Chassis structure and robot

Abstract

The utility model relates to the technical field of mobile robots, in particular to a chassis structure and a robot. The chassis structure comprises a bottom plate, a mounting cover, a driving wheel and a suspension assembly, the mounting cover is arranged above the bottom plate, and the mounting cover is provided with a clamping component; the driving wheels are used for driving the chassis structure to run on the ground; the suspension assembly comprises a swing arm, a clamping piece and an elastic piece, one end of the swing arm is rotatably connected to the bottom plate, a driving wheel is installed at the other end of the swing arm, the clamping piece is connected with the clamping component in a clamped mode, one end of the elastic piece is connected with the swing arm, the other end of the elastic piece is connected with the clamping piece, and the elastic piece is used for applying elastic acting force to the swing arm. And the driving wheel is pressed against the ground. By means of the mode, when the elastic piece is installed, only the two ends of the elastic piece need to be connected with the swing arm and the clamping piece respectively, then the elastic piece is stretched, the clamping piece and the clamping component are connected in a clamped mode, the installation difficulty of the elastic piece is lowered, and the installation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a chassis structure and a robot. Background Art

[0002] A mobile robot is a device that can move with intelligent control to perform various tasks. Mobile robots are gradually being used in the service field, for example, delivery services in restaurants, hotels, and office buildings, and delivery services between buildings.

[0003] The mobile robot includes a chassis structure, which includes a bottom plate and a driving wheel. The driving wheel is mounted on the bottom plate, and the mobile robot moves by rolling on the ground with the driving wheel. The top of the bottom plate is used to install electronic components such as batteries and motherboards. The driving wheel is usually mounted on the bottom plate through a swing arm that can swing up and down, and a tension spring is provided between the swing arm and the bottom plate to achieve shock absorption of the driving wheel.

[0004] When installing the tension spring, the tension spring needs to have a preset tension on the swing arm, so the tension spring needs to be stretched first, and then the stretched spring is connected to the swing arm and the base plate, making the installation of the tension spring difficult. Utility Model Content

[0005] The embodiments of the present application aim to provide a chassis structure and a robot, so as to at least improve the problem of difficulty in installing the tension spring.

[0006] To solve the above technical problems, a technical solution adopted in the embodiment of the present application is: providing a chassis structure, the chassis structure comprising a base plate, a mounting cover, a driving wheel and a suspension assembly, the mounting cover being arranged above the base plate, and the mounting cover being provided with a clamping member; the driving wheel is used to drive the chassis structure to travel on the ground; the suspension assembly comprises a swing arm, a clamping member and an elastic member, one end of the swing arm is rotatably connected to the base plate, the other end of the swing arm is provided with the driving wheel, the clamping member is clamped and connected with the clamping member, one end of the elastic member is connected to the swing arm, the other end of the elastic member is connected to the clamping member, and the elastic member is used to apply an elastic force to the swing arm so that the driving wheel is pressed against the ground.

[0007] In some embodiments, the clamping component includes a hook; the clamping member includes a narrow neck, and the clamping member is clamped into the hook through the narrow neck; the elastic member is used to apply an elastic force to the clamping member to prevent the narrow neck from leaving the hook.

[0008] In some embodiments, the mounting cover is provided with a first hole, a second hole and a third hole, and the first hole, the second hole and the third hole all penetrate the mounting cover along a first direction; the first end of the first hole is connected to the second hole, and the second end of the first hole extends along a second direction to form the hook at the edge of the first hole; the third hole is connected to the second hole, and the third hole is used for at least one end of the clip to pass through so that the clip can be detached from the mounting cover; wherein the second direction is perpendicular to the first direction.

[0009] In some embodiments, an angle between a direction of the elastic force applied by the elastic member to the clamping member and the second direction is smaller than a right angle.

[0010] In some embodiments, the mounting cover is further provided with a fourth hole, and the fourth hole penetrates the mounting cover along the first direction; the first end of the fourth hole is connected with the second hole, the second end of the fourth hole extends along the second direction and is connected with the third hole, and along the second direction, the second end of the fourth hole protrudes beyond the second end of the first hole.

