Flexible base and self-propelled robot

Abstract

Flexible base applied to a self-propelled robot, including: a chassis (1) wherein an underside of the chassis (1) is provided with at least one second output wheel (4-2) and at least two drive wheels (3) and an arrangement position of the second output wheel does not overlap with arrangement positions of the drive wheels; a support plate (2), wherein an underside of the support plate (2) is provided with at least one first output gear (4-1) and an arrangement position of the first output gear (4-1) does not overlap with arrangement positions of the second output gear (4-2) and the drive gears (3); and an adjustment mechanism (5), wherein the adjustment mechanism is designed to be connected to the support plate (2) and the chassis (1) or to be connected to the support plate (2) and the second output wheel (4-2), and wherein the adjustment mechanism (5) is designed to dynamically adjust the second output wheel (4-2) in the event of uneven ground so that the first output wheel (4-1), the second output wheel (4-2) and the drive wheels (3) have contact with the ground.

Description

[0001] This application is a divisional application with serial no. 18882286.0, filed on December 7, 2018. This application claims priority to CN provisional patent application serial no. 201711328398.1, filed on December 13, 2017, the contents of which are incorporated herein by reference in their entirety. Technical area

[0002] The present application relates to the field of goods sorting and includes, for example, a flexible base and a self-propelled robot. Background technology

[0003] Traditionally, the storage and retrieval of goods in a warehouse is usually carried out by warehouse employees, who in turn store the goods on the appropriate shelves and in the appropriate positions using forklifts or trolleys. This process is time-consuming and labor-intensive, and when the warehouse contains different types of goods, the process becomes complicated and error-prone.

[0004] In attempts to automate warehouses, self-propelled warehouse robots are currently used to transport goods during inbound and outbound deliveries. The robot enters the storage area, locates the target shelf, and sends the goods to the workstation for delivery and receipt.

[0005] For the self-propelled warehouse robot, a self-propelled robot with more than 3 wheels is overdefined.

[0006] If the ground is uneven or the wheels are not mounted at exactly the same height, some wheels may lose contact with the ground and lose traction.

[0007] If the wheel that loses traction is a drive wheel of the self-propelled robot, the self-propelled robot will lose control. Content of the utility model

[0008] Against this background, the present application provides a flexible base and a self-propelled robot that enable better contact of the wheels with the ground by means of an adjustment mechanism arranged between the chassis and the carrier plate.

[0009] The present application provides a flexible basis applied to a self-propelled robot.

[0010] The flexible base consists of a chassis, a support plate, and an adjustment mechanism. The underside of the chassis is provided with at least one second output gear and at least two drive gears, and an arrangement position of the second output gear does not overlap with the arrangement positions of the drive gears. The underside of the support plate is provided with at least one first output gear, and an arrangement position of the first output gear does not overlap with the arrangement positions of the second output gear and the drive gears. The adjustment mechanism is designed to be connected to the support plate and the chassis or to be connected to the support plate and the second output gear. In the event of uneven ground, the adjustment mechanism is designed to dynamically adjust the second drive gear so that the first drive gear, the second drive gear, and the drive gears are in contact with the ground.

[0011] In one embodiment, a first end of the adjustment mechanism is hinged to the chassis or the second output gear and a second end of the adjustment mechanism is connected to the support plate.

[0012] In one embodiment, the second end of the adjustment mechanism is fixedly connected to the support plate or hinged thereto.

[0013] In one embodiment, a first end of the adjustment mechanism is fixedly connected to the chassis or the second output gear and a second end of the adjustment mechanism is hinged to the support plate.

[0014] In one embodiment, the first end of the adjustment mechanism is provided with a rotating ball head and the adjustment mechanism is hinged to the chassis or the second output gear via the rotating ball head.

[0015] In one embodiment, the second end of the adjustment mechanism is provided with a rotatable ball head and the adjustment mechanism is hinged to the support plate via the rotatable ball head.

