A variable stiffness independent suspension device

Abstract

The present invention discloses a variable stiffness independent suspension device, which relates to the technical field of omnidirectional mobile robots and includes a suspension mounting base with a cavity inside, a first damping mechanism, a second damping mechanism, and a mobile platform. The bottom of the suspension mounting base is provided on the chassis of the mobile robot, and the mobile platform is located between the suspension mounting base and the chassis of the mobile robot. The top of the suspension fixed base is provided with a hollowed-out part, and the mobile platform is provided with a mounting groove for installing omnidirectional mobile casters. The omnidirectional mobile casters can pass through the hollowed-out part and be inserted into the mounting groove. The elastic ends of the first damping mechanism and the second damping mechanism are both connected to the top of the suspension mounting base. The lower end of the first damping mechanism is fixedly connected to the mobile platform, and the lower end of the second damping mechanism is movably connected to the mobile platform. This device can reduce the impact vibration generated by inertial forces on the omnidirectional mobile robot and ensure the stable and safe operation of the omnidirectional mobile robot.

Description

Technical Field

[0001] The present invention relates to the technical field of omnidirectional mobile robots, and more specifically, to a variable stiffness independent suspension device. Background Art

[0002] In the prior art, heavy-duty omnidirectional mobile robots have developed rapidly and are widely used in scenarios such as workshop goods transportation and large port loading and unloading. Since the load of the mobile robot is relatively large during the working process, it must have strong bearing capacity and anti-shock and vibration capabilities. Currently, the common practice is to add a suspension structure between the casters of the mobile robot and the vehicle body, introduce components such as springs and dampers, and match appropriate stiffness and damping coefficients to alleviate the vibration during the operation of the robot. According to the different forms of the suspension structure, the suspension can be divided into two types: independent suspension and non-independent suspension. The non-independent suspension occupies a large space, and the vibrations between parts affect each other; the independent suspension has no mutual influence between parts, occupies a small space, and has a better vibration reduction effect than the non-independent suspension.

[0003] During the actual operation of the heavy-duty omnidirectional robot, due to the changes in the geometric shape and placement position of the loaded goods, the position of the center of mass of the mobile robot also changes accordingly. Moreover, the characteristics of the omnidirectional mobile robot cause it to be affected by inertial forces in any direction during operation, resulting in vibrations, uneven forces on each wheel, and easy occurrence of driving wheel idling and slipping. Specifically, when the load of the omnidirectional mobile robot is relatively large and the inertial force it receives is also relatively large during the working process, the suspension must have strong bearing capacity and good vibration reduction performance. If the suspension stiffness is too low, it may cause large deformation of the suspension and a large degree of vibration of the mobile robot; conversely, if the suspension stiffness is too high, the suspension does not have enough dynamic stroke, and the phenomenon of caster suspension is likely to occur.

[0004] In summary, how to reduce the impact vibration generated by inertial forces on the omnidirectional mobile robot and ensure its stable and safe operation is an urgent problem to be solved by those skilled in the art currently. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a variable stiffness independent suspension device, which can reduce the impact vibration generated by inertial forces on the omnidirectional mobile robot and ensure the stable and safe operation of the omnidirectional mobile robot.

[0006] In order to achieve the above purpose, the present invention provides the following technical solution:

[0007] A variable stiffness independent suspension device, comprising: a suspension mounting base with a cavity inside, a first vibration reduction mechanism, a second vibration reduction mechanism, and a moving platform. The bottom of the suspension mounting base is arranged on the chassis of the mobile robot, and the moving platform is located between the suspension mounting base and the chassis of the mobile robot;

[0008] The top of the suspension fixed base is provided with a hollowed-out part, the moving platform is provided with a mounting groove for mounting omnidirectional moving casters, the omnidirectional moving casters can pass through the hollowed-out part and be inserted into the mounting groove, and the elastic ends of the first damping mechanism and the second damping mechanism are both connected to the top of the suspension mounting base. The lower end of the first damping mechanism is fixedly connected to the moving platform, and the lower end of the second damping mechanism is movably connected to the moving platform.

