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 chassis frame and a mounting frame, and a driving assembly is mounted on the chassis frame and used for supporting the chassis frame; the mounting frame comprises a mounting plate, the mounting plate is arranged on the chassis frame and located above the chassis frame, a radar assembly and a plurality of supporting columns are arranged at the top of the mounting plate, the supporting columns are arranged on the side edge of the radar assembly, and the supporting columns are used for supporting the functional structure so that the mounting plate can be separated from the functional structure. According to the chassis structure and the robot, the radar assembly is arranged at the gap between the chassis structure and the functional structure, so that one radar assembly can scan the periphery of the chassis structure, the scanning range of the radar assembly can be expanded, the advancing safety of the chassis structure can be improved, the number of the radar assembly can be reduced, and the working efficiency is improved. The manufacturing cost is reduced.

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 and a functional structure arranged above the chassis structure. The chassis structure is used to drive the mobile robot to travel on the ground, and the functional structure is used to realize the functions of the mobile robot. For example, if the functional structure is a cleaning tool, the robot can realize the automatic cleaning function; if the functional structure is a container, the transportation of goods can be realized.

[0004] The chassis structure is usually also equipped with radar components on the front and rear sides to achieve obstacle avoidance and navigation, but the radar components on the front or rear sides cannot detect the left and right sides of the chassis structure, and the scanning range of the radar is narrow, and there are still safety hazards during the movement of the chassis structure. In addition, the chassis structure needs to be equipped with at least two radar components, which has a high manufacturing cost. 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 safety of the chassis structure while traveling and reduce the manufacturing cost.

[0006] In order to solve the above technical problems, the embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a chassis structure, comprising a chassis frame and a mounting frame, wherein the chassis frame is equipped with a traveling component, and the traveling component is used to support the chassis frame; the mounting frame comprises a mounting plate, wherein the mounting plate is arranged on the chassis frame and located above the chassis frame, a radar component and a plurality of support columns are arranged on the top of the mounting plate, a plurality of the support columns are arranged on the sides of the radar component, and the support columns are used to support a functional structure so that the mounting plate is spaced apart from the functional structure.

[0008] In some embodiments, the chassis structure also includes a top plate, which is mounted on the mounting plate and located above the mounting plate. The top plate is provided with a first hole, and the radar component extends out of the top plate from the first hole; the top plate is also provided with a plurality of second holes, and the support column extends out of the top plate from the second holes.

[0009] In some embodiments, a support tube is protruded from the periphery of at least part of the second hole, one end of the support tube is connected to the second hole, and the other end of the support tube is used for adapting and docking with the functional structure, and a support column is arranged in the support tube.

[0010] In some embodiments, the cross-section of the support tube is strip-shaped, and the support tube includes two first walls and two second walls. The two first walls are spaced apart from each other, and the first walls are parallel to a line connecting the center of the support tube and the center of the radar assembly. Each of the second walls is connected to the two first walls to enclose and form the support tube.

[0011] In some embodiments, the top plate includes a first plate and a second plate, the first plate is arranged on the mounting plate, and the second hole is opened in the first plate; the second plate is detachably connected to the first plate, and the part of the mounting plate located below the second plate is installed with a main control circuit component, and the main control circuit component is used to control the operation of the chassis structure.

[0012] In some embodiments, the chassis structure further includes a shell, the shell is disposed on the chassis frame, the shell has a first space, and the chassis frame and the mounting frame are both disposed in the first space.

[0013] In some embodiments, the housing includes a first shell and a second shell, and at least one of the first shell and the second shell is detachably connected to the chassis frame.

[0014] In some embodiments, the housing is provided with a light strip, and the light strip is used to provide lighting effects.

[0015] In some embodiments, the mounting plate is provided with a camera assembly, the shell is provided with a third hole, the third hole is covered with a light-transmitting member, and the light-transmitting member is used for light outside the shell to enter the camera assembly.

[0016] In some embodiments, the mounting plate is provided with a sonar component, the shell is provided with a fourth hole, and the sonar component at least partially extends out of the shell from the fourth hole to sense obstacles outside the shell.