[0016] In one embodiment, the adjustment mechanism comprises at least one telescopic element, the telescopic element comprises a shaft sleeve and a rotary shaft arranged in the shaft sleeve, and the rotary shaft is arranged telescopically in the shaft sleeve; or the adjustment mechanism comprises at least one linkage mechanism.

[0017] In one embodiment, the shaft drum is hinged to the chassis or the second drive wheel and the rotating shaft is connected to the carrier plate.

[0018] In one embodiment, the adjustment mechanism comprises a plurality of telescopic elements, and the plurality of telescopic elements are evenly arranged between the support plate and the chassis or between the support plate and the second output gear.

[0019] In one embodiment, the ends of the plurality of telescopic elements closer to the chassis or the second drive wheel are fastened to one another, and the other ends of the plurality of telescopic elements extend in a direction away from one another and are each connected to the support plate.

[0020] In one embodiment, an included angle between the telescopic element and the support plate is in a range of 15°-45°.

[0021] In one embodiment, the number of telescopic elements is 3-8.

[0022] In one embodiment, the adjustment mechanism comprises a linkage mechanism.

[0023] In one embodiment, the second output gear is connected to the carrier plate via the telescopic element or the linkage mechanism; or the chassis is connected to the carrier plate via the telescopic element or the linkage mechanism.

[0024] In one embodiment, the at least two drive wheels are arranged on a left and a right portion of the chassis and are symmetrical to a first center line, and the first center line is perpendicular to a front and rear direction of the chassis and divides the chassis equally into a front and a rear portion.

[0025] In one embodiment, the at least two drive wheels are arranged on a left and a right portion of the chassis and are symmetrical to a second center line, and the second center line is parallel to a front and rear direction of the chassis and divides the chassis equally into the left and right portions.

[0026] In one embodiment, the at least two output gears are arranged symmetrically to the second center line.

[0027] In one embodiment, the at least two output gears are arranged symmetrically to the first center line.

[0028] The present application provides a self-propelled robot including the above-mentioned flexible base.

[0029] The flexible base and the self-propelled robot of the present application can ensure that the wheels are in contact with the ground and improve the walking stability of the self-propelled robot. Illustration of the attached drawings Fig. 1a-1c are schematic diagrams of a flexible base according to an embodiment of the present disclosure; Fig. 2a is a schematic diagram of a force exerted by the flexible base on a flat floor according to an embodiment of the present disclosure; Fig. 2b is a schematic diagram illustrating that a flexible base according to an embodiment of the present disclosure adjusts output gears on uneven ground; Fig. 3a and Fig. 3b are plan views of a flexible base with two drive gears and two driven gears according to an embodiment of the present disclosure; and Fig. 4 is a partial structural diagram of a self-propelled robot according to an embodiment of the present disclosure. Specific embodiments

[0030] Unless otherwise defined, technical or scientific terms used herein are intended to have a generic meaning understood by persons having general skill in the art in the field to which this application belongs. The terms "first," "second," and the like are used in this application to distinguish various components, but not to describe an order, quantity, or significance. Likewise, the term "a," "an," "the," or the like does not imply a quantitative limitation, but indicates at least one. The term "including," "comprising," or the like means that the elements or objects before the term cover the elements or objects and their equivalents listed after the term, but does not exclude other elements or objects.The terms "couple," "connect," or similar are not limited to physical or mechanical connections, but can also include electrical connections, whether direct or indirect. "Upon," "under," "left," "right," and the like are used merely to indicate the relative positional relationship, and if the absolute position of the described object is changed, the relative positional relationship may also change accordingly.

[0031] One aspect of the present application provides a flexible basis. With reference to the Fig. 1a-1c, the flexible base comprises: a chassis 1, a support plate 2 and an adjustment mechanism 5. The underside of the chassis 1 is provided with at least one second output gear 4-2 and at least two drive gears 3 (3-1 and 3-2), and an arrangement position of the second output gear 4-2 does not overlap with the arrangement positions of the drive gears 3. The underside of the support plate 2 is provided with at least one first output gear 4-1, and an arrangement position of the first output gear 4-1 does not overlap with the arrangement positions of the second output gear 4-2 and the drive gears 3. The adjustment mechanism 5 is designed to connect the support plate 2 and the chassis 1, and when the ground is uneven, the adjustment mechanism 5 is designed to dynamically adjust the second output gear 4-2 so that the first output gear 4-1, the second Output gear 4-2 and drive gears 3 are in contact with the ground.According to the flexible base of the present application, the support plate 2 and the chassis 1 are connected to the drive wheels via the adjustment mechanism 5, and the drive wheels have better contact with the ground, thereby improving driving stability.

