Mobile Robots

Abstract

The present disclosure relates to a mobile robot, comprising a chassis and a load body arranged above the chassis; wheels are installed on the chassis, and a first damping shock absorber is arranged between the wheels and the chassis; the load body and the chassis are connected by a mobile structure, and a second damping shock absorber is also arranged on the chassis, one end of the second damping shock absorber is connected to the chassis, and the other end of the second damping shock absorber is used to support the load body, so that the load body floats up and down relative to the chassis under the action of the second damping shock absorber; the stiffness of the second damping shock absorber is lower than the stiffness of the first damping shock absorber, so that it can simultaneously meet the performance requirements of the robot for filtering vibration when transporting goods, and can also meet the requirements of vehicle body stability.

Description

Technical Field

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

[0002] Mobile robots have been widely used in hotels, restaurants and other places. For example, they can be used to deliver food and other items.

[0003] The mobile robot specifically includes a chassis and a load body; wherein the load body is arranged above the chassis, and the load body can be used to carry items, etc.; wheels are installed on the chassis, and the mobile robot is driven to move by the wheels. The load body and the chassis are fixedly connected. Among them, a damping shock absorber is arranged between the wheel and the chassis to reduce the body vibration of the mobile robot during the movement. The lower the stiffness of the damping shock absorber between the wheel and the chassis, the better the effect of filtering vibration.

[0004] However, mobile robots will inevitably accelerate or decelerate during walking. If the stiffness of the damping shock absorber between the wheel and the chassis is too low, the inertial force will cause the body to swing more, resulting in instability. Summary of the invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a mobile robot.

[0006] The present disclosure provides a mobile robot, comprising a chassis and a load body arranged above the chassis;

[0007] A wheel is installed on the chassis, and a first damping shock absorber is arranged between the wheel and the chassis;

[0008] The load body is connected to the chassis via a movable structure, and a second damping shock absorber is further provided on the chassis, one end of the second damping shock absorber is connected to the chassis, and the other end of the second damping shock absorber is used to support the load body, so that the load body floats up and down relative to the chassis under the action of the second damping shock absorber;

[0009] Wherein, the stiffness of the second damping shock absorber is lower than the stiffness of the first damping shock absorber.

[0010] Optionally, the mobile structure includes at least two support arms;

[0011] One end of each of the support arms is rotatably connected to the load body, and the other end of each of the support arms is rotatably connected to the chassis;

[0012] The connection point between the support arm and the load body is a first connection point, and the connection point between the support arm and the chassis is a second connection point; in two adjacent support arms, the distance between the two first connection points is equal to the distance between the two second connection points.

[0013] Optionally, the chassis has a side bracket extending upward, the side bracket is located on one side of the load body, and the other end of the support arm is rotatably connected to the side bracket.

[0014] Optionally, when the mobile robot is stationary, the support arm is set in a horizontal state.

[0015] Optionally, the at least two support arms are disposed on both sides of the load body.

[0016] Optionally, the top end of the second damping shock absorber is connected to the load body, and the bottom end of the second damping shock absorber is connected to the chassis.

[0017] Optionally, the second damping shock absorber includes a spring damping member, and the elastic deformation direction of the spring damping member is arranged along the vertical direction.

[0018] Optionally, the chassis includes a bottom plate and a bearing seat arranged above the bottom plate, the wheel is mounted on the bottom plate, and the load body is arranged on the bearing seat;

[0019] The bottom end of the spring damper is connected to the bearing seat, or a evacuation hole for evading the spring damper is provided on the bearing seat, so that the bottom end of the spring damper extends from the evacuation hole to be connected to the bottom plate.

[0020] Optionally, there is one second damping shock absorber, and the second damping shock absorber is located on the central axis of the load body along the moving direction of the mobile robot;

[0021] Alternatively, there are at least two second damping shock absorbers, and the at least two second damping shock absorbers are disposed on both sides of a central axis of the load body along the moving direction of the mobile robot.

[0022] Optionally, the mobile structure comprises at least three support arms;

[0023] One end of each of the support arms is rotatably connected to the load body via a ball head, and the other end of each of the support arms is rotatably connected to the chassis via a ball head;

[0024] Among all the support arms, at least one support arm is not coplanar with any two support arms of the remaining support arms.