[0017] In some embodiments, the mounting plate is provided with an emergency stop button, the shell is provided with a fifth hole, and the emergency stop button at least partially extends out of the shell from the fifth hole to be exposed outwardly.

[0018] In some embodiments, the chassis frame is provided with an automatic charging interface, the shell is provided with a sixth hole, and the automatic charging interface at least partially extends out of the shell from the sixth hole to be exposed outwardly.

[0019] In a second aspect, an embodiment of the present application provides a robot, comprising a chassis structure as described in any one of the above items.

[0020] Different from the related art, in the chassis structure and the robot of the embodiment of the present application, the radar component is arranged in the gap between the chassis structure and the functional structure, so that one radar component can scan the surroundings of the chassis structure, which is conducive to expanding the scanning range of the radar component, which can not only improve the safety of the chassis structure's movement, but also reduce the number of radar components and reduce manufacturing costs.

[0021] 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

[0022] 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.

[0023] Figure 1 is a structural schematic diagram of the chassis structure of an embodiment of the present application;

[0024] Figure 2 is a structural schematic diagram of the chassis structure of an embodiment of the present application from another perspective;

[0025] Figure 3 is an exploded view of a chassis structure portion of an embodiment of the present application;

[0026] Figure 4 yes Figure 3 Exploded view of the middle top plate;

[0027] Figure 5 is a top view of the chassis structure of an embodiment of the present application;

[0028] Figure 6 yes Figure 1 Exploded view of the center shell.

[0029] The reference numerals in the specific implementation manner are as follows:

[0030] 100. Chassis structure;

[0031] 1. Chassis frame; 11. Bottom plate; 12. Wheel cover; 13. Automatic charging interface;

[0032] 2. Traveling assembly; 21. Driving wheel; 22. First auxiliary wheel; 23. Second auxiliary wheel;

[0033] 3. Mounting frame; 31. Mounting plate; 32. Radar assembly; 33. Support column; 34. Main control circuit assembly; 35. Camera assembly; 36. Sonar assembly; 37. Emergency stop button;

[0034] 4. Top plate; 41. First hole; 42. Second hole; 43. Support tube; 431. First wall; 432. Second wall; 44. First plate; 441. Joint groove; 442. Flange; 45. Second plate; 451. Joint portion;

[0035] 5. Shell; 51. First shell; 52. Second shell; 53. Light strip; 54. Third hole; 55. Fourth hole; 56. Fifth hole; 57. Sixth hole. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] The present application embodiment provides a chassis structure 100, which can be applied to a distribution robot, a cleaning robot, a guiding 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 chassis frame 1, a travel component 2, a mounting frame 3, a top plate 4 and a shell 5. The travel component 2 is installed on the chassis frame 1, and the travel component 2 is used to support the chassis frame 1 and drive the chassis frame 1 to travel on the ground; the mounting frame 3 is set on the chassis frame 1, and the mounting frame 3 is used to support the functional structure; the top plate 4 and the shell 5 are used to wrap the chassis frame 1, the travel component 2 and the mounting frame 3 to protect the chassis frame 1, the travel component 2 and the mounting frame 3, and make the appearance of the chassis structure 100 more neat and improve the aesthetics. Among them, the functional structure is used to realize the function of the mobile robot, and the functional structure can be a bracket, a courier rack, a leading module, a takeaway rack, a cleaning appliance or a shelf, etc.

[0043] For the above chassis frame 1, if Figure 3 As shown, the chassis frame 1 includes a bottom plate 11, and the bottom plate 11 is roughly in the shape of a rectangular plate. In some other embodiments, the bottom plate 11 can also be in the shape of a circular plate, a triangular plate, or a hexagonal plate.

[0044] For the above-mentioned travel component 2, if Figure 2 and Figure 3As shown, the travel assembly 2 includes a driving wheel 21, a first auxiliary wheel 22 and a second auxiliary wheel 23. The driving wheel 21, the first auxiliary wheel 22 and the second auxiliary wheel 23 are all arranged on the bottom plate 11. The driving wheel 21 and the first auxiliary wheel 22 are used to stably support the chassis frame 1 on the ground. The driving wheel 21 is also used to provide power to drive the chassis frame 1 to move on the ground. The second auxiliary wheel 23 is used to contact obstacles to enhance the ability of the chassis frame 1 to pass through obstacles.