[0032] In one embodiment, the second output gear 4-2 and the two drive wheels 3-1 and 3-2 on the chassis 1 are always in contact with the ground, i.e., the three wheels form a plane. If the chassis 1 has four wheels (e.g., two output gears and two drive gears) and the ground on which the self-propelled robot moves is uneven, there is a possibility that one of the wheels will lose contact with the ground, which significantly impairs the movement stability of the self-propelled robot. With this in mind, in the present application, an output gear is connected to the chassis 1 via the support plate 2, so that, for example, when a force is applied to the second output gear 4-2 or the first output gear 4-1, the support plate 2 can dynamically adjust a distance between the first output gear 4-1 and the chassis 1, thereby ensuring that all four wheels are in contact with the ground.

[0033] With reference to Fig. 1b, in one embodiment, a first end of the adjustment mechanism 5 is hinged to the chassis 1 and a second end of the adjustment mechanism 5 is connected to the support plate 2. For example, the first end of the adjustment mechanism 5 and the chassis 1 can each be provided with a connecting part, both connecting parts being connected to each other via a bolt, so that the adjustment mechanism 5 can rotate relative to the chassis 1, so that an adjustment of the drive wheels takes place when the ground conditions change. For example, as in Fig. 1b, to allow rotation of the adjustment mechanism 5 in a left direction and a right direction (when viewing the drawing), the hinge structure has a notch on a left side in the drawing so that the support plate 2 can rotate to the left in the drawing and can also rotate freely to the right.

[0034] With reference to Fig. 2a, when the carrier plate 2 is subjected to a force from the second output gear 4-2, the position of the carrier plate 2 relative to the chassis 1 can be adaptively adjusted so that the output gear and the drive gear are always in contact with the ground. Similarly, the second end of the adjustment mechanism 5, closer to the carrier plate 2, is fixedly connected or hinged to the carrier plate 2. That is, the adjustment mechanism 5 can be hinged to the carrier plate 2 or fixedly connected to the carrier plate 2. For example, if two ends of the adjustment mechanism 5 are respectively hinged to the chassis 1 and the carrier plate 2, the degree of freedom of the adjustment mechanism can be improved, and the adjustment mechanism can dynamically adjust the output gears with improved flexibility.

[0035] With reference to Fig. 2a and Fig. 2b, the chassis 1 and the support plate 2 automatically adapt to uneven ground, for example via the adjustment mechanism 5, and thus ensure that all wheels have contact with the ground.

[0036] In one embodiment, the first end of the adjustment mechanism 5 is provided with a rotatable ball head, and the adjustment mechanism 5 is connected to the chassis 1 via the rotatable ball head. For example, the rotatable ball head can comprise a housing for attachment to the chassis 1 and a rotatable ball head arranged in the housing, wherein one end of the ball head is connected to the support plate 2, for example, via a hollow shaft. This end of the ball head can be fixedly connected to one end of the sleeve shaft, and the other end of the sleeve shaft is fixedly connected to the support plate 2. Since the ball head can rotate freely 360 degrees in the housing, the support plate 2 can rotate freely relative to the chassis 1 via the hollow shaft connected to the ball head, thereby achieving the dynamic adjustment of the second output gear 4-2.

[0037] Of course, the adjustment mechanism 5 can also be connected to the support plate 2 via the rotatable ball head, wherein the housing of the rotatable ball head is fastened to the support plate 2, one end of the ball head in the housing is firmly connected to one end of the hollow shaft and the other end of the hollow shaft is firmly connected to the chassis 1.

