the chassis of the robot.

[0051] The chassis of the robot according to the embodiment of the utility model is a component device that can move the robot. The moving direction of the chassis is the extension direction of the central axis of the chassis body 100. The central axis of the chassis body 100 is also the symmetry axis of the chassis body 100. Two first detection components 210 are arranged on both sides of the central axis. The first detection components 210 can transmit signals to the outside of the chassis body 100. The directions of the transmission signals of the two first detection components 210 are inclined toward the central axis direction of the chassis body 100. The transmission signals emitted by the two first detection components 210 intersect to form a first detection area 211. During the movement of the chassis, the first detection area 211 sweeps across an obstacle and then reflects. The reflected signal is received by the first detection component 210, and the chassis is braked or the forward path is changed, so that the forward path of the chassis is planned in advance, and the obstacle avoidance effect is effectively improved.

[0052] At this time, a detection blind area that cannot be covered by the first detection area 211 is formed from the intersection of the transmission signals emitted by the two first detection members 210 to the chassis body 100. By setting the second detection member 220, the second detection area 221 formed by the transmission signal of the second detection member 220 covers part of the detection blind area to improve the obstacle avoidance effect of the chassis, especially for the situation where an obstacle suddenly falls into the detection blind area during the forward movement of the chassis and cannot be detected by the first detection area 211, thereby ensuring the chassis's ability to respond to emergencies.

[0053] In this embodiment, the first detection element 210 can be a long-range linear laser radar, which forms a first detection area 211 by the laser intersection of two long-range linear laser radars. Compared with the fan-shaped first detection area 211 formed by the single first detection element 210 itself, the overall energy consumption is lower, which effectively reduces the operating cost of the chassis; and the formed first detection area 211 is farther away from the chassis body 100, which is more conducive to the chassis' early obstacle avoidance.

[0054] In one embodiment, the emission angle of the transmission signal of the long-range line laser radar is about 15 degrees to the moving direction of the chassis, and the spacing between the two long-range line laser radars is 25 to 35 centimeters, so that the intersection of the lasers emitted by the long-range line laser radars is more than 50 centimeters away from the outermost side of the chassis body 100, and obstacles overlapping with the width of the chassis can be detected when the distance is about 1.4 meters, so as to avoid obstacles in advance.

[0055] Of course, the distance between the two long-range line laser radars and the angle with the robot's moving direction can be adaptively adjusted based on the detection requirements, such as shortening the distance between the two long-range line laser radars so that the intersection of the emitted lasers is closer to the chassis body 100, so as to detect obstacles that are closer to the chassis body 100.

[0056] In this embodiment, the second detection element 220 can be a millimeter wave radar. The millimeter wave radar has the advantages of being able to penetrate dust, fog, rain and snow and not being affected by harsh environments. It can effectively improve the detection effect of the chassis on obstacles. Compared with conventional visual sensors, infrared detection sensors, etc., it can effectively improve the detection accuracy of black or transparent obstacles.

[0057] In this embodiment, the transmission angle of the millimeter-wave radar signal is 55 degrees to the moving direction, and the distance between the two radars is about 10 centimeters. Of course, the distance between the two millimeter-wave radars and the angle to the moving direction of the robot can be adaptively adjusted based on detection requirements, such as expanding the angle between the millimeter-wave radar and the moving direction to make the coverage area of ​​the formed second detection area 221 larger.

[0058] In this embodiment, the periphery of the second detection member 220 is a plastic structure to avoid interference with the transmission and reception signals of the millimeter wave radar; the distance between the antenna of the millimeter wave radar and the protective cover is a certain value, such as half or an integer multiple of the wavelength emitted by the antenna, to reduce the interference of the protective cover on the waves emitted by the antenna, and the antenna emission area of ​​the second detection member 220 is designed as a plane with a certain thickness, which can be determined according to the wavelength of the millimeter wave radar and the shape of the protective cover. Different millimeter wave radar lengths or different protective cover shapes correspond to different thicknesses. Among them, the distance between the antenna of the millimeter wave radar and the protective cover, the thickness of the antenna emission area, etc. can be adaptively adjusted according to the wavelength emitted by the millimeter wave radar, so that the range size of the second detection area 221 formed by the millimeter wave radar and the detection accuracy of obstacles meet the requirements.

[0059] Of course, the first detection element 210 and the second detection element 220 may also be other types of detection elements, such as infrared detection sensors, visual sensors, ultrasonic sensors, etc.