[0045] For the above-mentioned driving wheel 21, Figure 2 and Figure 3 As shown, there are two driving wheels 21, which are respectively arranged on the left and right sides of the bottom plate 11 and protrude downward from the bottom plate 11. The driving wheels 21 rotate relative to the bottom plate 11 to drive the chassis frame 1 to travel on the ground. Optionally, the driving wheel 21 includes a hub motor and a tire sleeved outside the hub motor. It is understandable that the number of the driving wheels 21 can also be more than two.

[0046] For the first auxiliary wheel 22, Figure 2 and Figure 3 As shown, a plurality of first auxiliary wheels 22 are arranged at intervals below the bottom plate 11. The plurality of first auxiliary wheels 22 are in the same plane as the driving wheel 21 to assist in supporting the bottom plate 11. It is understandable that the number of the first auxiliary wheel 22 can also be one, and one first auxiliary wheel 22 and two driving wheels 21 can support the bottom plate 11. Optionally, the first auxiliary wheel 22 is a universal wheel; the first auxiliary wheel 22 is arranged at the corners of the bottom plate 11. Optionally, the number of the first auxiliary wheels 22 is four, and the four first auxiliary wheels 22 are arranged at the four corners of the bottom plate 11.

[0047] For the second auxiliary wheel 23, Figure 2 and Figure 3 As shown, the second auxiliary wheel 23 is arranged below the base plate 11 and is located on the front side of the base plate 11. In particular, the second auxiliary wheel 23 is not in the same plane as the driving wheel 21. For example, when the driving wheel 21 is supported on flat ground, the second auxiliary wheel 23 has a preset ground clearance with the ground. By setting the preset ground clearance, the height of the second auxiliary wheel 23 can be increased, which is conducive to the second auxiliary wheel 23 climbing higher obstacles and enhancing the passability of the chassis structure 100. Among them, the preset ground clearance can be set according to actual applications and is not set in this application. It can be understood that the number of the second auxiliary wheels 23 can be multiple, and the second auxiliary wheels 23 can also be set on the rear side, left and right sides and the middle position of the base plate 11. Optionally, the second auxiliary wheel 23 is a universal wheel.

[0048] In some embodiments, Figure 3As shown, the chassis frame 1 further includes a wheel cover 12, which is disposed on the bottom plate 11, and two wheel covers 12 are respectively disposed above the two driving wheels 21. The wheel cover 12 can prevent the driving wheels 21 from throwing pollutants such as mud, sand, and sewage into the interior of the chassis frame 1 and the mounting frame 3 when rotating, maintain a dry and clean environment inside the chassis frame 1 and the mounting frame 3, and reduce the probability of damage to the chassis frame 1 and the mounting frame 3. It can be understood that the number of wheel covers 12 is equal to the number of driving wheels 21, and when the number of driving wheels 21 changes, the number of wheel covers 12 changes accordingly, and the position of the wheel cover 12 corresponds to the position of the driving wheels 21.

[0049] For the above-mentioned mounting frame 3, if Figure 3 As shown, the mounting frame 3 includes a mounting plate 31, a radar assembly 32 and a plurality of support columns 33. The mounting plate 31 is disposed on the chassis frame 1 and is located above the chassis frame 1. Specifically, the mounting plate 31 is installed above the bottom plate 11, and the radar assembly 32 and the support columns 33 are both disposed on the mounting plate 31.

[0050] For the above-mentioned mounting plate 31, if Figure 3 As shown, the mounting plate 31 is roughly in the shape of a rectangular plate, and the mounting plate 31 and the bottom plate 11 are roughly the same in shape and size. In some other embodiments, the bottom plate 11 can also be in the shape of a circular plate, a triangular plate, or a hexagonal plate, etc. Optionally, the mounting plate 31 is directly mounted on the two wheel covers 12 and connected to the wheel covers 12 by screws or bolts, so as to install the mounting plate 31 on the chassis frame 1.