[0038] In one embodiment, the adjustment mechanism 5 comprises at least one telescopic element, and the telescopic element comprises a shaft drum and a rotary shaft arranged in the shaft drum. The rotary shaft is arranged telescopically in the shaft drum. The function of the telescopic element is to adjust the distance between the second output gear 4-2 and the chassis 1 by extending and retracting its length in accordance with the force exerted on the second output gear 4-2. For example, one end of the shaft drum is hinged to the chassis 1 and the rotary shaft arranged in the shaft drum is connected to the support plate 2. For example, the rotary shaft has a preset telescopic length in the shaft drum. This means that when the ground is level, the forces acting on the four wheels are within a certain range. The extended or retracted length is also within this range.The retracted length of the rotating shaft in the shaft drum remains within a certain range, ensuring that all four wheels are always in contact with the ground. When the four wheels are on uneven ground, the forces exerted on the four wheels change, and the length of the rotating shaft changes as the rotating shaft senses the force changes via the carrier plate 2. For example, when the force exerted on the second driven gear 4-2 is increased, the extended length of the rotating shaft naturally decreases, so the force exerted on the wheels is also naturally reduced, thereby compensating for the negative influence of the uneven ground. Similarly, when the force exerted on the second driven gear 4-2 is reduced, that is, when the second driven gear 4-2 tends to lose contact with the ground, the rotating shaft naturally expands, causing the driven gear to regain contact with the ground.

[0039] In the present embodiment, for example, a presetting of the position and a change of the telescopic length of the rotary shaft can be realized via a built-in spring.

[0040] In one embodiment, the adjustment mechanism 5 comprises a plurality of telescopic elements, and the plurality of telescopic elements are evenly arranged between the support plate 2 and the chassis 1. For example, each telescopic element in the above structure can be implemented including the shaft drum and the rotating shaft. The ends of these shaft drums are, for example, hingedly connected to the chassis 1, and the rotating shafts are fixedly or hingedly connected to the support plate 2. For example, the plurality of telescopic elements are arranged in a ring shape on two opposite planes, with the chassis 1 being located on one of the two planes and the support plate 2 being located on another of the two planes.For example, these telescopic elements each comprise a first-type connecting end connected to the support plate 2, and these telescopic elements each comprise a second-type connecting end connected to the chassis 1. By connecting the first-type connecting points, a circular structure, a quadrilateral, an octagon, or other symmetrical geometric patterns can be obtained. Similarly, by connecting the second-type connecting points, a circular structure, a quadrilateral, an octagon, or other symmetrical geometric patterns can be obtained. The geometric pattern can, for example, consist of multiple rings, multiple quadrilaterals, multiple octagons, etc. By arranging the telescopic element between the support plate 2 and the chassis 1, the adjustment stability of the adjustment mechanism 5 can be improved and the adjustment effect on the drive wheels can be increased.

[0041] In one embodiment, the ends of the plurality of telescopic elements that are closer to the chassis 1 are fixed to one another, and the other ends of the plurality of telescopic elements extend away from one another and are connected to the support plate 2. For example, the ends of the plurality of telescopic elements can be fixed by an annular bracket element, and the annular bracket element is hinged to the chassis 1 or connected to the chassis 1 by the above-mentioned rotating ball head. The other ends of the plurality of telescopic elements extend outward and diverge and are connected to a surface of the support plate 2 that is closer to the chassis, at a certain angle. For example, to make the construction of the adjustment mechanism 5, chassis 1, and support plate 2 more stable, the angle can be in a range of 15°-45°.The position of the drive wheels can be better adjusted by configuring the connection method and the angle of the multiple telescopic elements.

[0042] In the above-mentioned embodiment, the number of the plurality of telescopic members is, for example, 3-8. As described above, the positional adjustment of the drive wheels is realized by uniformly arranging the plurality of telescopic members between the support plate 2 and the chassis 1 or by a method in which the ends of the plurality of telescopic members are brought together and the other ends of the plurality of telescopic members are extended.