[0025] Optionally, the second damping shock absorber comprises two spring damping members, the bottom end of each of the spring damping members is connected to the chassis, and the top end of each of the spring damping members is connected to the load body;

[0026] The bottom ends of the two spring dampers are close to each other, the top ends of the two spring dampers are far away from each other, and the top ends of the two spring dampers are arranged on both sides of the central axis of the load body along the moving direction of the mobile robot;

[0027] Alternatively, the top ends of the two spring dampers are close to each other, the bottom ends of the two spring dampers are far away from each other, and the bottom ends of the two spring dampers are arranged on both sides of the central axis of the load body along the moving direction of the mobile robot.

[0028] Optionally, there are at least two second damping shock absorbers, and at least two of the second damping shock absorbers are located at different heights.

[0029] Optionally, in the direction of travel of the mobile robot, among all the second damping shock absorbers, at least one second damping shock absorber is located in front of the other second damping shock absorbers.

[0030] Optionally, one end of the second damping shock absorber is connected to the chassis, and the other end of the second damping shock absorber is connected to the support arm.

[0031] Optionally, the second damping shock absorber comprises a torsion spring, one end of the torsion spring is fixedly connected to the chassis, the other end of the torsion spring is fixedly connected to the support arm, and the other end of the torsion spring is arranged close to the connection point between the support arm and the chassis;

[0032] Alternatively, the second damping shock absorber comprises a spring damping member, and the elastic deformation direction of the spring damping member is arranged along the vertical direction.

[0033] Optionally, there is one second damping shock absorber, and the second damping shock absorber is located on the central axis of the load body along the moving direction of the mobile robot;

[0034] Alternatively, there are at least two second damping shock absorbers, and the at least two second damping shock absorbers are disposed on both sides of a central axis of the load body along the moving direction of the mobile robot.

[0035] Optionally, the second damping shock absorber is arranged in the bottom edge area of ​​the load body.

[0036] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0037] The mobile robot provided by the present disclosure is provided with a first damping shock absorber between the wheel and the chassis, and a second damping shock absorber is also provided on the chassis, wherein the stiffness of the second damping shock absorber is lower than that of the first damping shock absorber, so that one end of the second damping shock absorber is connected to the chassis, and the other end of the second damping shock absorber is used to support the load body, and the load body is connected to the chassis through a mobile structure, so that the load body floats up and down relative to the chassis under the action of the second damping shock absorber, that is, the body stability and the vibration filtering ability are separated, the first damping shock absorber of the chassis and the wheel part has a large stiffness, so that the overall stability of the robot is good, and to a certain extent, the instability of the body caused by the inertia force when the robot accelerates or decelerates; at the same time, the load body can float relative to the chassis under the action of the second damping shock absorber, and since the stiffness of the second damping shock absorber of the load body and the chassis part is small, the impact of the ground on the load body can be minimized, that is, better vibration filtering performance is guaranteed, so that both the performance requirements of the robot for filtering vibration when transporting goods and the requirements of the body stability can be met, so that the comprehensive performance of the robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of a mobile robot according to an embodiment of the present disclosure;

[0041] Figure 2 This is a schematic diagram of the side structure of a mobile robot according to an embodiment of the present disclosure;

[0042] Figure 3 for Figure 2 The corresponding left view;

[0043] Figure 4 A partial top view of a chassis of a mobile robot according to an embodiment of the present disclosure;

[0044] Figure 5 is a schematic diagram of the three-dimensional structure of a mobile robot according to another embodiment of the present disclosure;

[0045] Figure 6 is a schematic diagram of the side structure of a mobile robot according to another embodiment of the present disclosure;

[0046] Figure 7 for Figure 6 The corresponding right view;

[0047] Figure 8 for Figure 5 A schematic diagram of the structure of the load body and the second damping shock absorber;

[0048] Fig. 9 for Figure 8 The corresponding side view;

[0049] Fig.10 is a structural schematic diagram of a mobile robot according to another embodiment of the present disclosure;

[0050] Fig.11 The present invention is a schematic structural diagram of a mobile robot according to another embodiment of the present invention.

[0051] Among them, 1. chassis; 11. bearing seat; 110. avoidance hole; 12. bottom plate; 13. wheel; 131. driving wheel; 132. driven wheel; 14. side bracket; 2. load body; 3. first damping shock absorber; 4. second damping shock absorber; 41. spring damping member; 42. fixed plate; 5. moving structure; 51. support arm; 511. one end; 512. the other end; 513. first connection point; 514. second connection point. DETAILED DESCRIPTION

[0052] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0053] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0054] This embodiment provides a mobile robot, which can be used in hotels, restaurants, restaurants and other places to transport articles, food, etc. Of course, it can also be used in other places, and this embodiment is not limited thereto.

