Connecting mechanism, chassis and robot

Abstract

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

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a connection mechanism, chassis, and robot. Background Technology

[0002] To expand the robot's functionality, some robots are equipped with replaceable functional modules. These modules need to be connected to the robot chassis via connectors.

[0003] In related technologies, after the functional module is connected to the chassis, the connector connection may become unstable when subjected to vibration or other conditions. Utility Model Content

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

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

[0006] Mounting base;

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

[0008] The first connector is connected to the mounting base via the flexible seat.

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

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

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

[0012] In some possible implementations, the first limiting member has a first limiting groove and a second limiting groove spaced apart from each other, the first limiting groove and the second limiting groove are located at both ends of the first limiting member, and the connecting mechanism includes two second limiting members;

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

[0014] In some possible implementations, the connecting mechanism has intersecting first and second directions, the mounting base includes a mounting plate and a connecting plate, the connecting plate is vertically disposed on one side of the mounting plate and connected to the mounting plate, the flexible seat is connected to the side of the connecting plate facing the mounting plate, and the first connector is located on the side of the flexible seat away from the connecting plate.

[0015] The connecting mechanism further includes two first guide members, which are disposed on the side of the mounting plate facing the connecting plate and are respectively disposed at both ends of the mounting plate along the second direction. Each of the two first guide members has a guide groove extending along the first direction on the side opposite to each other.

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

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

[0018] The third limiting surface gradually tilts away from the first limiting surface as it moves from the side closest to the second limiting surface to the side furthest from the second limiting surface.

[0019] In some possible implementations, a first guide portion is provided at the end of the first limiting surface away from the connecting plate, and the first guide portion gradually tilts towards the mounting plate from the end near the connecting plate to the end away from the connecting plate.

[0020] And / or, a second guide portion is provided at the end of the second limiting surface away from the connecting plate, and the second guide portion gradually tilts away from the other second guide portion from the end near the connecting plate to the end away from the connecting plate;

[0021] And / or, the third limiting surface is provided with a third guide portion at the end away from the connecting plate, and the third guide portion gradually tilts away from the mounting plate from the end near the connecting plate to the end away from the connecting plate.

[0022] In some possible implementations, the first guide member also has a limiting protrusion on the side opposite to the mounting plate, the limiting protrusion being located at the end of the guide groove near the connecting plate.

[0023] In some possible implementations, the first guide member is further provided with a communicating hole that communicates with the guide groove, and the axis of the communicating hole is perpendicular to the first direction;

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

[0025] Secondly, this application also provides a chassis, including a chassis body and the connection mechanism provided in the above embodiments, wherein a plug-in groove and an assembly hole communicating with the plug-in groove are provided on one side of the chassis body.

[0026] The mounting base of the connecting mechanism is installed inside the chassis body, and the first connector passes through the assembly hole and protrudes from the insertion slot.

[0027] Thirdly, this application also provides a robot, including a functional module and the chassis described in the above embodiments;

[0028] The functional module includes a main structure and a second connector disposed on one side of the main structure. The main structure is inserted into the insertion slot, and the second connector is plugged into and connected to the first connector.

[0029] In some possible implementations, the functional module further includes a guide plate connected to the main structure, with guide wing plates disposed on both opposite sides of the guide plate.

[0030] The beneficial effects of this application are as follows: In the connection mechanism provided by this application, the first connector is connected to a flexible base, which can elastically deform in at least two directions. This allows the first connector to have higher degrees of freedom, compensating for errors during the manufacturing process of the chassis and functional modules, as well as positional deviations during the connection of the chassis and functional modules. This facilitates the alignment and connection of the first connector and the second connector on the functional module, improving the connection efficiency between the chassis and the functional module. Furthermore, when the first and second connectors are connected, the flexible base absorbs vibrations experienced by the first connector, ensuring the stability and reliability of the connection between the first and second connectors. Attached Figure Description

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

[0032] Figure 1 A three-dimensional structural schematic diagram of the connecting mechanism in some embodiments is shown;

[0033] Figure 2 A partial cross-sectional structural schematic diagram of the connecting mechanism in some embodiments is shown;