[0043] In one embodiment, the adjustment mechanism 5 comprises a linkage mechanism. When the road surface is uneven, the forces acting on the drive wheels and the drive wheels change, so that the linkage mechanism adapts to the forces acting on the wheels through adaptive adjustment, for example, in combination with a hinge, thus ensuring contact of the wheels with the ground.

[0044] In one embodiment, the adjustment mechanism is arranged between the support plate 2 and the second output gear 4-2. For example, the adjustment mechanism is a telescopic link or a linkage mechanism. For example, one end or two ends of the adjustment mechanism can be movably connected to the support plate 2 or the second output gear 4-2 as described above, for example, they can be hingedly attached or connected to the support plate 2 or the second output gear 4-2 via the rotatable ball head as described above.The flexibility of the second output gear 4-2 can be additionally adjusted by a telescopic element or a linkage mechanism between the second output gear 4-2 and the support plate 2, so that on uneven ground, changes in the forces exerted on the output gears can be detected and adjusted more quickly, thus enabling better contact of the drive gears and the output gears with the ground.

[0045] As can be seen from the above exemplary flexible base configurations, the flexible base can be adaptively adjusted to uneven ground conditions by the adjustment mechanism, which can move relative to the chassis, drive wheels, and support wheels. In one embodiment, the adjustment mechanism can also include other components that can move further relative to the relative movement of the adjustment mechanism, thereby providing greater flexibility to the flexible base, allowing all wheels to be adaptively adjusted to better adapt to the ground.

[0046] It should be noted that only a few exemplary structures of the flexible base capable of adaptive adjustment are shown above. The above-mentioned effects can also be achieved with simple variants of the above-mentioned exemplary structures devised by those skilled in the art, and the corresponding technical solutions are also within the scope of the embodiments of the present disclosure. For the sake of brevity, no further detailed description is provided here.

[0047] For example, according to embodiments of the present disclosure, the flexible base may include at least two drive gears and at least two driven gears. For simplicity, the flexible base with two drive gears and two driven gears will be described below as an example.

[0048] In one embodiment, for example, a first centerline runs perpendicular to a front and rear direction of the chassis and equally divides the chassis into two parts: a front and a rear section. The two drive wheels are arranged on left and right sections of the chassis and are symmetrical to the first centerline. A symmetrical arrangement of the two drive wheels can improve driving stability.

[0049] Furthermore, a second centerline runs parallel to the front and rear of the chassis, evenly dividing the chassis into left and right sections. The two driven gears are arranged symmetrically to the second centerline and on the left and right sections of the chassis. With the above configuration, in which the two drive wheels are arranged symmetrically around the centerline, rollover of the chassis due to uneven forces during turning can be prevented. For example, the at least two driven gears can be arranged symmetrically to the second centerline, so that the two drive wheels and the two driven gears are arranged symmetrically to the second centerline, and the problem of wheel lift caused by uneven ground can be better mitigated in conjunction with the adjusting mechanism of the present application.

[0050] Fig. Figure 3a shows a top view of the flexible base, primarily illustrating the wheel arrangement. For simplicity, the positions of the drive wheels are marked.

[0051] As in Fig. As shown in Figure 3a, a direction indicated by arrow line AA' is the front-backward direction, and a direction indicated by arrow line BB' is the left-right direction. Line AA' is the second center line and runs parallel to the front-backward direction of the chassis, which divides the flexible base into the left and right sections, and line BB' is the first center line and runs perpendicular to the front-backward direction of the chassis, which divides the flexible base into the front and rear sections. At least two drive wheels 3 can be arranged symmetrically on the left and right parts of the chassis relative to the second center line AA'.

[0052] Of course, the at least two drive wheels 3 on the left and right parts of the chassis can also be arranged asymmetrically relative to the second center line AA'. For example, one drive wheel 3-1 is closer to the second center line AA', and the other drive wheel 3-2 is relatively farther from the second center line AA'. Or, one drive wheel 3-1 is located relatively closer to the front part of the flexible base, and the other drive wheel 3-2 is located relatively closer to the rear part of the flexible base. The embodiments of the present application are not limited to this, as long as the device or apparatus including the flexible base can implement a predetermined function, for example, the self-propelled robot including the flexible base can walk normally and carry goods.