[0060] According to one embodiment of the utility model, combined Figure 3 and Figure 5 As shown, the two first detection members 210 are symmetrically arranged with the central axis of the chassis body 100 as the symmetry axis; the two second detection members 220 are symmetrically arranged with the central axis of the chassis body 100 as the symmetry axis. It is ensured that the first detection area 211 formed by the first detection member 210 is located directly in front of the central axis of the chassis body 100 of the robot, that is, directly in front of the moving direction of the chassis, so as to ensure the obstacle detection effect in the moving direction of the robot, and the same is true for the second detection member 220.

[0061] Of course, the first detection member 210 or the second detection member 220 may also be arranged asymmetrically with respect to the central axis, and the corresponding first detection area 211 or the second detection area 221 formed thereby deviates from the central axis, thereby expanding the detection range on both sides of the central axis.

[0062] According to one embodiment of the utility model, combined Figure 3 and Figure 5 As shown, the second detection member 220 is arranged between the first detection member 210, so that the second detection area 221 formed by the two second detection members 220 covers more of the detection blind area between the first detection area 211 and the chassis body 100 near the central axis, thereby giving priority to ensuring the obstacle avoidance effect in the forward direction of the chassis.

[0063] Of course, the second detection member 220 can also be arranged outside the first detection member 210 and further away from the central axis than the first detection member 210 to improve the detection effect of obstacles corresponding to the chassis edges on both sides of the central axis in the moving direction.

[0064] In one embodiment, in combination Figure 3 As shown, the angle between the edges of the second detection area 221 is greater than or equal to 180 degrees. This ensures that the chassis is located at least 180 degrees ahead of the line connecting the two second detection members 220 in the moving direction to detect obstacles, effectively meeting the detection of obstacles in the moving direction corresponding to the chassis edges located on both sides of the central axis, and improving the avoidance effect of the chassis.

[0065] According to one embodiment of the utility model, combined Figure 1 , Figure 4 and Figure 5 As shown, the detection component 200 also includes a third detection member 230, and two third detection members 230 are respectively arranged on both sides of the central axis of the chassis body 100; each third detection member 230 forms an independent third detection area 231, and the third detection area 231 at least partially covers the detection blind area not covered by the second detection area 221.

[0066] The third detection area 231 formed by the third detection member 230 is closer to the edges of the chassis on both sides of the central axis than the second detection area 221, ensuring the movement and obstacle avoidance of the chassis in the width direction (perpendicular to the moving direction in the horizontal plane) and realizing edge detection during the forward movement of the chassis, thereby allowing the chassis to pass through narrow roads or travel along walls.

[0067] In this embodiment, the third detection component 230 is a short-range linear laser radar, the emission angle of the transmitted signal is 35 degrees to the moving direction of the chassis, and the distance between the two third detection components 230 is 40 cm; of course, the third detection component 230 can also adopt other types of detection components, such as infrared detection sensors, visual sensors, ultrasonic sensors, etc.

[0068] Of course, the distance between the two third detection members 230, that is, the angle between them and the moving direction, can be adjusted according to actual needs, such as adjusting the distance between the third detection members 230 so that the third detection members 230 are closer to the edge of the chassis in the width direction, thereby improving the obstacle avoidance and edge driving effects of the chassis in the width direction.

[0069] According to one embodiment of the utility model, combined Figure 3 and Figure 5 As shown, the two third detection members 230 are symmetrically arranged with the central axis of the chassis body 100 as the symmetry axis. The independent third detection area 231 formed by the two third detection members 230 is ensured to be symmetrical to both sides of the central axis of the chassis body 100 of the robot, that is, both sides directly in front of the chassis moving direction, thereby ensuring the obstacle detection effect on both edges of the chassis and avoiding the problem of poor detection effect on one side.

[0070] Of course, the third detection member 230 may also be arranged asymmetrically with respect to the central axis, and the corresponding third detection area 231 formed thereby may be adjusted in position to detect obstacles at specific positions.

[0071] In one embodiment, in combination Figure 3 and Figure 5 As shown, the second detection member 220 is arranged between the two third detection members 230, so that the third detection area 231 formed by the two third detection members 230 covers more of the detection blind area between the second detection area 221 and the chassis body 100 close to the edge of the chassis, thereby ensuring the obstacle avoidance effect on the edges on both sides of the chassis.