[0034] Figure 3 A partial three-dimensional structural schematic diagram of the connecting mechanism is shown in some embodiments;

[0035] Figure 4 Partial front view structural schematic diagrams of the connecting mechanism in some embodiments are shown;

[0036] Figure 5 A partial top view of the connecting mechanism is shown in some embodiments;

[0037] Figure 6 Schematic diagrams of the flexible components in some embodiments are shown;

[0038] Figure 7 A three-dimensional structural schematic diagram of another part of the connecting mechanism is shown in some embodiments;

[0039] Figure 8 A three-dimensional structural schematic diagram of the first guide member in some embodiments is shown;

[0040] Figure 9 A front view schematic diagram of the first guide member in some embodiments is shown;

[0041] Figure 10 A three-dimensional structural schematic diagram of the locking unit in some embodiments is shown;

[0042] Figure 11 A cross-sectional structural schematic diagram of the locking unit in one state is shown in some embodiments;

[0043] Figure 12 A cross-sectional structural schematic diagram of the locking unit in another state in some embodiments is shown;

[0044] Figure 13 Schematic diagrams of the slider and grip are shown in some embodiments;

[0045] Figure 14A schematic cross-sectional view of the mounting structure of the pin is shown in some embodiments;

[0046] Figure 15 Schematic diagrams of the pins and rolling elements in some embodiments are shown;

[0047] Figure 16 Schematic diagrams of the chassis structure are shown in some embodiments;

[0048] Figure 17 Schematic diagrams of the functional modules in some embodiments are shown;

[0049] Figure 18 Schematic diagrams of the guide plate structure are shown in some embodiments;

[0050] Figure 19 A three-dimensional structural schematic diagram of the guide plate is shown in some embodiments;

[0051] Figure 20 The diagram shows a structural schematic of the chassis and functional modules connected in some embodiments.

[0052] Explanation of key component symbols:

[0053] 1000 - Connecting mechanism;

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

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

[0056] 300 - First Connector;

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

[0058] 500-First guide member; 501-Guide groove; 510-First limiting surface; 511-First guide part; 520-Second limiting surface; 521-Second guide part; 530-Third limiting surface; 531-Third guide part; 540-Limiting protrusion; 550-Communication hole;

[0059] 600-Locking unit; 610-Support frame; 611-Mounting cavity; 612-First opening; 613-Second opening; 614-Allowing hole; 621-Sliding member; 6211-Sliding surface; 622-Driver; 630-Second guide; 631-Through hole; 632-Notch; 641-First elastic member; 642-Second elastic member; 651-Pin; 652-Rolling member; 660-Blocking member; 661-Connecting port; 671-Hall sensor; 672-Magnetic member; 680-Grip member;

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

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

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

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

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

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0066] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

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

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

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

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

[0072] In other embodiments, the flexible seat 200 may also undergo elastic deformation in any two of the first direction X, the second direction Y, and the third direction Z.

[0073] This allows the first connector 300 to have greater freedom of movement, compensating for errors during the manufacturing process of the chassis 2000 and functional module 3000, as well as positional deviations during connection. This facilitates the alignment and connection of the first connector 300 and the second connector 3300, improving the connection efficiency between the chassis 2000 and the functional module 3000. Furthermore, after the first connector 300 and the second connector 3300 are connected, the flexible base 200 absorbs vibrations experienced by the first connector 300, ensuring the stability and reliability of the connection between the two connectors.

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

[0075] In some embodiments, the flexible seat 200 may be fixedly connected to the side of the connecting plate 120 facing the mounting plate 110 by means of screws or adhesive. The first connector 300 may be disposed on the side of the flexible seat 200 opposite to the connecting plate 120.

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

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

[0078] In some embodiments, the connecting mechanism 1000 further includes a second limiting member 420, which may be rod-shaped or sheet-shaped. The flexible seat 200 may have an assembly groove 210 on the side facing the connecting plate 120. The flexible seat 200 extends and protrudes from the mounting base 100 in the direction toward the first connector 300. The second limiting member 420 passes through the assembly groove 210 in a third direction Z, and the second limiting member 420 can be fixedly connected to the flexible seat 200 by bolt connection or adhesive bonding. In some embodiments, the flexible seat 200 has a mounting through hole 220. The mounting through hole 220 communicates with the assembly groove 210. The first connector 300 passes through the mounting through hole 220.