[0051] For the above radar assembly 32, if Figure 3 As shown, the radar assembly 32 is disposed on the top of the mounting plate 31 and is located in the middle of the mounting plate 31. The radar assembly 32 can at least scan the front, rear, left and right sides of the chassis structure 100, which is beneficial to expand the scanning range of the radar assembly 32, thereby improving the safety of the chassis structure 100, and can also reduce the number of radar assemblies 32 and reduce manufacturing costs. Optionally, the radar assembly 32 is a 360-degree omnidirectional radar, which can scan the surroundings of the chassis structure 100.

[0052] For the above-mentioned support column 33, the support column 33 is arranged on the top of the mounting plate 31, and a plurality of support columns 33 are arranged on the side of the radar assembly 32. The support column 33 is used to support the functional structure, so that the mounting plate 31 is spaced from the functional structure, and the radar assembly 32 is located between the functional structure and the mounting plate 31. The radar assembly 32 can scan the surroundings of the chassis structure 100 through the gap between the functional structure and the mounting plate 31. Optionally, one end of the support column 33 is threadedly connected to the mounting plate 31. Optionally, the support column 33 is a cylinder.

[0053] It can be understood that the number of the support columns 33 is at least three, and the support columns 33 protrude from the radar assembly 32 in a direction perpendicular to the mounting plate 31. Figure 3 As shown, there are four support columns 33 , and the four support columns 33 are arranged adjacent to the edge of the mounting plate 31 , thereby increasing the distance between the support columns 33 and the radar assembly 32 and reducing the obstruction of the scanning angle of the radar assembly 32 by the support columns 33 .

[0054] In some embodiments, Figure 1 and Figure 3 As shown, the chassis structure 100 further includes a top plate 4, which is mounted on the mounting plate 31 and located above the mounting plate 31 to cover the mounting plate 31 and protect the components on the mounting plate 31. In particular, the top plate 4 is roughly in the shape of a rectangular plate, and the top plate 4 and the mounting plate 31 are roughly the same in shape and size, so as to better cover the mounting plate 31. In some other embodiments, the bottom plate 11 can also be in the shape of a circular plate, a triangular plate, or a hexagonal plate.

[0055] It is understandable that the radar assembly 32 and the support column 33 both need to extend out of the top plate 4. In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the top plate 4 is provided with a first hole 41, and the radar assembly 32 extends out of the top plate 4 from the first hole 41; the top plate 4 is also provided with a plurality of second holes 42, and the support column 33 extends out of the top plate 4 from the second holes 42. The first hole 41 is located in the middle of the top plate 4, and the first hole 41 is adapted to the outer contour of the radar assembly 32, that is, the shape and size of the first hole 41 are substantially the same as the shape and size of the outer contour of the radar assembly 32, and the radar assembly 32 can just extend out of the first hole 41. The number of the second holes 42 is equal to the number of the support columns 33, and the positions of the second holes 42 correspond to the positions of the support columns 33 one by one; the second holes 42 are adapted to the support columns 33, that is, the shape and size of the second holes 42 are substantially the same as the shape and size of the cross section of the support column 33.

[0056] It should be noted that the chassis structure 100 needs to communicate with the functional structure, or the chassis structure 100 provides power support for the functional structure. Therefore, a cable is usually provided between the chassis structure 100 and the functional structure. Figure 3 and Figure 4 As shown, at least part of the periphery of the second hole 42 is convexly provided with a support tube 43, one end of the support tube 43 is connected to the second hole 42, and the other end of the support tube 43 is used to adapt to the functional structure. Therefore, the cable can be inserted into the support tube 43, which can protect the cable and make the cable concentrated in the support tube 43, reducing the cable from blocking the scanning angle of the radar assembly 32.

[0057] Since the support tube 43 protrudes from the periphery of the second hole 42, a support column 33 is provided in the support tube 43, so that part of the support column 33 and the cable can be concentrated in the support tube 43, reducing the obstruction of the scanning angle of the radar component 32 by the support column 33 and the cable as a whole.