[0072] Of course, the third detection member 230 may also be disposed inside the second detection member 220 , that is, closer to the central axis than the second detection member 220 , so as to improve the detection effect of obstacles in front of the central axis of the chassis.

[0073] According to one embodiment of the utility model, combined Figure 6 As shown, a detection inclination angle is formed between the third detection member 230 and the vertical direction, and the detection inclination angle ranges from 10 degrees to 20 degrees.

[0074] In this embodiment, it can be understood that the third detection area 231 formed by the short-range line laser radar is fan-shaped in horizontal projection and cone-shaped in three-dimensional space. By setting the detection inclination angle, the third detection area 231 is closer to the chassis in the vertical direction, thereby improving the detection effect of the third detection component 230 for low obstacles, thereby improving the obstacle avoidance and edge driving effects of the chassis in the width direction.

[0075] In this embodiment, the detection inclination angle is the angle between the emission surface of the emission signal of the third detection member 230 (that is, the plane perpendicular to the center line of the conical third detection area 231) and the vertical direction, which is 13 degrees; of course, based on the third detection member 230 forming different sizes of third detection areas 231, the size of the detection inclination angle can be changed to adapt to the detection requirements of chassis of different sizes.

[0076] According to one embodiment of the utility model, combined Figure 8 As shown, the height of the detection component 200 from the ground is at least 100 mm. In this embodiment, in order to enable the chassis to detect low obstacles and distant targets and expand the detection range of the chassis, the detection component 200 is arranged above the critical height of 100 mm, which can avoid the signal in the detection area (referring to the first detection area 211, the second detection area 221 and the third detection area 231) being reflected after being irradiated to the ground, and the detection component 200 receiving the signal reflected from the ground and misjudging that there is an obstacle in front of the chassis that needs to be avoided, effectively reducing the possibility of misjudgment of the chassis.

[0077] Of course, the actual height of the detection component 200 is set and adjusted according to the actual range and height of obstacles to be detected.

[0078] According to one embodiment of the utility model, combined Figure 7 As shown, the chassis of the robot further includes a collision assembly 300 , and the collision assembly 300 includes a collision plate 310 , and the collision plate 310 is movable relative to the chassis body 100 .

[0079] In this embodiment, a collision plate 310 is arranged on the outside of the chassis body 100, and the collision plate 310 is connected to the front end of the chassis body 100. When the chassis moves, if the front end of the chassis touches an obstacle, the collision plate 310 will be forced to move closer to the chassis body 100. The collision plate 310 can buffer the vibration when the chassis hits an obstacle, and prevent the vibration from being transmitted to the detection component 200, causing the detection component 200 to change its position or angle, so that the formed detection area changes, affecting the obstacle avoidance function of the chassis.

[0080] The detection component 200 is higher than the upper surface of the collision plate 310 and avoids the position of the collision plate 310 , thereby expanding the detection area of ​​the detection component 200 and preventing the vibration of the collision plate 310 from affecting the position and angle of the detection component 200 .

[0081] Of course, a buffer, such as a spring, can be provided between the collision plate 310 and the chassis body 100 to buffer the vibration transmitted from the collision plate 310 to the chassis body 100, and the reset action of the spring can reset the collision plate 310 after the chassis is detached from the obstacle, thereby ensuring the buffering effect when it collides with the obstacle next time.

[0082] According to one embodiment of the utility model, combined Figure 7 and 9 As shown, a collision sensor 320 is provided between the collision plate 310 and the chassis body 100, which is suitable for detecting the movement of the collision plate 310. After the collision plate 310 moves, the collision sensor 320 is triggered to send a signal indicating that the chassis collides with an obstacle, thereby controlling the chassis to move and then replan the moving path to avoid the obstacle after an emergency stop. The collision sensor 320 and the collision plate 310 effectively ensure that the chassis body 100 will not be impacted by the chassis hitting the obstacle, and avoid the impact force causing the detection component 200 to vibrate and lose its position or other components inside the chassis to be damaged.

[0083] Of course, the collision sensor 320 can also be replaced by a pressure sensor (to detect the impact force of the collision plate 310), an infrared sensor (to detect the displacement of the collision plate 310), etc., which is suitable for sending signals based on some parameters that change when the collision plate 310 hits an obstacle.

[0084] According to an embodiment of the utility model, the chassis of the robot further includes a fourth detection member 400, which is suitable for detecting obstacles around the chassis of the robot. By continuously scanning to obtain spatial data of the surrounding environment, the chassis can be helped to achieve functions such as autonomous positioning, map construction and path planning.