[0011] In some embodiments, along the third direction, the distance between the fourth hole and the swing arm is greater than the distance between the first hole and the swing arm, so that the elastic force applied by the elastic member to the clamping member prevents the clamping member from sliding from the first hole into the fourth hole; wherein, the third direction is perpendicular to the first direction and the second direction.

[0012] In some embodiments, the clip is provided with a groove along one side parallel to the third direction to form the narrow neck; along the third direction, the width of the second hole is smaller than the width of the clip; wherein the third direction is perpendicular to the first direction and the second direction.

[0013] In some embodiments, along the first direction, the width of the groove is equal to the thickness of the mounting cover.

[0014] In some embodiments, along a third direction, a width of the first hole is equal to a width of the narrow neck; wherein the third direction is perpendicular to the first direction and the second direction.

[0015] Another technical solution adopted in the implementation manner of the present application is: providing a robot, the robot comprising a chassis structure as described in any one of the above items.

[0016] Different from the related art, in the chassis structure and the robot of the embodiment of the present application, the elastic part is connected to the clamping component through the clamping part. When installing the elastic part, it is only necessary to connect the two ends of the elastic part to the swing arm and the clamping part respectively, and then stretch the elastic part and clamp the clamping part to the clamping component. This not only facilitates the connection between the elastic part and the mounting cover, but also helps to reduce the difficulty of installing the elastic part and improve the installation efficiency.

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0019] Figure 1 is a structural schematic diagram of the chassis structure of an embodiment of the present application;

[0020] Figure 2 It is a partial structural schematic diagram of the chassis structure of an embodiment of the present application;

[0021] Figure 3 is another partial structural schematic diagram of the chassis structure of an embodiment of the present application;

[0022] Figure 4 yes Figure 2 A schematic diagram of the structure of the middle mounting cover and the suspension assembly;

[0023] Figure 5 yes Figure 4 A partial enlarged view of the middle mounting cover;

[0024] Figure 6 yes Figure 4 Schematic diagram of the structure of the middle card connector.

[0025] The reference numerals in the specific implementation manner are as follows:

[0026] 100. Chassis structure;

[0027] 1. Bottom plate; 11. Notch; 12. Automatic charging port;

[0028] 2. Mounting cover; 21. Opening; 22. Clamping member; 221. Clamping hook; 222. First hole; 223. Second hole; 224. Third hole; 225. Fourth hole;

[0029] 3. Suspension assembly; 31. Swing arm; 311. Connecting piece; 312. Connecting hole; 32. Snap-on piece; 321. Narrow neck; 322. Groove; 323. Hook; 33. Elastic piece;

[0030] 4. Driving wheel;

[0031] 5. First training wheel;

[0032] 6. Second training wheel;

[0033] X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or there can be one or more centered elements therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element, or there can be one or more centered elements therebetween.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0036] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0037] In the description of the embodiments of the present application, the use of words such as "first" and "second" to define components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meanings and therefore cannot be understood as limiting the scope of protection of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0038] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0039] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0040] The present application embodiment provides a chassis structure 100, which can be applied to a distribution robot, a leading robot, a food delivery robot, or a transport robot, etc., to provide mobile support. Figure 1 and Figure 2 As shown, the chassis structure 100 includes a bottom plate 1, a mounting cover 2, a suspension assembly 3, a driving wheel 4, a first auxiliary wheel 5, and a second auxiliary wheel 6. The mounting cover 2, the suspension assembly 3, the first auxiliary wheel 5, and the second auxiliary wheel 6 are all arranged on the bottom plate 1, and the driving wheel 4 is installed on the suspension assembly 3. The suspension assembly 3 is used to make the driving wheel 4 press against the ground to cooperate with the first auxiliary wheel 5 and the second auxiliary wheel 6 to support the bottom plate 1, and the driving wheel 4 is used to drive the chassis structure 100 to travel on the ground.