[0009] Preferably, the first damping mechanism includes a nitrogen spring connected to the suspension mounting base and a first compression spring connected to the moving platform, and the first compression spring is coaxially connected to the nitrogen spring.

[0010] Preferably, the second damping mechanism includes a shaft end gland, a guide post, and a second compression spring. The upper end of the guide post passes through the suspension mounting base and is inserted into the shaft end gland;

[0011] The moving platform includes a linear bearing for accommodating the lower end of the guide post. The outer periphery of the guide post is sleeved with the second compression spring, and the elastic end of the second compression spring abuts against the end face of the linear bearing.

[0012] Preferably, the guide post and the nitrogen spring are both arranged along the vertical direction of the moving platform.

[0013] Preferably, the moving platform includes a caster mounting bottom plate, and bearing holes are provided at the four corners of the caster mounting bottom plate for mounting the linear bearings.

[0014] Preferably, a support is provided on the inner side of the cavity of the suspension mounting base. The support is provided with a guide hole. The support is located below the moving platform, and the guide post can pass through the linear bearing and be inserted into the guide hole.

[0015] Preferably, a spring washer is clamped between the linear bearing and the second compression spring.

[0016] Preferably, hollowed-out structures are provided on the front and back sides and the left and right sides of the suspension mounting base.

[0017] Preferably, the suspension mounting base is provided with slot holes for detachably connecting to the mobile robot chassis.

[0018] When using the variable stiffness independent suspension device provided by the present invention, the suspension mounting base can be fixedly mounted on the chassis of the mobile robot. The elastic end of the upper part of the first damping mechanism is fixedly connected to the suspension mounting base, and the lower end of the first damping mechanism is fixedly connected to the mobile platform. The elastic end of the upper part of the second damping mechanism is fixedly connected to the suspension mounting base, and the lower end of the second damping mechanism is movably connected to the mobile platform. The omnidirectional moving caster can pass through the hollow part and be inserted into the mounting groove so that the omnidirectional moving caster is fixedly connected to the mobile platform.

[0019] The variable stiffness independent suspension provided by this application can adapt to dynamic load changes. When the load is unloaded, the first damping mechanism plays a load-bearing role, the system stiffness is relatively low, and the suspension has sufficient dynamic stroke, which can ensure that the four omnidirectional moving casters of the mobile robot touch the ground simultaneously, preventing the phenomenon of the omnidirectional moving caster being suspended. When fully loaded, the first damping mechanism and the second damping mechanism work together, the suspension system stiffness is increased, which can significantly reduce the disturbance of the inertial force on the system and reduce the vibration amplitude. That is, when fully loaded, the second damping mechanism intervenes in the work to make up for the problem of insufficient stiffness of the first damping mechanism. The suspension stiffness is low when unloaded and increased when fully loaded, so as to achieve the effect of variable stiffness. Therefore, the present invention adopts a two-stage damping structure to ensure that the mobile robot can adapt to dynamic load changes, so that the suspension has different stiffness values under the working conditions of no load and full load, thereby achieving the effect of variable stiffness, greatly improving the load-bearing capacity of the omnidirectional mobile robot, reducing the impact vibration caused by dynamic load changes and inertial force on the robot, and ensuring the running stability and safety.

[0020] To sum up, the variable stiffness independent suspension device provided by the present invention can reduce the impact vibration generated by the inertial force on the omnidirectional mobile robot and ensure the stable and safe operation of the omnidirectional mobile robot. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0022] Figure 1 It is a schematic structural diagram of the variable stiffness independent suspension device provided by the present invention;

[0023] Figure 2 It is Figure 1 the top view of

[0024] Figure 3 It is Figure 2 the A-A sectional view of

[0025] Figure 4 It is a schematic structural diagram of a mobile platform;

[0026] Figure 5 It is an assembly schematic diagram of an omnidirectional mobile caster and a variable stiffness independent suspension device;

[0027] Figure 6 It is an assembly schematic diagram of a variable stiffness independent suspension device and a mobile robot chassis.