[0058] Furthermore, if Figure 5 As shown, the cross section of the support tube 43 is strip-shaped, and the length direction of the strip points to the radar assembly 32, so that when observing from the radar assembly 32 to the support tube 43, the width of the support tube 43 is reduced while the cross-sectional area of ​​the support tube 43 remains unchanged, so as to reduce the obstruction of the support tube 43 to the scanning angle of the radar assembly 32. Specifically, as Figure 5 As shown, the support tube 43 includes two first walls 431 and two second walls 432, the two first walls 431 are spaced apart from each other, and each second wall 432 is connected to the two first walls 431 to enclose and form the support tube 43. The distance between the two first walls 431 is smaller than the distance between the two second walls 432, so that the cross section of the support tube 43 is strip-shaped. Figure 5 As shown, the first wall 431 is in the shape of a flat plate, and the second wall 432 is in the shape of an arc plate.

[0059] In some embodiments, Figure 5 As shown, the first wall 431 is parallel to the line connecting the center of the support tube 43 and the center of the radar assembly 32, so that when observing from the radar assembly 32 to the support tube 43, the width of the first wall 431 is almost equal to its thickness, so as to reduce the obstruction of the first wall 431 to the scanning angle of the radar assembly 32. It can be understood that in this embodiment, the first wall 431 is in the shape of a flat plate.

[0060] Furthermore, if Figure 5 As shown, the first wall 431 is parallel to the line connecting the center of the first wall 431 itself and the center of the radar assembly 32, so that when observing from the radar assembly 32 toward the support tube 43, the width of the first wall 431 is equal to its thickness, so as to minimize the obstruction of the scanning angle of the radar assembly 32 by the first wall 431.

[0061] In a specific embodiment, the radar assembly 32 has a horizontal scanning angle of 103 degrees to the front side of the chassis structure 100, a horizontal scanning angle of 104 degrees to the rear side of the chassis structure 100, and a horizontal scanning angle of 59 degrees to the left and right sides of the chassis structure 100. The overall horizontal scanning angle of the radar assembly 32 around the chassis structure 100 is 325 degrees.

[0062] In some embodiments, Figure 3 and Figure 4 As shown, the top plate 4 includes a first plate 44 and a second plate 45, and the second plate 45 is spliced ​​and connected to the first plate 44, that is, the second plate 45 is detachably connected to the first plate 44. Figure 4 As shown, a splicing groove 441 is provided at one end of the first plate 44, and a splicing portion 451 is provided at one end of the second plate 45, and the splicing portion 451 is adapted to the splicing groove 441, that is, the shape and size of the splicing portion 451 are substantially the same as those of the splicing groove 441, so that the second plate 45 can be spliced ​​and connected with the first plate 44. There may be friction between the splicing portion 451 and the inner wall of the splicing groove 441 to limit the splicing portion 451 in the splicing groove 441.

[0063] Alternatively, if Figure 3 and Figure 4 As shown, the first plate 44 is provided with a second hole 42, the first plate 44 is restricted by the support column 33, and the second plate 45 can be freely disassembled relative to the first plate 44 and the mounting frame 3. The first plate 44 can be arranged on the mounting plate 31, so that the top plate 4 is arranged on the mounting plate 31.

[0064] Alternatively, if Figure 3 and Figure 4 As shown, a portion of the first hole 41 is located on the first plate 44, and the other portion is located on the second plate 45, so that it is convenient to maintain or repair the radar assembly 32 after removing the second plate 45; and an annular sealing groove can be provided on the outer peripheral surface of the radar assembly 32. Since the first hole 41 is formed by splicing the first plate 44 and the second plate 45, the edge of the first hole 41 can be inserted into the sealing groove to enhance the sealing effect between the radar assembly 32 and the top plate 4.

[0065] Furthermore, if Figure 4 As shown, a flange 442 is protruding from the edge of the first plate 44, and the flange 442 is close to the side of the first plate 44 facing the mounting plate 31, so that a step is formed at the edge of the first plate 44. The flange 442 extends into the splicing groove 441, so that the second plate 45 can overlap the flange 442 of the first plate 44, so that the first plate 44 supports the second plate 45 upward, and the second plate 45 is not easy to fall downward.

[0066] In particular, if Figure 3 As shown, the mounting frame 3 further includes a main control circuit assembly 34, which is disposed on the mounting plate 31 and is located below the second plate 45, so that the second plate 45 can be removed to facilitate maintenance and repair of the main control circuit assembly 34. The main control circuit assembly 34 can be used to control the operation of the chassis structure 100.