[0085] In this embodiment, the fourth detection element 400 adopts a laser radar; of course, other types of detection elements may also be adopted, such as an infrared detection sensor, a visual sensor, an ultrasonic sensor, etc.

[0086] In this embodiment, the fourth detection member 400 , the detection assembly 200 , and the collision sensor 320 are sequentially arranged along the vertical direction.

[0087] The fourth detection member 400 is placed near the center of the chassis body 100 and is set at a height of 20 to 30 cm from the ground, which can sense the surrounding spatial information; the detection component 200 is set at a height of 10 cm from the ground, which is suitable for avoiding low-level obstacles in front of the chassis moving direction; the collision sensor 320 is set at a height lower than the detection component 200, which is suitable for detecting obstacles at lower levels. The formation of a complete multi-level spatial obstacle detection can significantly improve the chassis's ability to avoid obstacles at different heights, and at the same time significantly improve the chassis's obstacle avoidance response speed to sudden obstacles.

[0088] Of course, the specific arrangement heights of the fourth detection member 400, the detection assembly 200 and the collision sensor 320 can be adjusted according to actual use requirements, and can be suitable for detecting obstacles at multiple heights.

[0089] According to one embodiment of the utility model, combined Figure 7 and Figure 8 As shown, the chassis of the robot also includes a connecting column 119, which is suitable for connecting the robot body. The connecting column 119 forms a gap between the robot body and the chassis of the robot, and the fourth detection member 400 can scan the gap to obtain spatial data of the surrounding environment of the chassis. The connecting column 119 and the fourth detection member 400 are arranged on both sides of the center of the chassis body 100 along the central axis of the chassis body 100. That is, when the fourth detection member 400 is scanning, since the connecting column 119 is located on the other side of the center of the chassis body 100, it is guaranteed that the fourth detection member 400 obtains the integrity of the spatial data within the range of 180 degrees in front, which is conducive to improving the obstacle avoidance effect of the chassis during movement.

[0090] In this embodiment, four connecting columns 119 are provided, and are arranged symmetrically on the central axis in pairs, so as to ensure that the robot body will not deflect to the sides of the central axis when connected to the chassis, thereby improving the movement stability. Of course, the number of connecting columns 119 can be adaptively adjusted according to actual needs.

[0091] According to an embodiment of the present invention, the cross section of the connecting column 119 gradually decreases from the outside to the fourth detection member 400. Therefore, during the scanning process of the fourth detection member 400, the range blocked by the connecting column 119 is reduced, and the amount of spatial data obtained by the fourth detection member 400 is increased.

[0092] In this embodiment, the connecting column 119 is in the shape of a triangular prism, and the edges and corners are rounded to prevent scratches by users; of course, connecting columns 119 of other shapes can also be used, as long as they are suitable for reducing the obstruction of the scanning of the fourth detection component 400.

[0093] According to one embodiment of the utility model, combined Fig. 9 As shown, the collision assembly 300 also includes a collision bracket 330, which is fixedly connected to the chassis body 100, and the detection assembly 200 is installed on the collision bracket 330; the collision bracket 330 is movably connected to the collision plate 310. Due to the detachable connection between the collision bracket 330 and the chassis body 100, the staff can install the detection assembly 200 to the collision bracket 330 and then install it with the chassis body 100 during installation, that is, it can be set up in different production lines, effectively improving installation efficiency and reducing installation costs, and it is convenient to replace damaged detection assemblies 200, collision plates 310, etc. separately, reducing maintenance costs.

[0094] According to one embodiment of the utility model, combined Fig. 9 As shown, the collision bracket 330 includes a first frame body 331 and a second frame body 332 that are detachably connected, a guide gap is formed between the first frame body 331 and the second frame body 332, and a first limiting portion is provided in the guide gap; the collision plate 310 is provided with a second limiting portion that is slidably connected to the first limiting portion, suitable for limiting the movement range of the collision plate 310 along a set direction.

[0095] The guide gap limits the collision plate 310 to move only in a set direction, and the first limit portion and the second limit portion cooperate to limit the collision plate 310 in the moving direction, thereby ensuring that the collision plate 310 will not detach from the collision bracket 330 and will not directly collide with the chassis body 100 to cause damage to the internal components of the chassis body 100.