[0028] Figures 1-6 In the figure:

[0029] 1 is a suspension mounting base, 11 is a hollow part, 12 is a hollow structure, 2 is a first damping mechanism, 21 is a nitrogen spring, 22 is a first compression spring, 3 is a second damping mechanism, 31 is a shaft end gland, 32 is a guide pillar, 33 is a second compression spring, 4 is a mobile platform, 41 is a mounting groove, 42 is a linear bearing, 43 is a caster mounting base plate, 5 is an omnidirectional mobile caster, 6 is a mobile robot chassis, 7 is a support, 8 is a spring washer. Specific embodiments

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] The core of the present invention is to provide a variable stiffness independent suspension device, which can reduce the impact vibration generated by inertial force on an omnidirectional mobile robot and ensure the stable and safe operation of the omnidirectional mobile robot.

[0032] Please refer to Figures 1-6 , Figure 1 It is a schematic structural diagram of the variable stiffness independent suspension device provided by the present invention; Figure 2 is Figure 1 the top view of Figure 3 is Figure 2 the A-A sectional view of Figure 4 It is a schematic structural diagram of a mobile platform; Figure 5 It is an assembly schematic diagram of an omnidirectional mobile caster and a variable stiffness independent suspension device; Figure 6 It is an assembly schematic diagram of a variable stiffness independent suspension device and a mobile robot chassis.

[0033] This specific embodiment provides a variable stiffness independent suspension device, including: a suspension mounting base 1 with a cavity inside, a first damping mechanism 2, a second damping mechanism 3, and a moving platform 4. The bottom of the suspension mounting base 1 is provided on the mobile robot chassis 6, and the moving platform 4 is located between the suspension mounting base 1 and the mobile robot chassis 6;

[0034] The top of the suspension fixed base is provided with a hollowed-out portion 11. The moving platform 4 is provided with a mounting groove 41 for mounting an omnidirectional moving caster 5. The omnidirectional moving caster 5 can pass through the hollowed-out portion 11 and be inserted into the mounting groove 41. The elastic ends of the first damping mechanism 2 and the second damping mechanism 3 are both connected to the top of the suspension mounting base 1. The lower end of the first damping mechanism 2 is fixedly connected to the moving platform 4, and the lower end of the second damping mechanism 3 is movably connected to the moving platform 4.

[0035] It should be noted that both the first damping mechanism 2 and the second damping mechanism 3 have damping functions. In the actual application process, the shapes, structures, types, positions, etc. of the suspension mounting base 1, the first damping mechanism 2, the second damping mechanism 3, the moving platform 4, the omnidirectional moving caster 5, and the mobile robot chassis 6 can be determined according to the actual situation and actual needs.

[0036] When using the variable stiffness independent suspension device provided by the present invention, the suspension mounting base 1 can be fixedly installed on the mobile robot chassis 6. The elastic end of the upper part of the first damping mechanism 2 is fixedly connected to the suspension mounting base 1, and the lower end of the first damping mechanism 2 is fixedly connected to the moving platform 4. The elastic end of the upper part of the second damping mechanism 3 is fixedly connected to the suspension mounting base 1, and the lower end of the second damping mechanism 3 is movably connected to the moving platform 4. The omnidirectional moving caster 5 can pass through the hollowed-out portion 11 and be inserted into the mounting groove 41 to fixedly connect the omnidirectional moving caster 5 to the moving platform 4.

[0037] The variable stiffness independent suspension provided by the present application can adapt to dynamic load changes. When the vehicle is unloaded, the first damping mechanism 2 bears the load, and the system stiffness is relatively low. The suspension has sufficient dynamic stroke to ensure that the four omnidirectional moving casters 5 of the mobile robot touch the ground simultaneously, preventing the phenomenon that the omnidirectional moving casters 5 are suspended. When the vehicle is fully loaded, the first damping mechanism 2 and the second damping mechanism 3 work together, and the stiffness of the suspension system is increased, which can significantly reduce the disturbance of the inertial force to the system and reduce the vibration amplitude. That is, when the vehicle is fully loaded, the second damping mechanism 3 intervenes to work, compensating for the problem of insufficient stiffness of the first damping mechanism 2. The suspension stiffness is relatively low when the vehicle is unloaded and increased when the vehicle is fully loaded, thus achieving the effect of variable stiffness. Therefore, the present invention adopts a two-stage damping structure to ensure that the mobile robot can adapt to dynamic load changes, so that the suspension has different stiffness values under the working conditions of unloaded and fully loaded, thereby achieving the effect of variable stiffness, greatly improving the load-bearing capacity of the omnidirectional mobile robot, reducing the impact vibration caused by dynamic load changes and inertial force to the robot, and ensuring the running stability and safety.