[0055] Reference Figures 1 to 11 As shown, the mobile robot comprises: a chassis 1 and a load body 2 arranged above the chassis 1. The load body 2 may be a load rack for storing goods, or a load box for storing goods. For example, the load body 2 has a plurality of partition layers or partition rooms for placing different kinds of goods. Of course, the load body 2 may also not carry goods, that is, it may serve as a fuselage main body.

[0056] The chassis 1 is provided with wheels 13, which specifically include a driving wheel 131 and a driven wheel 132. Figure 1 As shown, in some embodiments, the driving wheel 131 is specifically a pair, and the pair of driving wheels is arranged on both sides of the central axis of the chassis 1 along the direction of movement of the robot. The driven wheels 132 are specifically two pairs, one pair of driven wheels 132 is arranged on the front side of the chassis 1, and the other pair of driven wheels 132 is arranged on the rear side of the chassis 1. The driven wheels 132 are specifically universal wheels. Of course, only one pair of driven wheels 132 can also be set, which is specifically set according to actual needs, and this embodiment does not limit this.

[0057] Exemplarily, a driving device, a position detection device, and a control device may be provided on the chassis 1, and the driving device and the position detection device are electrically connected to the control device. The driving device is used to drive the wheels 13 to rotate so as to drive the robot to travel along a preset path. The position detection device is used to sense the position of the robot, and the control device may control the start and stop of the driving device according to the sensing signal sensed by the position detection device, thereby controlling the operating state of the robot. For example, when the robot arrives at the meal delivery position, the position detection device sends a sensing signal to the control device, and after receiving the sensing signal, the control device controls the driving device to stop driving the robot to move, thereby realizing automatic meal delivery.

[0058] Generally, a damping shock absorber is provided between the wheel 13 and the chassis 1 to reduce the vibration of the vehicle body during travel. Generally speaking, the lower the stiffness of the damping shock absorber between the wheel 13 and the chassis 1, the better the effect of filtering vibration. However, if the stiffness is too low, since the robot will inevitably accelerate or decelerate during walking, during the acceleration and deceleration stages of the robot, the inertial force will cause the body to swing too much, causing the body to be unstable, and in severe cases, causing items to spill or tip over. In other words, the vibration filtering performance requires the chassis 1 to have low stiffness, while the body stability requires the chassis 1 to have high stiffness.

[0059] Based on this, in the mobile robot provided in this embodiment, a first damping shock absorber 3 is arranged between the wheel 13 and the chassis 1. Exemplarily, the first damping shock absorber 3 may specifically include: a telescopic rod and a telescopic spring sleeved on the telescopic rod.

[0060] At the same time, the load body 2 is connected to the chassis 1 through the mobile structure 5, and the chassis 1 is also provided with a second damping shock absorber 4, one end of the second damping shock absorber 4 is connected to the chassis 1, and the other end of the second damping shock absorber 4 is used to support the load body 2, so that the load body 2 floats up and down relative to the chassis 1 under the action of the second damping shock absorber 4. Among them, the stiffness of the second damping shock absorber 4 is lower than the stiffness of the first damping shock absorber 3.

[0061] By providing the moving structure 5 , the load body 2 is connected to the chassis 1 , and the load body 2 is fixed, while the up and down floating of the load body 2 under the action of the second damping shock absorber 4 is not affected.

[0062] By setting as above, the load body 2 can float up and down relative to the chassis 1, so as to reduce the vibration impact on the load body 2. In other words, the stability of the chassis 1 is separated from the ability to filter vibration, and the first damping shock absorber 3 of the chassis 1 and the wheel 13 has a larger stiffness, so that the overall stability of the robot is better, and to a certain extent, the instability of the robot body caused by the inertia force when the robot accelerates or decelerates is avoided; the second damping shock absorber 4 of the load body 2 and the chassis 1 has a smaller stiffness, so as to minimize the impact of the ground on the load body 2, that is, to ensure better filtering vibration performance.

[0063] That is, the mobile robot provided in this embodiment can not only meet the performance requirements of filtering vibration when the robot transports goods, but also meet the requirements of vehicle body stability, so that the overall performance of the robot can be improved.

[0064] The mobile structure 5 may specifically include: at least two support arms 51. One end 511 of each support arm 51 is rotatably connected to the load body 2, and the other end 512 of each support arm 51 is rotatably connected to the chassis 1. The connection point between the support arm 51 and the load body 2 can be regarded as a first connection point 513, and the connection point between the support arm 51 and the chassis 1 can be regarded as a second connection point 514. In two adjacent support arms 51, the distance between the two first connection points 513 is equal to the distance between the two second connection points 514.