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

[0080] Therefore, under the action of the second limiting member 420 and the inner walls of the first limiting groove 411 and the second limiting groove 412, the deformation of the flexible seat 200 in the first direction X and the second direction Y can be limited, which can avoid the flexible seat 200 from being damaged due to excessive deformation.

[0081] In other embodiments, the first limiting member 410 may have a through-hole structure for the second limiting member 420 to pass through, and the periphery of the through-hole structure may be a closed structure. The connecting mechanism 1000 may include a second limiting member 420. The second limiting member 420 may be disposed in the through-hole structure, and the periphery of the second limiting member 420 may be spaced apart from the inner wall of the through-hole structure.

[0082] In some embodiments, the first connector 300 may be a connector with its own guide post, and the guide post is disposed away from the flexible seat 200.

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

[0084] In some embodiments, each of the two first guide members 500 has a guide groove 501 extending along the first direction X on one side opposite to each other, and the opening sides of the two guide grooves 501 are arranged opposite to each other. When the functional module 3000 is installed on the chassis 2000, the two first guide members 500 can provide a guiding function for the functional module 3000, making it easier to install the functional module 3000 on the chassis 2000.

[0085] In some embodiments, the guide groove 501 may include a first limiting surface 510, a second limiting surface 520, and a third limiting surface 530. The first limiting surface 510, the second limiting surface 520, and the third limiting surface 530 all extend along a first direction X. The first limiting surface 510 may be parallel to the mounting plate 110 and may be located on the side of the guide groove 501 closest to the mounting plate 110. The second limiting surface 520 may be located on the side of the guide groove 501 away from the other first guide member 500, and the second limiting surfaces 520 of the two first guide members 500 may be disposed opposite to each other. In this embodiment, the second limiting surface 520 may be connected between the first limiting surface 510 and the third limiting surface 530. The third limiting surface 530 may be substantially opposite to the first limiting surface 510, and the third limiting surface 530 may be inclined relative to the first limiting surface 510. In some embodiments, the third limiting surface 530 may gradually tilt away from the first limiting surface 510 from the side closer to the second limiting surface 520 to the side farther from the second limiting surface 520. Thus, with the cooperation of the two first guide members 500, limiting functions can be provided for the functional module 3000 in the second direction Y and the third direction Z.

[0086] In some embodiments, a first guide portion 511 is disposed at the end of the first limiting surface 510 away from the connecting plate 120, and the first guide portion 511 may be inclined. Specifically, the first guide portion 511 may gradually tilt from the end near the connecting plate 120 to the end away from the connecting plate 120 towards the mounting plate 110.

[0087] In some embodiments, a second guide portion 521 is disposed at the end of the second limiting surface 520 away from the connecting plate 120. The second guide portion 521 is also inclined. The second guide portion 521 gradually inclines away from the end near the connecting plate 120 to the end away from the connecting plate 120, moving away from the other second guide portion 521.

[0088] In some embodiments, a third guide portion 531 is disposed at the end of the third limiting surface 530 away from the connecting plate 120. The third guide portion 531 gradually tilts away from the end near the connecting plate 120 to the end away from the connecting plate 120, moving away from the mounting plate 110.

[0089] In some embodiments, the end of the guide groove 501 away from the connecting plate 120 may be approximately flared. This provides greater tolerance for the initial position of the functional module 3000 when it is mounted on the chassis 2000. Furthermore, the first guide portion 511, the second guide portion 521, and the third guide portion 531 provide guidance for the functional module 3000, ensuring accurate positioning of the functional module 3000 and the chassis 2000, and also ensuring accurate alignment and connection between the second connector 3300 on the functional module 3000 and the first connector 300 on the chassis 2000.

[0090] In some embodiments, the first guide member 500 has a limiting protrusion 540 protruding from the side opposite to the mounting plate 110. The limiting protrusion 540 may be located at one end of the guide groove 501 near the connecting plate 120. Thus, the limiting protrusion 540 can limit the insertion depth of the functional module 3000 and the chassis 2000 to prevent overshoot.