[0038] In summary, the variable stiffness independent suspension device provided by the present invention can reduce the impact vibration generated by the inertial force on the omnidirectional mobile robot and ensure the stable and safe operation of the omnidirectional mobile robot.

[0039] On the basis of the above embodiments, preferably, the first damping mechanism 2 includes a nitrogen spring 21 connected to the suspension mounting base 1 and a first compression spring 22 connected to the moving platform 4. The first compression spring 22 is coaxially connected with the nitrogen spring 21. That is, the upper end of the first damping mechanism 2 is fixedly connected to the lower surface of the suspension mounting base 1 through the nitrogen spring 21, and the lower end of the first damping mechanism 2 is fixedly connected to the moving platform 4 through the first compression spring 22. The first compression spring 22 and the nitrogen spring 21 are coaxially installed, and hole positions for fixedly connecting the nitrogen spring 21 are respectively provided on the suspension mounting base 1 and the moving platform 4.

[0040] Preferably, the second damping mechanism 3 includes a shaft end gland 31, a guide post 32, and a second compression spring 33. The upper end of the guide post 32 passes through the suspension mounting base 1 and is inserted into the shaft end gland 31. The moving platform 4 includes a linear bearing 42 for accommodating the lower end of the guide post 32. A second compression spring 33 is sleeved on the outer periphery of the guide post 32, and the elastic end of the second compression spring 33 abuts against the end face of the linear bearing 42.

[0041] It should be noted that the upper end of the guide post 32 of the second damping mechanism 3 is inserted into the corresponding hole position on the lower side of the shaft end gland 31, and the two are fixedly connected. Moreover, the guide post 32 is inserted into the mounting hole on the upper surface of the suspension mounting base 1 from top to bottom, and is fixedly connected to the upper surface of the suspension mounting base 1 through the shaft end gland 31. The second compression spring 33 is coaxially fitted with the guide post 32. The lower end of the guide post 32 can be directly inserted into the linear bearing 42, that is, it can be movably fitted with the guide post 32 of the second damping mechanism 3 through the linear bearing 42.

[0042] Preferably, the guide post 32 and the nitrogen spring 21 are both arranged along the vertical direction of the moving platform 4. That is, the first damping mechanism 2 and the second damping mechanism 3 can be installed in parallel and both are installed along the vertical direction to ensure that the moving platform 4 moves smoothly along the guide post 32 and prevent the nitrogen spring 21 from being subjected to side thrust.

[0043] Preferably, the moving platform 4 includes a caster mounting bottom plate 43, and bearing holes are provided at the four corners of the caster mounting bottom plate 43 for installing the linear bearings 42. That is, the linear bearings 42 can be inserted into the bearing holes around the caster mounting bottom plate 43 and the linear bearings 42 are fixedly connected by threads.

[0044] It should also be noted that the omnidirectional moving caster 5 is detachably connected to the caster mounting bottom plate 43. For example, it can be directly fixedly connected through the reserved hole position on the lower side of the box body of the omnidirectional moving caster 5 and the corresponding hole position of the caster mounting bottom plate 43 to realize the connection operation between the omnidirectional moving caster 5 and the caster mounting bottom plate 43. If one of the omnidirectional moving caster 5 or the caster mounting bottom plate 43 is damaged during use, the damaged part can be replaced through disassembly operation, and then the new part can be continued to be used in cooperation with other undamaged parts to improve the service life of the device and reduce the maintenance cost of the device.