[0065] That is, the line between the two first connection points 513, the line between the two second connection points 514, and the two adjacent support arms 51 together form a parallelogram. This arrangement ensures that the load body 2 floats up and down under the action of the second damping shock absorber 4 without tilting or falling, thereby preventing the items carried on the load body 2 from falling and ensuring the stability of the load body 2.

[0066] by Figure 2 For example, the distance between the two first connection points 513 is the length of the line between the two first connection points 513 , and the distance between the two second connection points 514 is the length of the line between the two second connection points 514 .

[0067] Specifically, at least two support arms 51 can be disposed on both sides of the load body 2, so that the load body 2 can be connected at least from both sides of the load body 2, so that the load body 2 is better balanced and more stable. Figure 1 or Figure 5As shown, illustratively, two support arms 51 are respectively disposed on both sides of the load body 2 , and the two support arms 51 located on the same side of the load body 2 are spaced apart from each other.

[0068] It should be noted that the support arm 51 can be connected to the outside of the load body 2, or can be extended into the load body 2 to be connected to the inside of the load body 2. As long as it can be ensured that the support arm 51 connects the load body 2 to the chassis 1, and does not affect the up and down floating of the load body 2 under the action of the second damping shock absorber 4. For example, one end 511 of one support arm 51 is connected to the outer side wall of the load body 2, and one end 511 of the other support arm 51 is extended into the load body 2 and connected to the inner side of the load body 2.

[0069] Continue to refer to Figures 1 to 6 As shown, preferably, the support arm 51 can be set horizontally. Here, horizontal refers to the state of the support arm 51 when the mobile robot is stationary. By setting the support arm 51 horizontally, the load body 2 can be guaranteed to float vertically to a greater extent, thereby improving the stability of the load body 2.

[0070] In a specific implementation, the chassis 1 has a side bracket 14 extending upward, the side bracket 14 is located on one side of the load body 2, and the other end 512 of the support arm 51 can be rotatably connected to the side bracket 14. This arrangement makes the mobile structure 5 drive the load body 2 more directly and the layout is more reasonable.

[0071] Reference Figures 1 to 8 As shown, in some embodiments, the top end of the second damping shock absorber 4 is connected to the load body 2, and the bottom end of the second damping shock absorber 4 is connected to the chassis 1. Since the second damping shock absorber 4 is connected between the load body 2 and the chassis 1, and the stiffness of the second damping shock absorber 4 is lower than the stiffness of the first damping shock absorber 3, it can meet the performance requirements of filtering vibration of the robot transporting goods and the requirements of vehicle body stability.

[0072] In one possible implementation, refer to Figures 1 to 4 As shown, the second damping shock absorber 4 specifically includes a spring damping member 41, and the elastic deformation direction of the spring damping member 41 is arranged along the vertical direction.

[0073] The vertical arrangement here can be understood as: the elastic deformation direction of the spring damper 41 is perpendicular to the horizontal plane, and the spring damper 41 is arranged vertically, so that the load body 2 floats up and down under the action of the spring damper 41; it can also be that the elastic deformation direction of the spring damper 41 has a small angle with the vertical plane, that is, the spring damper 41 is slightly inclined and arranged in a roughly vertical manner, as long as the load body 2 can float stably up and down under the action of the spring damper 41.

[0074] In this implementation, one end 511 of the support arm 51 may be hinged to the load body 2 , and the other end 512 of the support arm 51 may be hinged to the chassis 1 .

[0075] There can be two or more support arms 51. When the mobile structure 5 includes only two support arms 51, the two support arms 51 are at different heights on the load body 2 to effectively ensure that the load body 2 can float vertically without tilting or falling.

[0076] The spring damper 41 may specifically include: a telescopic rod and a telescopic spring sleeved on the telescopic rod. Specifically, the top end of the telescopic rod is connected to the load body 2, and the bottom end of the telescopic rod is connected to the chassis 1. The spring is deformed by the impact, driving the telescopic rod to extend and retract, thereby driving the load body 2 to float up and down. In specific implementation, the top end of the telescopic rod can be hinged to the load body 2, and the bottom end of the telescopic rod can be hinged to the chassis 1.

[0077] The chassis 1 may include: a bottom plate 12 and a bearing seat 11 disposed above the bottom plate 12. The side bracket 14 may extend upward from the bearing seat 11. Figure 2 As shown, the side bracket 14 is specifically located on one side of the top of the bearing seat 11. The wheels 13 are installed on the bottom plate 12, and the load body 2 is arranged on the bearing seat 11.