[0091] like Figure 1 and Figure 10 As shown, in some embodiments, the connecting mechanism 1000 further includes two sets of locking units 600. The locking units 600 can be installed on the side of the mounting plate 110 opposite to the first guide member 500, and the two sets of locking units 600 are arranged one-to-one with the two first guide members 500. The locking units 600 can be used to lock the functional module 3000 and the chassis 2000, preventing the functional module 3000 from arbitrarily detaching from the chassis 2000.

[0092] like Figure 1 , Figure 8 , Figures 10 to 15 As shown, in some embodiments, the locking unit 600 may include a support frame 610, a slider 621, a second guide 630, a first elastic member 641, a pin 651, a second elastic member 642, and a drive member 622.

[0093] One side of the support frame 610 can be fixedly connected to the side of the mounting plate 110 away from the first guide member 500 by means of bolts, adhesive, or snap-fit. The support frame 610 has a mounting cavity 611 and a first opening 612 and a second opening 613, and the mounting cavity 611 can be connected to the first opening 612 and the second opening 613. In this embodiment, the first opening 612 can be set along a first direction X. The second opening 613 can be located on the side of the support frame 610 facing the mounting plate 110, and the second opening 613 can be set along a third direction Z. In addition, the support frame 610 also has a clearance hole 614 set along a second direction Y, and the clearance hole 614 is connected to the mounting cavity 611.

[0094] In some embodiments, one end of the second guide member 630 is housed in the mounting cavity 611 and can be fixedly connected to the support frame 610 by means of bolts or adhesive. The other end of the second guide member 630 can pass through the second opening 613 in a third direction Z and can protrude from the side of the support frame 610 facing the mounting plate 110. In some embodiments, the end of the second guide member 630 that protrudes from the second opening 613 can pass through the mounting plate 110 and the first guide member 500 in sequence. The end face of the second guide member 630 near the first guide member 500 can be flush with or slightly lower than the first limiting surface 510. In addition, the second guide member 630 also has a through hole 631 extending through the second guide member 630 in a third direction Z and a notch 632 extending in a third direction Z, and the notch 632 can be disposed away from the second opening 613. In an embodiment, the first guide member 500 can have a connecting hole 550 communicating with the guide groove 501. The axial direction of the connecting hole 550 is perpendicular to the first direction X. Preferably, the axial direction of the connecting hole 550 may be parallel to the third direction Z.

[0095] In some embodiments, the slider 621 is slidably disposed within the mounting cavity 611 along a first direction X, and is located on the side of the second guide 630 facing the first opening 612. Additionally, the side of the slider 621 facing away from the second opening 613 may be configured with two spaced-apart sliding surfaces 6211, and the two sliding surfaces 6211 may be in the same plane. In some embodiments, the sliding surfaces 6211 may be inclined relative to the first direction X. Specifically, the sliding surfaces 6211 may gradually incline from the end near the first opening 612 to the end away from the first opening 612 towards the second opening 613.

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

[0097] In other embodiments, the drive unit 622 may also be a structure such as a cylinder or an electric cylinder.

[0098] In some embodiments, the first elastic member 641 may be arranged along a first direction X and disposed between the second guide member 630 and the slider 621. When the first elastic member 641 is in a compressed state, the first elastic member 641 can apply an elastic action to the slider 621, so that the slider 621 moves away from the second guide member 630.

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

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

[0101] In some embodiments, the pin 651 is rotatably connected to two symmetrical rolling elements 652 on one end circumferentially facing the second elastic member 642. The rotation axis of the rolling elements 652 may be parallel to the second direction Y. In addition, the rolling elements 652 may pass through the notch 632, and the two rolling elements 652 may abut against the two sliding surfaces 6211 on the slider 621 in a one-to-one correspondence. Accordingly, the rolling elements 652 may be located on the side of the sliding surface 6211 facing away from the second opening 613.