[0045] On the basis of the above embodiments, preferably, a support 7 is provided on the inner side of the cavity of the suspension mounting base 1. The support 7 is provided with a guide hole. The support 7 is located below the moving platform 4, and the guide post 32 can pass through the linear bearing 42 and be inserted into the guide hole.

[0046] It should be noted that the support 7 is fixedly installed at the corresponding position on the inner side of the suspension mounting base 1. Four supports 7 are respectively installed on each suspension. The support 7 is correspondingly provided with a guide hole for installing the guide post 32 to facilitate the lower part of the guide post 32 to be inserted into the guide hole of the corresponding support 7. The support 7 is used for both the installation and fixation of the guide post 32 and plays a limiting role on the moving platform 4. The upper end of the support 7 is in direct contact with the lower end surface of the linear bearing 42, thereby limiting the stroke of the suspension. Moreover, the upper end surface of the support 7 and the lower end surface of the linear bearing 42 need to be parallel to prevent the moving platform 4 from getting stuck when moving up and down along the guide post 32.

[0047] Preferably, a spring washer 8 is clamped between the linear bearing 42 and the second compression spring 33 to avoid wear between the second compression spring 33 and the linear bearing 42, which is beneficial to improving the service effect and service life of the components.

[0048] Preferably, hollow structures 12 are provided on the front and rear sides and the left and right sides of the suspension mounting base 1.

[0049] It should be noted that the hollow design at the top of the suspension fixing base provides sufficient installation space for the upper gearbox of the omnidirectional mobile caster 5, ensuring sufficient displacement space for the suspension in the vertical direction. The hollow design on the front and rear sides of the suspension fixing base is to ensure the installation space for the drive motor of the omnidirectional mobile caster 5, and the hollow design on the left and right sides of the suspension fixing base is to achieve the lightweight of the suspension.

[0050] Preferably, the suspension mounting base 1 is provided with a slot for detachably connecting to the mobile robot chassis 6. For example, the slot on the suspension mounting base 1 can be connected to the threaded hole of the mobile robot chassis 6 through bolts to achieve the detachable fixed connection between the two.

[0051] It should also be noted that compared with the traditional mobile robot suspension, the variable stiffness independent suspension device provided by the present invention uses a combination of a nitrogen spring 21 and a compression spring in parallel. The nitrogen spring 21 and the low-stiffness first compression spring 22 are in parallel as the first damping mechanism 2 of the suspension, and the high-stiffness second compression spring 33 and the guide post 32 are in parallel as the second damping mechanism 3. Among them, the nitrogen spring 21 has a compact structure, saves installation space, and has a high pre-tightening force, which can provide a large supporting force within a limited stroke, greatly improving the load-bearing capacity of the mobile robot, especially suitable for heavy-duty omnidirectional mobile robots. In addition, the two-stage damping mechanism design meets the different design requirements of the mobile robot during no-load and full-load operations, thus achieving the variable stiffness effect of the suspension.

[0052] For example, during no-load operation, the first damping mechanism 2 serves as an elastic support element, and the suspension has a low stiffness, ensuring that the four wheels of the mobile robot touch the ground simultaneously and avoiding the phenomenon of a single wheel hanging in the air. During full-load operation, the first damping mechanism 2 and the second damping mechanism 3 jointly serve as elastic support and damping elements, and the suspension has a high stiffness, which can reduce the vibration of the vehicle body caused by the change of the center of gravity position of the mobile robot and the input of the system inertia force. Since the suspension stiffness is different during no-load and full-load operations, this device is applicable to different working conditions and can achieve the variable stiffness effect.