[0041] For ease of description, Figure 1 and Figure 2 As shown, a three-dimensional rectangular coordinate system is established with the up-down direction of the chassis structure 100 as the first direction X, the front-back direction of the chassis structure 100 as the second direction Y, and the left-right direction of the chassis structure 100 as the third direction Z. The second direction Y points to the front of the chassis structure 100.

[0042] For the above-mentioned base plate 1, if Figures 1 to 3 As shown, the bottom plate 1 can be in the shape of a rectangular plate or a circular plate. The bottom plate 1 is provided with a notch 11, and the notch 11 is used for the driving wheel 4 to extend from the bottom of the bottom plate 1 to the top of the bottom plate 1, thereby reducing the distance between the bottom plate 1 and the ground, which is beneficial to lowering the center of gravity of the chassis structure 100 and improving the stability of the chassis structure 100 during driving.

[0043] The shape of the notch 11 can be adapted to the shape of the drive wheel 4, for example Figure 2 and Figure 3As shown, when viewed along the first direction X, the driving wheel 4 is roughly rectangular, so the shape of the notch 11 can be rectangular. When the notch 11 is rectangular, the notch 11 includes a length along the radial direction of the driving wheel 4 and a width along the axial direction of the driving wheel 4. The width of the notch 11 is greater than the width of the driving wheel 4 along the axial direction. The length of the notch 11 is determined by the depth of the driving wheel 4 extending into the notch 11. For example, when the axis of the driving wheel 4 coincides with the bottom plate 1, the length of the notch 11 is greater than the outer diameter of the driving wheel 4.

[0044] The notch 11 can be located on one side of the bottom plate 1, such as the left side, right side, front side or rear side. The number of the notches 11 is equal to the number of the driving wheels 4, and each driving wheel 4 is correspondingly arranged at each notch 11. That is, the driving wheel 4 can be arranged on the left side, right side, front side or rear side of the bottom plate 1. For example, Figure 1 and Figure 2 As shown, there are two notches 11 , which are respectively arranged on opposite sides of the bottom plate 1 along the third direction Z, that is, the two driving wheels 4 are respectively arranged on the left and right sides of the bottom plate 1 .

[0045] Furthermore, if Figure 2 and Figure 3 As shown, the notch 11 penetrates to the edge of the bottom plate 1, and the driving wheel 4 is arranged close to the edge of the bottom plate 1, and can even protrude from the bottom plate 1 in a direction parallel to the second direction Y or the third direction Z, that is, protrudes from the bottom plate 1 in a horizontal direction, which is beneficial to increase the track or wheelbase between the driving wheels 4 and improve the driving stability of the chassis structure 100.

[0046] In some embodiments, Figure 1 As shown, an automatic charging interface 12 is provided on the side of the bottom plate 1 facing the second direction Y, that is, it is provided on the front side of the bottom plate 1. The automatic charging interface 12 can be provided with a charging electrode, and the chassis structure 100 can realize the electrical connection between the charging electrode and the external charging device through its own movement, thereby realizing automatic charging. It can be understood that the automatic charging interface 12 can also be provided at other positions of the chassis structure 100, as long as the chassis structure 100 can be electrically connected to the external charging device through its own movement; the automatic charging interface 12 can also be provided without a charging electrode, but with other components that can transmit power, for example, the automatic charging interface 12 is provided with a charging coil, which can transmit power to the external charging device through wireless charging.

[0047] For the above-mentioned mounting cover 2, if Figure 1 and Figure 2As shown, the mounting cover 2 is disposed above the notch 11 to enclose and form an installation space, and the installation space can be used to install the suspension assembly 3 and the drive wheel 4, that is, the drive wheel 4 is partially accommodated in the installation space of the mounting cover 2. It can be understood that one side of the mounting cover 2 has an opening 21, through which the cover is disposed on the edge of the notch 11. In this way, the upper part of the base plate 1 and the lower part of the base plate 1 can be at least partially separated, and pollutants can be prevented from entering from the notch 11 to the upper part of the base plate 1, which is conducive to reducing the damage of electronic components above the base plate 1 and extending the service life of the chassis structure 100. Optionally, the mounting cover 2 and the base plate 1 are detachably connected by screws or bolts.