[0078] Reference Figure 1 As shown, specifically, a evacuation hole 110 for evacuating the second damping shock absorber 4 is provided on the bearing seat 11, so that the bottom end of the second damping shock absorber 4 extends out of the evacuation hole 110 to be connected to the bottom plate 12. In this way, the second damping shock absorber 4 can be arranged longer to further improve the buffering effect and the ability to filter vibration.

[0079] Of course, in other implementations, the bottom end of the second damping shock absorber 4 may also be directly connected to the bearing seat 11 .

[0080] In addition, in this implementation, the movable structure 5 may be other structural forms besides the structural form of the above-mentioned support arm 51. For example, the movable structure 5 specifically includes: a slide groove arranged on the chassis 1 and a sliding portion arranged on the load body 2. The slide groove is arranged vertically and is located on one side of the load body 2. The sliding portion is stuck in the slide groove and can slide along the slide groove, so that the load body 2 can float up and down under the action of the second damping shock absorber 4 while ensuring that the load body 2 is fixed. In other words, at this time, the movable structure 5 not only plays a role in connecting the load body 2 to the chassis 1, but also plays a guiding role when the load body 2 floats. Exemplarily, the slide groove can be opened on the side of the side bracket 14 of the above-mentioned chassis 1 facing the load body 2.

[0081] Of course, in other implementations, the sliding portion may be provided on the side bracket 14 , and the sliding groove may be vertically opened on the load body 2 , which can also achieve the connection and guiding effect on the load body 2 .

[0082] In some embodiments, the second damping shock absorber 4 is specifically one. Exemplarily, the second damping shock absorber 4 can be specifically located on the central axis of the load body 2 along the moving direction of the mobile robot. The moving direction of the mobile robot here is Figure 2 This arrangement makes the load body 2 more balanced and more stable.

[0083] Reference Figure 2 and Figure 3 As shown, the mobile robot has a second damping shock absorber 4, which is specifically located at the front end of the load body 2 (ie, the front end in the driving direction) and on the central axis in the traveling direction.

[0084] Of course, the second damping shock absorber 4 can also be located on one side of the above-mentioned central axis of the load body 2.

[0085] In some other embodiments, there are at least two second damping shock absorbers 4. At least two second damping shock absorbers 4 are disposed on both sides of the central axis of the load body 2 along the moving direction of the mobile robot. The moving direction of the mobile robot here is Figure 2 XX direction shown in FIG. For example, there are two second damping shock absorbers 4, and the two second damping shock absorbers 4 are symmetrically arranged with the above-mentioned central axis as the symmetry axis. For another example, there are three second damping shock absorbers 4, one of which is arranged on the symmetry axis, and the other two second damping shock absorbers 4 are arranged on both sides of the symmetry axis.

[0086] Continue to refer to Figures 1 to 4 As shown, the second damping shock absorber 4 can be specifically arranged in the edge area of ​​the load body 2. For example, the second damping shock absorber 4 is arranged in the bottom edge area of ​​the load body 2, which can be understood here as the second damping shock absorber 4 is arranged on the bottom edge of the load body 2, or the second damping shock absorber 4 is arranged close to the bottom edge of the load body 2.

[0087] Since the chassis 1 is generally provided with components such as a control device, arranging the second damping shock absorber 4 at the bottom edge region of the load body 2 can facilitate the installation of the second damping shock absorber 4 to a large extent without interfering with other components.

[0088] In another possible implementation, referring to Figures 5 to 9As shown, the mobile structure 5 includes at least three support arms 51, one end 511 of each support arm 51 is rotatably connected to the load body 2 via a ball head, and the other end 512 of each support arm 51 is rotatably connected to the chassis 1 via a ball head. Among all the support arms 51, at least one support arm 51 is not coplanar with any two support arms 51 of the remaining support arms 51.

[0089] The support arm 51 is connected by a ball head. Due to the existence of redundant degrees of freedom, the support arm 51 can be installed normally even if there is an error in the length thereof, and no interference will occur.

[0090] The connection point between the support arm 51 and the load body 2 is the first connection point 513, and the connection point between the support arm 51 and the chassis 1 is the second connection point 514. In two adjacent support arms 51, the distance between the two first connection points 513 is equal to the distance between the two second connection points 514. The first connection point 513 and the second connection point 514 here can be regarded as the rotation center point.