[0053] In one embodiment, the at least two drive wheels 3 can be arranged symmetrically on the left and right part of the chassis 1 and on the first center line BB'.

[0054] Fig. Figure 3a shows such a structure. In one embodiment, the at least two drive wheels 3 can be arranged asymmetrically on the left and right parts of the chassis 1 and on the first centerline BB'.

[0055] It should be noted here that the words “wheels on the first centerline BB'” described above refer to the wheel axles being on the first centerline, and the symmetrical or asymmetrical arrangement also refers to the wheel axles being arranged symmetrically or asymmetrically.

[0056] For example, for the flexible base according to the embodiments of the present disclosure, the two output gears 4-1 and 4-2 may be arranged symmetrically on the left and right parts of the chassis 1 relative to the second center line AA'. At least optionally, the two drive gears on the left and right parts of the chassis 1 are arranged asymmetrically relative to the second center line AA'. For example, one output gear 4-1 is closer to the second center line, while the other output gear 4-2 is farther from the second center line. Or, one output gear 4-1 is located relatively closer to the front part of the flexible base, and the other output gear 4-2 is located relatively closer to the rear part of the flexible base. This is not limited by the embodiments of the present application.

[0057] Furthermore, the positional relationship between the drive gears and the driven gears is not limited by the embodiments of the present application as long as the configuration of the drive gears and the driven gears enables normal operation of the flexible base.

[0058] For example, as in Fig. 3b, the drive wheels are arranged symmetrically on the left and right parts of the flexible base relative to the second center line, and the driven wheels are also arranged symmetrically on the left and right parts of the flexible base relative to the second center line, but the driven wheels are located at the rear part and the drive wheels at the front part.

[0059] For example, the two output gears 4-1 and 4-2 at the front and rear of the chassis 1 are arranged symmetrically relative to the first center line BB'.

[0060] For example, as in Fig. 3a, the two output gears 4-1 and 4-2 are arranged symmetrically at the front and rear parts of the chassis relative to the second center line AA'.

[0061] Above, the specific arrangement of the wheels was described using two drive wheels and two driven wheels as examples. However, the embodiments of the present disclosure are not limited to two drive wheels and two driven wheels. For example, the flexible base may comprise five, six, or even more wheels. For example, in a five-wheel solution, the five wheels may comprise two drive wheels and three driven wheels, or three drive wheels and two driven wheels; and in a six-wheel solution, the six wheels may comprise two drive wheels and four driven wheels, or four drive wheels and two driven wheels, etc., which is not limited by the embodiments of the present application. Regarding various wheel arrangements, reference may be made to the above-mentioned exemplary structures as long as the purpose of the present application can be achieved.

[0062] In one embodiment, for the flexible base according to the embodiments of the present disclosure, one of the two output gears may comprise two first secondary output gears. The two first secondary drive gears are each arranged at two ends of a first shaft, and the center point of the first shaft may lie on the second center line AA'. For example, the first shaft may also be hinged to the chassis or the adjustment mechanism.

[0063] For example, each of the two output gears comprises two secondary output gears. For example, one of the two output gears comprises two first secondary output gears, and the other of the two output gears comprises two second secondary output gears. The two first secondary output gears are each arranged at two ends of the first shaft, and the two second secondary output gears are each arranged at two ends of a second shaft. The center point of the first shaft and the center point of the second shaft both lie on the second center line AA'. For example, the first shaft is articulated to the chassis or the adjustment mechanism, and the second shaft is correspondingly articulated to the adjustment mechanism or the chassis.

[0064] For example, in a case where the flexible base comprises two or more output gears, at least one of the at least two output gears may comprise two secondary output gears, which may be arranged on a shaft. This shaft may be pivotally connected to the chassis or the adjustment mechanism.