[0048] Optionally, the shape of the mounting cover 2 may be adapted to the shape of the notch 11, for example, Figures 1 to 3 As shown, the notch 11 is rectangular, and the mounting cover 2 can be in the shape of a rectangular shell.

[0049] Alternatively, if Figure 1 and Figure 2 As shown, the opening 21 extends to the side of the mounting cover 2 facing the outside of the chassis structure 100, which can increase the volume of the drive wheel 4 exposed to the outside, making it easier to disassemble and clean the drive wheel 4. Figure 1 and Figure 2 As shown, of the two mounting covers 2 , the opening 21 of one mounting cover 2 extends to the side of the mounting cover 2 facing the third direction Z, and the opening 21 of the other mounting cover 2 extends to the side of the mounting cover 2 away from the third direction Z.

[0050] Furthermore, a portion of the edge of the mounting cover 2 is adapted to the edge of the notch 11 and is integrally connected. For example, the mounting cover 2 can be formed by stamping the bottom plate 1, which is conducive to simplifying the processing steps and improving the connection strength between the mounting cover 2 and the bottom plate 1 and the sealing effect between the two.

[0051] Furthermore, if Figure 2 As shown, the suspension component 3 is installed on the mounting cover 2, so the installation space of the mounting cover 2 can be fully utilized, and the mounting cover 2 is located above the notch 11, so the suspension component 3 is partially located above the base plate 1, which can further reduce the distance between the base plate 1 and the ground, and lower the center of gravity of the chassis structure 100.

[0052] In some embodiments, Figure 4 and Figure 5 As shown, the mounting cover 2 is provided with a clamping member 22 , and the clamping member 22 is used for clamping connection with the suspension component 3 , so as to facilitate the connection between the suspension component 3 and the mounting cover 2 .

[0053] For the above suspension component 3, if Figure 2As shown, the suspension assembly 3 includes a swing arm 31, a clamping member 32 and an elastic member 33. One end of the swing arm 31 is rotatably connected to the bottom plate 1, and the other end of the swing arm 31 is mounted with a driving wheel 4. The clamping member 32 is clamped and connected to the clamping member 22. One end of the elastic member 33 is connected to the swing arm 31, and the other end of the elastic member is connected to the clamping member 32. The elastic member 33 is used to apply an elastic force to the swing arm 31, which may be a thrust or a pull, to drive the driving wheel 4 to press against the ground; when the driving wheel 4 encounters a raised obstacle on the ground, the elastic member 33 can absorb part of the impact force of the driving wheel 4 on the bottom plate 1, reduce the bumps and vibrations of the chassis structure 100, and help improve the driving stability of the chassis structure 100. The elastic member 33 is connected to the clamping member 22 via the clamping member 32. When installing the elastic member 33, it is only necessary to first connect the two ends of the elastic member 33 to the swing arm 31 and the clamping member 32 respectively, and then stretch the elastic member 33 and clamp the clamping member 32 to the clamping member 22. This not only facilitates the connection between the elastic member 33 and the mounting cover 2, but also helps to reduce the installation difficulty of the elastic member 33 and improve the installation efficiency.

[0054] It is understandable that one end of the swing arm 31 may be rotatably connected to the mounting cover 2 , and the other end may be mounted with the driving wheel 4 .

[0055] For the above-mentioned swing arm 31, if Figure 2 As shown, a connecting piece 311 is provided between the two ends of the swing arm 31, and a connecting hole 312 is provided on the connecting piece 311, and the connecting hole 312 is used to connect with the elastic piece 33. Among them, the connecting line between the rotation axis of the swing arm 31 and the clamping piece 32 is a first connecting line, and the connecting hole 312 is displaced from the first connecting line to one side of the rotation axis of the driving wheel 4, and the elastic piece 33 should apply a pulling force to the connecting piece 311 to drive the swing arm 31 to rotate downward, thereby driving the driving wheel 4 to press against the ground. Optionally, the elastic piece is a tension spring.