[0053] In the actual working environment, the geometric shape and placement position of the goods will cause the center of gravity of the mobile robot to change. Moreover, during the omnidirectional movement process, the mobile robot will be subject to inertial forces in any direction. The combined action of various factors will cause the vibration of the mobile robot, resulting in uneven force on the four wheels. To avoid the phenomenon of idling and slipping of the casters, it is necessary to reduce the vibration of the mobile robot and ensure as even force on the four wheels as possible. The variable stiffness independent suspension device provided by the present invention can adapt to the changes in dynamic loads and the position of the center of gravity, reduce the vibration generated by inertial forces, and enhance the adaptability of the robot to the working environment. At the same time, the nitrogen spring 21 of the first damping mechanism 2 has a certain damping, which can absorb the energy generated by the impact and enable the system to quickly reach a steady state. In addition, through a reasonable hollow design, a reasonable space is provided for the installation of the omnidirectional casters 5 and the motor, realizing the lightweight design of the structure.

[0054] It should be noted that for the first damping mechanism 2, the second damping mechanism 3, the first compression spring 22, and the second compression spring 33 mentioned in this application document, where the first and second are only used to distinguish different positions and there is no order of precedence.

[0055] In addition, it should also be noted that the orientation or positional relationship indicated by "front and back", "top and bottom", "left and right", etc. in this application is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of simplified description and understanding, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0056] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. Any combination of all the embodiments provided by the present invention is within the protection scope of this invention and will not be elaborated here.

[0057] The variable stiffness independent suspension device provided by the present invention has been introduced in detail above. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A variable stiffness independent suspension device, characterized in that Including: A suspension mounting base (1) with a cavity inside, a first shock-absorbing mechanism (2), a second shock-absorbing mechanism (3), and a moving platform (4). The bottom of the suspension mounting base (1) is provided on a mobile robot chassis (6). The moving platform (4) is located between the suspension mounting base (1) and the mobile robot chassis (6). Among them, the first shock-absorbing mechanism (2) includes a nitrogen spring (21) connected to the suspension mounting base (1) and a first compression spring (22) connected to the moving platform (4). The first compression spring (22) is coaxially connected to the nitrogen spring (21). The second shock-absorbing mechanism (3) includes a shaft end gland (31), a guide post (32), and a second compression spring (33). The upper end of the guide post (32) passes through the suspension mounting base (1) and is inserted into the shaft end gland (31). The moving platform (4) includes a linear bearing (42) for accommodating the lower end of the guide post (32). The outer periphery of the guide post (32) is sleeved with the second compression spring (33). The elastic end of the second compression spring (33) abuts against the end face of the linear bearing (42). The guide post (32) and the nitrogen spring (21) are both arranged along the vertical direction of the moving platform (4). The top of the suspension mounting base (1) is provided with a hollowed-out part (11). The moving platform (4) is provided with a mounting groove (41) for mounting an omnidirectional caster (5). The omnidirectional caster (5) can pass through the hollowed-out part (11) and be inserted into the mounting groove (41). The elastic ends of the first shock-absorbing mechanism (2) and the second shock-absorbing mechanism (3) are both connected to the top of the suspension mounting base (1). The lower end of the first shock-absorbing mechanism (2) is fixedly connected to the moving platform (4). The lower end of the second shock-absorbing mechanism (3) is movably connected to the moving platform (4).

2. The variable stiffness independent suspension device according to claim 1, characterized in that, The moving platform (4) includes a caster mounting bottom plate (43). Bearing holes are provided at the four corners of the caster mounting bottom plate (43). The bearing holes are used for mounting the linear bearing (42).

3. The variable stiffness independent suspension device according to claim 1, characterized in that, A support (7) is provided on the inner side of the cavity of the suspension mounting base (1). The support (7) is provided with a guide hole. The support (7) is located below the moving platform (4). The guide post (32) can pass through the linear bearing (42) and be inserted into the guide hole.

4. The variable stiffness independent suspension device according to claim 1, characterized in that, A spring washer (8) is clamped between the linear bearing (42) and the second compression spring (33).

5. The variable stiffness independent suspension device according to any one of claims 1 to 4, characterized in that, Hollowed-out structures (12) are provided on the front and back sides and the left and right sides of the suspension mounting base (1).

6. The variable stiffness independent suspension device according to any one of claims 1 to 4, characterized in that, The suspension mounting base (1) is provided with slot holes for detachably connecting to the mobile robot chassis (6).

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