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

[0103] In some embodiments, a Hall sensor 671 is further provided at the bottom of the support frame 610. The Hall sensor 671 is positioned close to the second guide member 630 relative to the first opening 612. The Hall sensor 671 is electrically connected to the drive member 622. A magnetic element 672 is provided on the slider 621 to cooperate with the Hall sensor 671. When the drive member 622 drives the slider 621 to a preset position, the magnetic element 672 triggers the Hall sensor 671, and the Hall sensor 671 triggers the drive member 622 to stop working. For example, the preset position may refer to the position of the slider 621 when the end face of the pin 651 facing away from the first elastic member 641 is flush with the first limiting surface 510.

[0104] In some embodiments, the locking unit 600 further includes a grip 680. The grip 680 may pass through the clearance hole 614 along the second direction Y and extend into the mounting cavity 611 to connect with the slider 621. During use, the operator can apply force to the slider 621 through the grip 680, which can move the slider 621 toward or away from the second guide 630.

[0105] During use, when the functional module 3000 needs to be installed on the chassis 2000, the drive unit 622 can be activated, causing the sliding member 621 to press against the first elastic member 641 and move towards the second guide member 630. Under the pressing action of the sliding surface 6211, the rolling member 652 can move away from the second opening 613, and the pin 651 can press against the second elastic member 642 under the drive of the rolling member 652, and retract relative to the guide groove 501 in the first guide member 500. When the pin 651 moves into position, the magnetic member 672 can act on the Hall sensor 671, which can control the drive unit 622 to stop working. Afterwards, the functional module 3000 can be installed in the chassis 2000. For example, when the end face of the pin 651 away from the first elastic member 641 is flush with the first limiting surface 510, it can be recorded that the pin 651 has moved into position.

[0106] After the functional module 3000 is installed in place, the drive unit 622 can be activated to retract its output shaft. The sliding member 621 can move away from the second guide member 630 under the elastic force of the first elastic member 641, thereby releasing the sliding surface 6211 from pressing against the rolling member 652. The pin 651 can protrude from the side of the first guide member 500 away from the mounting plate 110 under the elastic force of the second elastic member 642 and be inserted into the pin hole 3220 on the functional module 3000 to achieve locking between the functional module 3000 and the chassis 2000.

[0107] like Figure 1 and Figure 16As shown, the embodiment also provides a chassis 2000, which may include a chassis body 2100 and a connecting mechanism 1000 provided in the embodiment. In the embodiment, a plug-in groove 2110 may be provided on one side of the chassis body 2100, and the mounting base 100 of the connecting mechanism 1000 may be installed inside the chassis body 2100. An assembly hole 2120 communicating with the plug-in groove 2110 may be provided on the chassis body 2100. The first connector 300 may pass through the assembly hole 2120 and protrude from the plug-in groove 2110. The first guide member 500 may also be exposed through a through hole 2130 on the chassis body 2100 and protrude from the plug-in groove 2110.

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

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

[0110] In some embodiments, the functional module 3000 further includes a guide plate 3200, which is fixedly connected to the bottom of the insertion protrusion 3110 by means of bolts or other methods. Guide vanes 3210 are disposed on both opposite sides of the guide plate 3200. The guide vanes 3210 can extend along a first direction X, and their shapes are adapted to the shape of the guide groove 501. When the functional module 3000 is installed on the chassis 2000, the guide vanes 3210 cooperate with the first guide member 500 to provide guidance for the installation of the functional module 3000, enabling accurate alignment and installation between the functional module 3000 and the chassis 2000.

[0111] In some embodiments, the guide vane 3210 is further provided with a pin hole 3220 adapted to the pin 651. When the locking unit 600 locks the functional module 3000 and the chassis 2000, the pin 651 can be inserted into the pin hole 3220.

[0112] In some embodiments, the main body structure 3100 is also provided with handle positions 3120 on both sides opposite to each other. The handle positions 3120 can be groove-shaped structures parallel to the first direction X, which can facilitate the operator to manually or with a robotic arm assemble the functional module 3000 onto the chassis 2000 or remove the functional module 3000.

[0113] In some embodiments, the functional module 3000 is also equipped with casters 2400 to facilitate movement of the functional module 3000. The casters 2400 can be mounted on the bottom of the main body structure 3100, i.e., on the side facing the bottom surface.