[0056] Furthermore, if Figure 2 As shown, the connecting member 311 is provided with a plurality of connecting holes 312 . By replacing the connecting holes 312 connected to the elastic member 33 , the pulling force of the elastic member 33 on the connecting member 311 can be adjusted, thereby changing the vibration reduction effect of the suspension assembly 3 .

[0057] For the above-mentioned card connector, Figure 6 As shown, the clamping member 32 is generally columnar and includes a narrow neck 321. The cross-sectional area of ​​the narrow neck 321 is smaller than the cross-sectional area of ​​the two parts connected to the narrow neck 321. Figure 4 and Figure 5As shown, the clamping component 22 includes a hook 221, and the clamping member 32 can be clamped into the hook 221 through the narrow neck 321, that is, the narrow neck 321 is at least partially located in the space formed by the hook 221, and the two parts connected to the narrow neck 321 are respectively abutted against the two sides of the hook 221, so that the clamping member 32 can only be detached from the hook 221 by moving along the hook tip of the hook 221, that is, moving in the opposite direction of the second direction Y.

[0058] In some embodiments, Figure 6 As shown, a groove 322 is provided on the side of the clip 32 away from the third direction Z to form a narrow neck 321. Then along the third direction Z, the width of the narrow neck 321 is less than the width of the clip 32; along the second direction Y, the width of the narrow neck 321 is equal to the width of the clip 32. Therefore, the anti-bending performance of the clip 32 in the second direction Y is better than the anti-bending performance of the clip 32 in the third direction Z. In the embodiment of the present application, the elastic force of the elastic member 33 on the clip 32 is mainly toward the second direction Y. The design of the narrow neck 321 is conducive to improving the problem of bending damage of the clip 32 under the action of the elastic member 33. Optionally, the cross section of the groove 322 is rectangular. It can be understood that the groove 322 can also be set on the side of the clip 32 facing the third direction Z.

[0059] In particular, in the embodiments of the present application, Figure 4 As shown, the pulling force applied by the elastic member 33 to the clamping member 32 has a component force toward the second direction Y, that is, the angle between the direction of the elastic force applied by the elastic member 33 to the clamping member 32 and the second direction Y is smaller than a right angle, and thus the elastic force applied by the elastic member 33 to the clamping member 32 can prevent the narrow neck 321 from leaving the hook 221, so that the clamping member 32 is stably clamped with the clamping component 22.

[0060] In some embodiments, Figure 6 As shown, the clamping member 32 is provided with a hook 323, and the end of the hook 323 is enlarged, so that one end of the elastic member 33 can be sleeved on the hook 323 to connect the elastic member 33 with the clamping member 32, and the elastic member 33 is connected with the clamping member 32 by sleeve arrangement, which is conducive to improving the installation efficiency of the elastic member 33. Optionally, the hook 323 is provided on the side of the clamping member 32 away from the third direction Z.

[0061] Next, the specific structure of the engaging member 22 will be described.

[0062] like Figure 5As shown, the mounting cover 2 is provided with a first hole 222 and a second hole 223, both of which are part of the clamping member 22, and both of which penetrate the mounting cover 2 along the first direction X. The first end of the first hole 222 is connected to the second hole 223, and the second end of the first hole 222 extends along the second direction Y, so that the edge of the first hole 222 is "U"-shaped, and then a hook 221 is formed at the edge of the first hole 222, and the hook tip of the hook 221 faces the opposite direction of the second direction Y.

[0063] It is understandable that the clamping member 32 can be slidably connected to the first hole 222 through the narrow neck 321. When the narrow neck 321 slides into the first hole 222, the clamping member 32 is clamped and connected with the hook 221; when the narrow neck 321 moves into the second hole 223, the clamping member 32 is separated from the hook 221. The clamping member 32 and the first hole 222 can also be loosely connected, that is, the first hole 222 limits the movement range of the clamping member 32 along the first direction X and the third direction Z, and it is sufficient that when the narrow neck 321 moves into the first hole 222, the clamping member 32 is not easy to be separated from the hook 221 under the elastic force of the elastic member 33.