[0091] Reference Figure 5 As shown, exemplarily, two support arms 51 are respectively provided on both sides of the load body 2, that is, the connection to the load body 2 is achieved through four support arms 51, which can ensure the connection stability of the load body 2 without adding more support arms 51 to increase the cost.

[0092] Since the support arm 51 is rotatably connected to the load body 2 and the chassis 1 through a ball head, the freedom of the load body 2 is increased, and the load body 2 can not only move up and down relative to the chassis 1, but also move left and right. Figures 5 to 9 In this implementation, the second damping shock absorber 4 specifically includes two spring damping members 41, the bottom end of each spring damping member 41 is connected to the chassis 1, and the top end of each spring damping member 41 is connected to the load body 2. Exemplarily, the top end of the spring damping member 41 can be connected to the load body 2 by a ball head rotation connection, and the bottom end of the spring damping member 41 can be connected to the chassis 1 by a ball head rotation connection.

[0093] The bottom ends of the two spring dampers 41 are close to each other, the top ends of the two spring dampers 41 are far away from each other, and the top ends of the two spring dampers 41 are arranged at the load body 2 along the moving direction of the mobile robot ( Figure 6 The two spring damping members 41 of the second damping shock absorber 4 are arranged in this way, so as to provide support stiffness in both horizontal and vertical directions for the load body 2, thereby keeping the load body 2 stable.

[0094] Reference Figure 5As shown, for example, the two spring dampers 41 are roughly formed into a V-shaped structure. That is, each spring damper 41 is arranged obliquely, and the elastic force generated by the spring damper 41 will generate component forces in both the horizontal direction and the vertical direction, that is, the load body 2 can float up and down under the elastic force generated by the spring damper 41 in the vertical direction, and the component force generated by the spring damper 41 in the horizontal direction can limit the left and right shaking of the load body 2 to a certain extent.

[0095] The ball head connection allows freedom in both horizontal and vertical directions, and combined with the V-shaped second damping shock absorber 4, it can achieve the function of simultaneous shock absorption in both horizontal and vertical directions, making the transportation of goods more stable.

[0096] Reference Figure 5 and Figure 8 As shown, in a specific implementation, the bottom ends of the two spring dampers 41 are connected to the same fixing plate 42. For example, during assembly, the bottom ends of the two spring dampers 41 can be first connected to the fixing plate 42, and then the fixing plate 42 is fixed to the chassis 1. The fixing plate 42 and the chassis 1 can be connected, for example, by bolts, and the specific connection method is not specifically limited in this embodiment.

[0097] Of course, the two spring damping members 41 may also be formed into an inverted eight-shaped structure, that is, there is a certain distance between the bottom ends of the two spring damping members 41, and the above-mentioned effect can also be achieved.

[0098] In addition, the top ends of the two spring dampers 41 may be close to each other, the bottom ends of the two spring dampers 41 may be far away from each other, and the bottom ends of the two spring dampers 41 may be arranged on both sides of the central axis of the load body 2 along the moving direction of the mobile robot. That is, the two spring dampers 41 may roughly form an inverted V-shaped structure or a regular eight-shaped structure, which may also achieve the above-mentioned effect.

[0099] In this implementation, there may be at least two second damping shock absorbers 4. For example, at least two second damping shock absorbers 4 are located at different heights, so that they can play a corresponding role on the load body 2 from different positions, further improving the stability of the load body 2. Figure 6 In the XX direction), among all the second damping shock absorbers 4, at least one second damping shock absorber 4 is located in front of the other second damping shock absorbers 4, thereby further improving the stability of the load body 2.

[0100] by Figure 8For example, there are two second damping shock absorbers 4, one of which is located at position A of the load body 2, and the other is located at position C of the load body 2. Exemplarily, position C is the front end of the load body 2 in the direction of travel, and position A is the rear end of the load body 2 in the direction of travel. By arranging one of the second damping shock absorbers 4 at the front end and the other at the rear end, and the two second damping shock absorbers 4 are at different heights, the two second damping shock absorbers 4 can act on different positions of the load body 2 respectively, thereby further improving the stability of the load body 2.

[0101] Of course, the second damping shock absorber 4 can also be arranged at the B position, D position, etc. of the load body 2.

[0102] Reference Fig.10 and Fig.11 As shown, in other embodiments, one end of the second damping shock absorber 4 is connected to the chassis 1 , and the other end of the second damping shock absorber 4 is connected to the support arm 51 .