[0065] In the flexible base according to the embodiments of the present disclosure, the adjustment mechanism of the flexible base is hinged to the support plate and the chassis. When the ground is uneven, the support plate, the drive wheels, and the chassis move relative to the adjustment mechanism and are dynamically adjusted by the adjustment mechanism, so that the flexible base automatically adapts to the ground and the at least two drive wheels are always in contact with the ground.

[0066] Another aspect of the present application provides a self-propelled robot including the above-mentioned flexible base.

[0067] With reference to Fig. 4, the self-propelled robot of one embodiment of the present disclosure comprises: a flexible base as described above; at least two drive motors 7-1 and 7-2 disposed above the flexible base and each connected to at least two drive gears 3-1 and 3-2 to drive drive gears connected to the driven gears; and a lifting mechanism disposed above the flexible base. Two reduction gears 6-1 and 6-2 are connected to the drive motors 7-1 and 7-2, respectively.

[0068] For example, in a transport robot according to the embodiment of the present disclosure, the lifting mechanism is provided with an opening in its central portion. The opening is equipped with a camera capable of photographing up and down to scan the two-dimensional code of the goods and the two-dimensional code of the floor.

[0069] The self-propelled robot according to the embodiment of the present disclosure includes the flexible base. When the ground is uneven or the wheels are not exactly level, the adjustment mechanism provided between the support plate and the chassis can be moved relative to the support plate and the chassis, so that the height of the wheels attached to the base is automatically adjusted to the ground, ensuring that all wheels are in contact with the ground. This prevents the risk of goods falling over due to the wheels losing contact with the ground and avoids the problem of the robot losing control due to the drive wheels losing contact with the ground. Furthermore, even distribution of the goods is achieved. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 201711328398.1

[0001] Cited non-patent literature

[0000] Serial No. 18882286.0, which was issued on December 7, 2018

[0001]