[0064] Furthermore, if Figure 4 and Figure 5 Along the third direction Z, the width of the first hole 222 is equal to the width of the narrow neck 321, so that when the clamping member 32 is clamped with the hook 221, the narrow neck 321 is in full contact with the inner side wall of the hook 221, which is beneficial to increase the stability of the clamping member 32 and the hook 221.

[0065] In some embodiments, Figure 5 As shown, the mounting cover 2 is further provided with a third hole 224, which is also a part of the clamping member 22, and the third hole 224 penetrates the mounting cover 2 along the first direction X. The third hole 224 is communicated with the second hole 223, and the third hole 224 is used for at least one end of the clamping member 32 to penetrate, that is, when viewed along the first direction X, the size of the third hole 224 is larger than the size of the smaller end of the clamping member 32, so that the smaller end of the clamping member 32 can freely penetrate or pass through the third hole 224. Wherein, when viewed along the first direction X, the sizes of the two ends of the clamping member 32 can also be equal, so that both ends of the clamping member 32 can freely penetrate or pass through the third hole 224. It can be understood that when the narrow neck 321 moves into the third hole 224, the clamping member 32 can leave the third hole 224 along a direction parallel to the first direction X, that is, the clamping member 32 can be separated from the mounting cover 2, and can also move into the second hole 223 through the third hole 224. In the above manner, when the elastic member 33 is installed, the clamping member 32 can be detached from the mounting cover 2 , thereby facilitating the connection between the elastic member 33 and the clamping member 32 .

[0066] In some embodiments, Figure 5 As shown, the mounting cover 2 is further provided with a fourth hole 225, which is also a part of the clamping member 22, and the fourth hole 225 penetrates the mounting cover 2 along the first direction X. The first end of the fourth hole 225 is connected with the second hole 223, and the second end of the fourth hole 225 extends along the second direction Y and is connected with the third hole 224, and along the second direction Y, the second end of the fourth hole 225 protrudes from the second end of the first hole 222. It can be understood that when the clamping member 32 moves from the first hole 222 to the third hole 224, the clamping member 32 moves a displacement along the second direction Y relative to the mounting cover 2. In the embodiment of the present application, the angle between the direction of the elastic force applied by the elastic member 33 to the clamping member 32 and the second direction Y is less than a right angle, so that when the clamping member 32 moves from the third hole 224 to the first hole 222, the stretching length of the elastic member 33 increases.

[0067] When installing the clamping member 32, the elastic member 33 may be slightly stretched first or there is no need to stretch the elastic member 33, and then the clamping member 32 is inserted into the third hole 224, and then the groove 322 of the clamping member 32 is driven to slide along the edge of the fourth hole 225. During the sliding process, the elastic member 33 is gradually stretched, and finally the clamping member 32 is driven to be clamped and connected with the hook 221. That is, by setting the fourth hole 225, it is possible to assist in stretching the elastic member 33, reduce the difficulty of stretching the elastic member 33, and improve the efficiency of installing the elastic member 33. It can be understood that along the third direction Z, the width of the fourth hole 225 can be greater than the width of the clamping member 32, and it is necessary to force the groove 322 of the clamping member 32 to slide and connect with the edge of the fourth hole 225 through an external force; along the third direction Z, the width of the fourth hole 225 can be less than the width of the clamping member 32 and greater than the width of the narrow neck 321, and the clamping member 32 is slidably connected with the fourth hole 225 through the narrow neck 321.

[0068] Furthermore, if Figure 4 and Figure 5 As shown, along the third direction Z, the width of the fourth hole 225 is equal to the width of the narrow neck 321, thereby increasing the stability of the sliding of the clip 32 in the fourth hole 225, so that when the clip 32 is driven to slide in the fourth hole 225 and stretch the elastic member 33, the clip 32 is not easy to shake, so as to improve the problem that the clip 32 is difficult to stretch the elastic member 33 by sliding in the fourth hole 225 due to the shaking of the clip 32.