[0103] In one possible implementation, refer to Fig.11 As shown, the second damping shock absorber 4 specifically includes a torsion spring, wherein one end of the torsion spring is fixedly connected to the chassis 1 , the other end of the torsion spring is fixedly connected to the support arm 51 , and the other end of the torsion spring is arranged close to the connection point between the support arm 51 and the chassis 1 .

[0104] That is, the torsion spring generates torsion when impacted by the ground, and the torsion acts on the support arm 51 to move the support arm 51 , and the support arm 51 drives the load body 2 to float up and down relative to the chassis 1 .

[0105] Since the stiffness of the torsion spring is smaller than that of the first damping shock absorber 3, the impact of the ground on the load body 2 can be minimized to ensure better vibration filtering performance. The stiffness of the first damping shock absorber 3 is relatively large, which makes the overall stability of the robot better and avoids the instability of the vehicle body due to inertia when the robot accelerates or decelerates to a certain extent.

[0106] In a specific implementation, the chassis 1 has a side bracket 14 extending upward, the side bracket 14 is located at one side of the load body 2 , and one end of the torsion spring is fixedly connected to the side bracket 14 .

[0107] In another possible implementation, referring to Fig.10 As shown, the second damping shock absorber 4 includes a spring damping member, and the elastic deformation direction of the spring damping member is arranged along the vertical direction.

[0108] The vertical arrangement here can be understood as: the elastic deformation direction of the spring damper is perpendicular to the horizontal plane, and the spring damper is arranged vertically, so that the load body 2 floats up and down under the action of the support arm 51 and the spring damper; it can also be that there is a small angle between the elastic deformation direction and the vertical plane, that is, the spring damper is slightly inclined and arranged in a roughly vertical manner, as long as the load body 2 can float stably up and down under the action of the support arm 51 and the spring damper.

[0109] Specifically, the spring damper may include: a telescopic rod and a telescopic spring sleeved on the telescopic rod. The bottom end of the telescopic rod is connected to the chassis 1, and the top end of the telescopic rod is connected to the support arm 51. That is, when the telescopic spring is impacted by the ground, it elastically expands and contracts, directly transmitting force to the support arm 51, so that the support arm 51 moves, and then drives the load body 2 to float up and down. The buffering effect of the second damping shock absorber 4 reduces the impact of the ground on the load body 2, ensuring better filtering vibration performance.

[0110] In this implementation, the chassis 1 may specifically include: a bottom plate 12 and a bearing seat 11 disposed above the bottom plate 12 , wherein the wheels 13 are mounted on the bottom plate 12 , and the load body 2 is disposed on the bearing seat 11 .

[0111] Specifically, the bearing seat 11 is provided with an escape hole 110 for escaping the second damping shock absorber 4, so that the bottom end of the second damping shock absorber 4 extends out of the escape hole 110 to be connected to the bottom plate 12. In this way, the second damping shock absorber 4 can be arranged longer to further improve the buffering effect and the ability to filter vibration.

[0112] Of course, the bottom end of the second damping shock absorber 4 may also be directly connected to the bearing seat 11 .

[0113] The second damping shock absorber 4 in the above embodiments can be specifically arranged at the edge area of ​​the load body 2. Since the chassis 1 is generally provided with components such as a control device, arranging the second damping shock absorber 4 at the bottom edge area of ​​the load body 2 can facilitate the installation of the second damping shock absorber 4 to a large extent, and will not interfere with other components.

[0114] In addition, the same or similar technical features in the above embodiments can be referenced to each other and will not be described in detail here.

[0115] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0116] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mobile robot, characterized in that: It comprises a chassis (1) and a load body (2) arranged above the chassis (1); A wheel (13) is mounted on the chassis (1), and a first damping shock absorber (3) is arranged between the wheel (13) and the chassis (1); The load body (2) is connected to the chassis (1) via a movable structure (5), and a second damping shock absorber (4) is also provided on the chassis (1), one end of the second damping shock absorber (4) is connected to the chassis (1), and the other end of the second damping shock absorber (4) is used to support the load body (2), so that the load body (2) floats up and down relative to the chassis (1) under the action of the second damping shock absorber (4); Wherein, the stiffness of the second damping shock absorber (4) is lower than the stiffness of the first damping shock absorber (3); The chassis (1) has a side bracket (14) extending upward, and the side bracket (14) is located on one side of the load body (2); The mobile structure (5) comprises at least two supporting arms (51); One end of each of the support arms (51) is rotatably connected to the load body (2), and the other end of each of the support arms (51) is rotatably connected to the side bracket (14); The connection point between the support arm (51) and the load body (2) is a first connection point (513), and the connection point between the support arm (51) and the chassis (1) is a second connection point (514); in two adjacent support arms (51), the distance between the two first connection points (513) is equal to the distance between the two second connection points (514).