[0096] In this embodiment, the first limiting portion includes a positioning shaft and a positioning hole, and the positioning shaft is inserted into the positioning hole; the second limiting portion is a through hole on the collision plate 310, and the through hole is sleeved on the positioning column. Along the set direction, the positioning column contacts the inner wall of the through hole to realize the limitation of the collision plate 310.

[0097] Of course, the first limiting portion may be a slide groove arranged on at least one of the first frame 331 or the second frame 332 arranged in the guide gap, and the second limiting portion may be a slider arranged on the collision plate 310 corresponding to the slide groove, or may be other structural forms suitable for achieving the limitation between the collision plate 310 and the collision bracket 330.

[0098] In this embodiment, four first limiting portions and four second limiting portions are provided, and are symmetrically distributed in pairs on both sides of the central axis, so as to ensure stable movement of the collision plate 310 and prevent a single first limiting portion or a second limiting portion from being damaged by excessive impact; of course, the number of the first limiting portions and the second limiting portions can also be adaptively adjusted according to actual needs.

[0099] The robot according to the embodiment of the second aspect of the utility model comprises a robot body and a chassis of the robot as in the above embodiment, and the chassis of the robot is arranged below the robot body.

[0100] The beneficial effects of the robot according to the embodiment of the utility model are similar to those of the chassis of the robot in the embodiment of the first aspect of the utility model, and will not be described in detail here.

[0101] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A robot chassis, characterized in that: include: Chassis body; A detection component, the detection component comprising a first detection member and a second detection member, the two first detection members are respectively arranged on both sides of the central axis of the chassis body, and are suitable for forming a first detection area in front of the chassis body; The two second detection members are respectively arranged on both sides of the central axis of the chassis body, suitable for forming a second detection area in front of the chassis body, and the second detection area at least partially covers the detection blind area between the first detection area and the chassis of the robot.

2. The robot chassis according to claim 1, characterized in that: The two first detection members are symmetrically arranged with the central axis of the chassis body as a symmetry axis; The two second detection members are symmetrically arranged with the central axis of the chassis body as a symmetry axis.

3. The chassis of the robot according to claim 1, characterized in that: The second detecting member is arranged between the first detecting members.

4. The chassis of the robot according to claim 1, characterized in that: The angle between the edges of the second detection area is greater than or equal to 180 degrees.

5. The robot chassis according to claim 2, characterized in that: The detection assembly further includes a third detection member, and two third detection members are respectively arranged on both sides of the central axis of the chassis body; Each of the third detection elements forms an independent third detection area, and the third detection area at least partially covers the detection blind area not covered by the second detection area.

6. The chassis of the robot according to claim 5, characterized in that: The two third detection members are symmetrically arranged with the central axis of the chassis body as a symmetry axis, and the second detection member is arranged between the two third detection members.

7. The robot chassis according to claim 5, characterized in that: A detection inclination angle is formed between the third detection member and the vertical direction, and the detection inclination angle ranges from 10 degrees to 20 degrees.

8. The chassis of the robot according to any one of claims 1 to 7, characterized in that: The height of the detection component from the ground is at least 100 mm.

9. The chassis of the robot according to any one of claims 1 to 7, characterized in that: The chassis of the robot further comprises a collision component, wherein the collision component comprises a collision plate, wherein the collision plate is movable relative to the chassis body, and the detection component is higher than an upper surface of the collision plate.

10. The robot chassis according to claim 9, characterized in that: A collision sensor is provided between the collision plate and the chassis body, and is suitable for detecting movement of the collision plate.

11. The robot chassis according to claim 10, characterized in that: The chassis of the robot further comprises a fourth detection member, which is suitable for detecting obstacles around the chassis of the robot. The fourth detection member, the detection assembly and the collision sensor are arranged in sequence along the vertical direction.

12. The robot chassis according to claim 11, characterized in that: The chassis of the robot further comprises a connecting column, which is suitable for connecting to the robot body. The connecting column and the fourth detection member are arranged on both sides of the center of the chassis body along the central axis of the chassis body.

13. The robot chassis according to claim 9, characterized in that: The collision component also includes: A collision bracket, the collision bracket is fixedly connected to the chassis body, and the detection component is installed on the collision bracket; the collision bracket can be movably connected to the collision plate.

14. A robot, characterized in that: It comprises a robot body and a chassis of the robot according to any one of claims 1 to 13, wherein the chassis of the robot is arranged below the robot body.

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