[0069] Furthermore, if Figure 4 and Figure 5As shown, along the third direction Z, the width of the second hole 223 is smaller than the width of the clip 32, and the clip 32 is slidably connected to the second hole 223, and the clip 32 cannot be separated from the second hole 223, so as to improve the problem of the clip 32 accidentally detaching from the mounting cover 2 when moving to the second hole 223; especially when the clip 32 stretches the elastic member 33 by sliding in the fourth hole 225, it can improve the problem of the clip 32 detaching from the second hole 223 under the huge elastic force of the elastic member 33.

[0070] In some embodiments, Figure 4 and Figure 5 As shown, along the third direction Z, the distance between the fourth hole 225 and the swing arm 31 is greater than the distance between the first hole 222 and the swing arm 31. Therefore, when the clamping member 32 moves to the fourth hole, the elastic member 33 is stretched to a greater extent than when the clamping member 32 moves to the first hole 222. That is, under the elastic force of the elastic member 33, the clamping member 32 can be prevented from moving from the first hole 222 to the fourth hole 225. Even if the clamping member 32 accidentally moves from the first hole 222 to the second hole 223, the clamping member 32 is not easy to move to the fourth hole 225, thereby improving the problem that the clamping member 32 accidentally moves to the third hole 224 and causes the clamping member 32 to be separated from the mounting cover 2.

[0071] In some embodiments, along the first direction X, the width of the groove 322 is equal to the thickness of the mounting cover 2, and the two inner walls of the groove 322 contact the two side surfaces of the mounting cover 2, thereby increasing the stability of the sliding of the clip 32 in the first hole 222, the second hole 223 and the fourth hole 225.

[0072] In some other embodiments, the mounting cover 2 is not provided with the first hole 222 and the second hole 223, the hook 221 is directly connected to the inner wall of the mounting cover 2, and the clamp 32 can be clamped into the hook 221 through the narrow neck 321 to connect the clamp 32 to the inner wall of the mounting cover 2.

[0073] For the first auxiliary wheel 5, Figure 1 and Figure 2 As shown, a plurality of first auxiliary wheels 5 are arranged at intervals below the base plate 1. The plurality of first auxiliary wheels 5 are in the same plane as the driving wheel 4 to assist in supporting the base plate 1. It is understandable that the number of the first auxiliary wheel 5 can also be one, and one first auxiliary wheel 5 and two driving wheels 4 can support the base plate 1. Optionally, the first auxiliary wheel 5 is a universal wheel; the first auxiliary wheel 5 is arranged at the corners of the base plate 1. Optionally, the number of the first auxiliary wheels 5 is four, and the four first auxiliary wheels 5 are arranged at the four corners of the base plate 1.

[0074] For the second auxiliary wheel 6, Figure 1 and Figure 2As shown, the second auxiliary wheel 6 is disposed below the base plate 1 and is located on the side of the base plate 1 facing the second direction Y, that is, the front side of the base plate 1. In particular, Figure 2 As shown, the second auxiliary wheel 6 is not in the same plane as the driving wheel 4. When the driving wheel 4 is supported on the flat ground, the second auxiliary wheel 6 has a preset ground clearance with the flat ground. By setting the preset ground clearance, the height of the second auxiliary wheel 6 can be increased, which is conducive to the second auxiliary wheel 6 climbing higher obstacles and enhancing the passability of the chassis structure 100. It can be understood that the number of the second auxiliary wheels 6 can be multiple, and the second auxiliary wheels 6 can also be set on the rear side, left and right sides and the middle position of the bottom plate 1. Optionally, the second auxiliary wheel 6 is a universal wheel. The preset ground clearance can be set according to the actual application, and is not set in this application.

[0075] Based on the same inventive concept, the embodiment of the present application further provides a robot (not shown), the robot comprising a chassis structure 100, the chassis structure 100 is used to provide mobile support for the robot. The robot has the structural features and beneficial effects of the chassis structure 100, which will not be described in detail here.