[0067] In some embodiments, Figure 1 and Figure 2As shown, the chassis structure 100 further includes a shell 5, which is disposed on the chassis frame 1. The shell 5 has a first space (not shown), and the chassis frame 1 and the mounting frame 3 are both disposed in the first space, so that the chassis frame 1 and the mounting frame 3 can be at least partially isolated from the outside to protect the chassis frame 1 and the mounting frame 3; the shell 5 can also shield the chassis frame 1 and the mounting frame 3 inside to improve the aesthetics of the chassis structure 100. Optionally, the shell 5 is overlapped with the flange 442 of the first plate 44, thereby reducing the gap between the shell 5 and the first plate 44 and enhancing the sealing effect between the shell 5 and the top plate 4. Optionally, the shell 5 contacts the edge of the second plate 45, and the second plate 45 can be removed separately without removing the shell 5.

[0068] In some embodiments, Figure 6 As shown, the shell 5 includes a first shell 51 and a second shell 52, and at least one of the first shell 51 and the second shell 52 is detachably connected to the chassis frame 1. When the part covered by the first shell 51 or the second shell 52 in the chassis structure 100 needs to be maintained or repaired, it is only necessary to disassemble the first shell 51 or the second shell 52 separately, without disassembling the entire shell 5, which is beneficial to improving the efficiency of maintenance and repair.

[0069] In some embodiments, Figure 1 and Figure 2 As shown, the housing 5 is provided with a light strip 53, which is used to provide lighting effects, such as turn lighting effects, stop waiting lighting effects, or fault lighting effects, etc., which helps the chassis structure 100 to be perceived by nearby pedestrians or observation equipment, thereby reducing the probability of the chassis structure 100 being hit and reducing the accident rate. Among them, the light strip 53 can be electrically connected to the main control circuit component 34 to provide power support for the light strip 53 and control the light strip 53. In other embodiments, the light strip 53 can also be a reflector, such as a reflector.

[0070] In some embodiments, Figure 3 As shown, the mounting plate 31 is provided with a camera assembly 35, which is used to sense the surrounding environment to reduce the probability of the chassis structure 100 colliding with obstacles; and the camera assembly 35 can also sense nearby pedestrians, road information and building information, so that the chassis structure 100 can reasonably plan the driving route and improve the safety and efficiency of driving. Figure 1 and Figure 6 As shown, the shell 5 is provided with a third hole 54, and the third hole 54 is covered with a light-transmitting member (the light-transmitting member has the same number as the third hole 54), and the position of the light-transmitting member corresponds to that of the camera assembly 35, so that the light-transmitting member is used for light outside the shell 5 to enter the camera assembly 35, so that the camera assembly 35 can sense the environment outside the shell 5.

[0071] In some embodiments, Figure 3 As shown, the mounting plate 31 is provided with a sonar assembly 36, which can sense the distance to obstacles to reduce the probability of the chassis structure 100 colliding with obstacles. Figure 1 and Figure 6 As shown, the shell 5 is provided with a fourth hole 55 , and the sonar assembly 36 at least partially extends out of the shell 5 from the fourth hole 55 , so as to be able to sense obstacles outside the shell 5 .

[0072] In some embodiments, Figure 3 As shown, the mounting plate 31 is provided with an emergency stop button 37. When the chassis structure 100 works abnormally, the emergency stop button 37 can be triggered to stop the chassis structure 100 from working, thereby reducing the loss caused by the abnormal working of the chassis structure 100. Figure 2 and Figure 6 As shown, the shell 5 is provided with a fifth hole 56 , and the emergency stop button 37 at least partially extends out of the shell 5 from the fifth hole 56 to be exposed to the outside, so that the emergency stop button 37 can be triggered outside the shell 5 .

[0073] In some embodiments, Figure 3 As shown, the chassis frame 1 is provided with an automatic charging interface 13, and the automatic charging interface 13 can be provided with a charging electrode. 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. Figure 2 and Figure 6 As shown, the shell 5 is provided with a sixth hole 57 , and the automatic charging interface 13 at least partially extends out of the shell 5 from the sixth hole 57 to be exposed to the outside, so that the automatic charging interface 13 can be electrically connected to an external charging device outside the shell 5 .