[0114] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

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

Claims

1. A connection mechanism, characterized in that include: Mounting base; A flexible seat is connected to one side of the mounting base, and the flexible seat is capable of elastic deformation in at least two directions; The first connector is connected to the mounting base via the flexible seat.

2. The connection mechanism of claim 1, wherein The connecting mechanism further includes a first limiting member, which is disposed on the end side of the flexible seat.

3. The connection mechanism of claim 2, wherein, The connecting mechanism further includes a second limiting member, which is connected to the side of the flexible seat facing the mounting base; The second limiting member is accommodated within the first limiting member, and there is a gap between the second limiting member and the first limiting member.

4. The connection mechanism of claim 3, wherein The first limiting member has a first limiting groove and a second limiting groove that are spaced apart and opposite to each other. The first limiting groove and the second limiting groove are located at both ends of the first limiting member. The connecting mechanism includes two second limiting members. The two second limiting members are respectively accommodated in the first limiting groove and the second limiting groove of the first limiting member, and the two second limiting members are spaced apart from the inner walls of the first limiting groove and the second limiting groove.

5. The connection mechanism according to any one of claims 1 to 4, characterized in that The connecting mechanism has intersecting first and second directions. The mounting base includes a mounting plate and a connecting plate. The connecting plate is vertically disposed on one side of the mounting plate and connected to the mounting plate. The flexible seat is connected to the side of the connecting plate facing the mounting plate. The first connector is located on the side of the flexible seat away from the connecting plate. The connecting mechanism further includes two first guide members, which are disposed on the side of the mounting plate facing the connecting plate and are respectively disposed at both ends of the mounting plate along the second direction. Each of the two first guide members has a guide groove extending along the first direction on the side opposite to each other.

6. The connection mechanism of claim 5, wherein, The guide groove includes a first limiting surface, a second limiting surface, and a third limiting surface. The first limiting surface, the second limiting surface, and the third limiting surface all extend along the first direction. The second limiting surface is connected between the first limiting surface and the third limiting surface. The first limiting surface is located on the side of the guide groove closer to the mounting plate, and the second limiting surfaces of the two first guide members are arranged opposite to each other; The third limiting surface gradually tilts away from the first limiting surface as it moves from the side closest to the second limiting surface to the side furthest from the second limiting surface.

7. The connection mechanism of claim 6, wherein, A first guide portion is provided at the end of the first limiting surface away from the connecting plate. The first guide portion gradually tilts towards the mounting plate from the end near the connecting plate to the end away from the connecting plate. And / or, a second guide portion is provided at the end of the second limiting surface away from the connecting plate, and the second guide portion gradually tilts away from the other second guide portion from the end near the connecting plate to the end away from the connecting plate; And / or, the third limiting surface is provided with a third guide portion at the end away from the connecting plate, and the third guide portion gradually tilts away from the mounting plate from the end near the connecting plate to the end away from the connecting plate.

8. The attachment mechanism of claim 5, wherein, The first guide member also has a limiting protrusion on the side opposite to the mounting plate, and the limiting protrusion is located at the end of the guide groove near the connecting plate.

9. The attachment mechanism of claim 5, wherein, The first guide member is also provided with a connecting hole that communicates with the guide groove, and the axis of the connecting hole is perpendicular to the first direction; The connecting mechanism further includes a locking unit, which is installed on the side of the mounting plate away from the first guide member. The locking unit passes through the mounting plate and is slidably inserted into the communicating hole. The locking unit is telescopically arranged relative to the side of the first guide member facing the guide groove.

10. A chassis characterized by, It includes a chassis body and a connecting mechanism as described in any one of claims 1 to 9, wherein a plug-in groove and an assembly hole communicating with the plug-in groove are provided on one side of the chassis body; The mounting base of the connecting mechanism is installed inside the chassis body, and the first connector passes through the assembly hole and protrudes from the insertion slot.

11. A robot, characterized in that Includes functional modules and the chassis as described in claim 10; The functional module includes a main structure and a second connector disposed on one side of the main structure. The main structure is inserted into the insertion slot, and the second connector is plugged into and connected to the first connector.

12. The robot of claim 11, wherein, The functional module also includes a guide plate, which is connected to the main structure, and guide wing plates are provided on both opposite sides of the guide plate.

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