[0076] In the chassis structure 100 and the robot of the embodiment of the present application, the elastic member 33 is connected to the clamping member 22 by the clamping member 32. When installing the elastic member 33, it is only necessary to first connect the two ends of the elastic member 33 to the swing arm 31 and the clamping member 32 respectively, and then stretch the elastic member 33 and clamp the clamping member 32 to the clamping member 22. This not only facilitates the connection between the elastic member 33 and the mounting cover 2, but also helps to reduce the installation difficulty of the elastic member 33 and improve the installation efficiency. When installing the elastic member 33, the clamping member 32 can be detached from the mounting cover 2 through the third hole 224, so as to facilitate the connection between the elastic member 33 and the clamping member 32. When installing the clamping member 32, the groove 322 of the clamping member 32 can be driven to slide along the edge of the fourth hole 225, thereby assisting in stretching the elastic member 33, reducing the difficulty of stretching the elastic member 33, and improving the efficiency of installing the elastic member 33.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A chassis structure, characterized in that: include: Base plate; A mounting cover, arranged above the bottom plate, the mounting cover being provided with a clamping member; Driving wheels, used to drive the chassis structure to travel on the ground; The suspension assembly includes a swing arm, a clamping piece and an elastic piece. One end of the swing arm is rotatably connected to the base plate, and the other end of the swing arm is mounted with the driving wheel. The clamping piece is clamped and connected to the clamping member. One end of the elastic piece is connected to the swing arm, and the other end of the elastic piece is connected to the clamping piece. The elastic piece is used to apply an elastic force to the swing arm so that the driving wheel is pressed against the ground.

2. The chassis structure according to claim 1, characterized in that: The clamping member comprises a clamping hook; The clamping member comprises a narrow neck portion, and the clamping member is clamped into the hook through the narrow neck portion; The elastic member is used to apply an elastic force to the clamping member to prevent the narrow neck from leaving the clamping hook.

3. The chassis structure according to claim 2, characterized in that: The mounting cover is provided with a first hole, a second hole and a third hole, and the first hole, the second hole and the third hole all penetrate the mounting cover along a first direction; The first end of the first hole is connected to the second hole, and the second end of the first hole extends along the second direction to form the hook at the edge of the first hole; The third hole is connected to the second hole, and the third hole is used for at least one end of the clamping member to pass through so that the clamping member can be separated from the mounting cover; The second direction is perpendicular to the first direction.

4. The chassis structure according to claim 3, characterized in that: An angle between a direction of the elastic force applied by the elastic member to the clamping member and the second direction is smaller than a right angle.

5. The chassis structure according to claim 3, characterized in that: The mounting cover is further provided with a fourth hole, and the fourth hole penetrates the mounting cover along the first direction; The first end of the fourth hole is connected to the second hole, the second end of the fourth hole extends along the second direction and is connected to the third hole, and along the second direction, the second end of the fourth hole protrudes beyond the second end of the first hole.

6. The chassis structure according to claim 5, characterized in that: Along the third direction, the distance between the fourth hole and the swing arm is greater than the distance between the first hole and the swing arm, so that the elastic force applied by the elastic member to the clamping member prevents the clamping member from sliding from the first hole into the fourth hole; Wherein, the third direction is perpendicular to the first direction and the second direction.

7. The chassis structure according to claim 3, characterized in that: The clamping member is provided with a groove on one side thereof along a direction parallel to the third direction to form the narrow neck; Along the third direction, the width of the second hole is smaller than the width of the clamping member; Wherein, the third direction is perpendicular to the first direction and the second direction.

8. The chassis structure according to claim 7, characterized in that: Along the first direction, the width of the groove is equal to the thickness of the mounting cover.

9. The chassis structure according to any one of claims 3 to 8, characterized in that: Along the third direction, the width of the first hole is equal to the width of the narrow neck; Wherein, the third direction is perpendicular to the first direction and the second direction.

10. A robot, characterized in that: Comprising a chassis structure as claimed in any one of claims 1 to 9.

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