[0074] 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.

[0075] In the chassis structure 100 and the robot of the embodiment of the present application, the radar assembly 32 is arranged in the gap between the chassis structure 100 and the functional structure, so that one radar assembly 32 can scan the surroundings of the chassis structure 100, which is conducive to expanding the scanning range of the radar assembly 32, not only improving the safety of the chassis structure 100, but also reducing the number of radar assemblies 32 and reducing the manufacturing cost. The top plate 4 can cover the mounting plate 31 and protect the parts on the mounting plate 31; the support tube 43 of the top plate 4 can protect the cables and concentrate the cables in the support tube 43, reducing the cables from blocking the scanning angle of the radar assembly 32. The cross section of the support tube 43 is strip-shaped, and the length direction of the strip points to the radar assembly 32, thereby reducing the support tube 43 from blocking the scanning angle of the radar assembly 32. The second plate 45, the first shell 51 and the second shell 52 can all be disassembled separately to facilitate the maintenance and repair of the chassis structure 100.

[0076] 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: A chassis frame, wherein a travel assembly is installed on the chassis frame, and the travel assembly is used to support the chassis frame; The mounting frame includes a mounting plate, wherein the mounting plate is arranged on the chassis frame and located above the chassis frame, a radar component and a plurality of support columns are arranged on the top of the mounting plate, a plurality of support columns are arranged on the sides of the radar component, and the support columns are used to support a functional structure so that the mounting plate is spaced apart from the functional structure.

2. The chassis structure according to claim 1, characterized in that: The chassis structure further includes a top plate, which is mounted on the mounting plate and located above the mounting plate, and the top plate is provided with a first hole, and the radar assembly extends out of the top plate from the first hole; The top plate is also provided with a plurality of second holes, and the support columns extend out of the top plate from the second holes.

3. The chassis structure according to claim 2, characterized in that: A support tube is protruded from the periphery of at least part of the second hole, one end of the support tube is connected to the second hole, and the other end of the support tube is used for adapting and docking with the functional structure, and a support column is arranged in the support tube.

4. The chassis structure according to claim 3, characterized in that: The cross-section of the support tube is strip-shaped, and the support tube includes two first walls and two second walls. The two first walls are spaced apart from each other, and the first wall is parallel to the line connecting the center of the support tube and the center of the radar assembly. Each of the second walls is connected to the two first walls to enclose and form the support tube.

5. The chassis structure according to claim 2, characterized in that: The top plate includes a first plate and a second plate, the first plate is arranged on the mounting plate, and the second hole is opened in the first plate; The second plate is detachably connected to the first plate, and a main control circuit component is installed on the portion of the mounting plate below the second plate. The main control circuit component is used to control the operation of the chassis structure.

6. The chassis structure according to claim 1, characterized in that: The chassis structure further includes a shell, which is disposed on the chassis frame. The shell has a first space, and the chassis frame and the mounting frame are both disposed in the first space.

7. The chassis structure according to claim 6, characterized in that: The housing includes a first shell and a second shell, and at least one of the first shell and the second shell is detachably connected to the chassis frame.

8. The chassis structure according to claim 6, characterized in that: The housing is provided with a light strip, and the light strip is used to provide lighting effects.

9. The chassis structure according to claim 6, characterized in that: The mounting plate is provided with a camera assembly, the shell is provided with a third hole, the third hole is covered with a light-transmitting member, and the light-transmitting member is used for light outside the shell to enter the camera assembly; And / or, the mounting plate is provided with a sonar assembly, the shell is provided with a fourth hole, and the sonar assembly at least partially extends out of the shell from the fourth hole to sense obstacles outside the shell; And / or, the mounting plate is provided with an emergency stop button, the shell is provided with a fifth hole, and the emergency stop button at least partially extends out of the shell from the fifth hole to be exposed outwardly; And / or, the chassis frame is provided with an automatic charging interface, the shell is provided with a sixth hole, and the automatic charging interface at least partially extends out of the shell from the sixth hole to be exposed outwardly.

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

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