Claims

[1] Flexible base applied to a self-propelled robot, comprising: a chassis (1), wherein a bottom side of the chassis (1) is provided with at least one second output gear (4-2) and at least two drive gears (3), and an arrangement position of the second output gear does not overlap with arrangement positions of the drive gears; a support plate (2), wherein a bottom side of the support plate (2) is provided with at least one first driven gear (4-1) and an arrangement position of the first driven gear (4-1) does not overlap with arrangement positions of the second driven gear (4-2) and the drive gears (3); and an adjusting mechanism (5), wherein the adjusting mechanism is designed to be connected to the support plate (2) and the chassis (1) or to be connected to the support plate (2) and the second output gear (4-2), and wherein the adjusting mechanism (5) is designed to dynamically adjust the second output gear (4-2) in the event of uneven ground such that the first output gear (4-1), the second output gear (4-2) and the drive gears (3) are in contact with the ground. [2] Flexible base according to claim 1, characterized by that a first end of the adjusting mechanism (5) is articulated to the chassis (1) or the second output gear (4-2), and the second end of the adjusting mechanism (5) is fixedly connected to the carrier plate (2) or articulated thereto. [3] Flexible base according to claim 2, characterized bythat the first end of the adjusting mechanism (5) is provided with a rotating ball head and the adjusting mechanism (5) is articulated to the chassis (1) or the second output gear (4-2) via the rotating ball head; or the first end of the adjusting mechanism (5) and the chassis (1) are each provided with a connecting part, and both connecting parts are connected to one another via a bolt, so that the adjusting mechanism (5) can rotate relative to the chassis (1). [4] Flexible base according to claim 3, characterized by that the rotatable ball head comprises a housing and a rotatable ball head arranged in the housing, wherein the housing is connected to the chassis (1) and the ball head is connected to the support plate (2). [5] Flexible base according to claim 1, characterized bythat a first end of the adjusting mechanism (5) is fixedly connected to the chassis (1) or the second output gear (4-2) and a second end of the adjusting mechanism (5) is articulated to the support plate (2). [6] Flexible base according to claim 5, characterized by that the second end of the adjustment mechanism (5) is provided with a rotating ball head and the adjustment mechanism (5) is articulated to the support plate (2) via the rotating ball head. [7] Flexible base according to claim 1, characterized by in that the first output gear (4-1) comprises two first secondary output gears arranged on a first shaft, the first shaft being articulated on the chassis (1) or the adjusting mechanism (5). [8] Flexible base according to claim 1, characterized bythat the second output gear (4-2) comprises two second secondary output gears arranged on a second shaft, wherein the second shaft is articulated on the chassis (1) or the adjusting mechanism (5). [9] Flexible base according to claim 1, characterized by that the adjustment mechanism comprises at least (5) one telescopic element; or the adjustment mechanism (5) comprises at least one linkage mechanism; wherein the second output gear (4-2) is connected to the support plate (2) via the telescopic element or the linkage mechanism; or the chassis (1) is connected to the support plate (2) via the telescopic element or the linkage mechanism. [10] Flexible base according to claim 9, characterized by that the adjusting mechanism (5) comprises at least one telescopic element, and the telescopic element comprises a shaft drum and a rotary shaft arranged in the shaft drum, wherein the rotary shaft is arranged telescopically in the shaft drum. [11] Flexible base according to claim 10, characterized by that the shaft drum is articulated to the chassis (1) or the second output gear (4-2) and the rotating shaft is connected to the carrier plate (2). [12] Flexible base according to claim 10, characterized by that an elastic element is provided in the shaft drum by means of which the preset position and telescopic changes of the rotating shaft are achieved. [13] Flexible base according to claim 9, characterized by that the adjustment mechanism (5) comprises a plurality of telescopic elements and the plurality of telescopic elements are arranged evenly between the support plate (2) and the chassis (1) or between the support plate (2) and the second output gear (4-2). [14] Flexible base according to claim 13, characterized bythat the ends of the plurality of telescopic elements closer to the chassis (1) or to the second output gear (4-2) are fastened to one another and the other ends of the plurality of telescopic elements extend in a direction away from one another and are each connected to the support plate (2). [15] Flexible base according to claim 13 or 14, characterized by that an included angle between the telescopic element and the support plate (2) lies in a range of 15°- 45°. [16] Flexible base according to claim 13, characterized by that the plurality of telescopic elements are arranged in a ring shape on both opposite levels, wherein the chassis 1 is located on one of the two levels and the support plate 2 is located on another of the two levels. [17] Flexible base according to one of claims 13 to 16, characterized by that the number of telescopic elements is 3 to 8. [18] Flexible base according to one of claims 1 to 17, characterized by in that the at least two drive wheels (3) are arranged on a left and a right section of the chassis (1) and are symmetrical to a first center line, and the first center line is perpendicular to a front and rear direction of the chassis (1) and divides the chassis (1) evenly into a front and a rear section. [19] Flexible base according to claim 18, characterized by that the at least two output gears are arranged symmetrically to the first center line. [20] Flexible base according to one of claims 1 to 17, characterized byin that the at least two drive wheels (3) are arranged on a left and a right section of the chassis (1) and are symmetrical to a second center line, and the second center line is parallel to a front and rear direction of the chassis (1) and divides the chassis (1) evenly into the left and right sections. [21] Flexible base according to claim 20, characterized by that the at least two output gears are arranged symmetrically to the second center line. [22] Flexible base according to claim 21, characterized by that the at least two output gears are arranged symmetrically to the second center line and on the left and right sections of the chassis. [23] A self-propelled robot comprising the flexible base according to any one of claims 1-22. [24] A self-propelled robot according to claim 23, also comprising: at least two drive motors arranged above the flexible base and each connected to at least two drive wheels (3) to drive drive wheels. [25] A self-propelled robot according to claim 24, also comprising: Reduction gears connected to the drive motors. [26] Self-propelled robot according to one of claims 23 to 25, also comprising: a lifting mechanism located above the flexible base. [27] A self-propelled robot according to claim 26, also comprising: a camera, wherein the lifting mechanism is provided with an opening, and the camera is arranged at the opening of the lifting mechanism, wherein the camera is designed to detect the marking of objects and the ground. [28] Self-propelled robot according to claim 27, characterized by that the camera's shooting direction is up and / or down.

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