2. The mobile robot according to claim 1, characterized in that: When the mobile robot is stationary, the support arm (51) is arranged in a horizontal state.

3. The mobile robot according to claim 1, characterized in that: The at least two support arms (51) are respectively arranged on two sides of the load body (2).

4. The mobile robot according to any one of claims 1 to 3, characterized in that: The top end of the second damping shock absorber (4) is connected to the load body (2), and the bottom end of the second damping shock absorber (4) is connected to the chassis (1).

5. The mobile robot according to claim 4, characterized in that: The second damping shock absorber (4) comprises a spring damping member (41), and the elastic deformation direction of the spring damping member (41) is arranged along the vertical direction.

6. The mobile robot according to claim 5, characterized in that: The chassis (1) comprises a bottom plate (12) and a bearing seat (11) arranged above the bottom plate (12), the wheels (13) are mounted on the bottom plate (12), and the load body (2) is arranged on the bearing seat (11); The bottom end of the spring damping member (41) is connected to the bearing seat (11), or a relief hole (110) for avoiding the spring damping member (41) is provided on the bearing seat (11), so that the bottom end of the spring damping member (41) extends out of the relief hole (110) to be connected to the bottom plate (12).

7. The mobile robot according to claim 5, characterized in that: There is one second damping shock absorber (4), and the second damping shock absorber (4) is located on the central axis of the load body (2) along the moving direction of the mobile robot; Alternatively, there are at least two second damping shock absorbers (4), and at least two second damping shock absorbers (4) are arranged on both sides of the central axis of the load body (2) along the moving direction of the mobile robot.

8. The mobile robot according to claim 4, characterized in that: The mobile structure (5) comprises at least three support arms (51); One end of each support arm (51) is rotatably connected to the load body (2) via a ball head, and the other end of each support arm (51) is rotatably connected to the chassis (1) via a ball head; Among all the support arms (51), at least one support arm (51) is not coplanar with any two support arms (51) among the remaining support arms (51).

9. The mobile robot according to claim 8, characterized in that: The second damping shock absorber (4) comprises two spring damping members (41), the bottom end of each spring damping member (41) is connected to the chassis (1), and the top end of each spring damping member (41) is connected to the load body (2); The bottom ends of the two spring damping members (41) are close to each other, the top ends of the two spring damping members (41) are far away from each other, and the top ends of the two spring damping members (41) are arranged on both sides of the central axis of the load body (2) along the moving direction of the mobile robot; Alternatively, the top ends of the two spring damping members (41) are close to each other, the bottom ends of the two spring damping members (41) are far away from each other, and the bottom ends of the two spring damping members (41) are arranged on both sides of the central axis of the load body (2) along the moving direction of the mobile robot.

10. The mobile robot according to claim 9, characterized in that: There are at least two second damping shock absorbers (4), and at least two of the second damping shock absorbers (4) are located at different heights.

11. The mobile robot according to claim 10, characterized in that: In the direction in which the mobile robot moves, among all the second damping shock absorbers (4), at least one second damping shock absorber (4) is located in front of the other second damping shock absorbers (4).

12. The mobile robot according to any one of claims 1 to 3, characterized in that: One end of the second damping shock absorber (4) is connected to the chassis (1), and the other end of the second damping shock absorber (4) is connected to the support arm (51).

13. The mobile robot according to claim 12, characterized in that: The second damping shock absorber (4) comprises a torsion spring, one end of the torsion spring is fixedly connected to the chassis (1), the other end of the torsion spring is fixedly connected to the support arm (51), and the other end of the torsion spring is arranged close to the connection point between the support arm (51) and the chassis (1); Alternatively, the second damping shock absorber (4) comprises a spring damping member, and the elastic deformation direction of the spring damping member is arranged along the vertical direction.

14. The mobile robot according to claim 12, characterized in that: There is one second damping shock absorber (4), and the second damping shock absorber (4) is located on the central axis of the load body (2) along the moving direction of the mobile robot; Alternatively, there are at least two second damping shock absorbers (4), and at least two second damping shock absorbers (4) are arranged on both sides of the central axis of the load body (2) along the moving direction of the mobile robot.

15. The mobile robot according to any one of claims 1 to 3, characterized in that: The second damping shock absorber (4) is arranged in the edge area of ​​the load body (2).

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