Autonomous mobile robot

Abstract

The application relates to an autonomous mobile robot, which comprises a robot body, a floating chassis connected with the robot body, a support plate connected with the upper end of the floating chassis, the floating chassis comprising a rear connecting rod, a front connecting rod, a front chassis and a rear chassis, one end of the rear connecting rod being rotatably connected with the rear chassis, the other end of the rear connecting rod being rotatably connected with the front connecting rod, the lower end of the front connecting rod being rotatably connected with the front chassis, the rear side of the front chassis being rotatably connected with the rear chassis, the floating chassis being connected with the support plate, driving wheels being arranged on the two sides of the groove formed in the middle of the front chassis and the rear chassis, and balance wheels being arranged on the front chassis and the rear chassis. The application has the beneficial effect that through the arrangement of the rear connecting rod, the front connecting rod, the front chassis and the rear chassis in the floating chassis, the vibration caused by the uneven force on the robot or the uneven surface can be absorbed, the influence on the goods placed on the support plate is reduced, and the stability and reliability of the goods transportation can be effectively ensured.

Description

Technical Field

[0001] This invention relates to the field of transportation equipment technology, specifically to an autonomous mobile robot. Background Technology

[0002] The most significant feature of mobile robots is their unmanned operation. Equipped with an automatic control system, mobile robots can automatically travel along a predetermined route without human guidance, transporting goods or materials from the starting point to the destination. They are indispensable transportation equipment in modern factories. However, existing mobile robots generally occupy a large space and have low integration.

[0003] Currently available small mobile robots lack reliable shock absorption structures, making them prone to vibration and causing goods to fall off during movement, especially on uneven ground. Summary of the Invention

[0004] To overcome at least some of the shortcomings in the prior art, embodiments of the present invention provide an autonomous mobile robot with a simple structure, convenient use, and the ability to ensure the safety and stability of the cargo transportation process.

[0005] This invention relates to an autonomous mobile robot, comprising a robot body connected to a floating chassis. The upper end of the floating chassis is connected to a support plate. The floating chassis includes a rear link, a front link, a front chassis, and a rear chassis. One end of the rear link is rotatably connected to the rear chassis, and the other end of the rear link is rotatably connected to the front link. The lower end of the front link is rotatably connected to the front chassis. The rear side of the front chassis is rotatably connected to the rear chassis. The floating chassis is connected to the support plate. Drive wheels are mounted on both sides of a groove formed between the front and rear chassis. Balance wheels are mounted on both the front and rear chassis.

[0006] When the robot body is in a planar state, the front and rear links form a rectangular structure with an open bottom. Regardless of whether the front or rear chassis is under force, the front and rear links can make a certain amount of swing to alleviate oscillations and keep the robot body in a stable state. When the middle drive wheel goes over a pit, the rear side of the front chassis and the front side of the rear chassis sink along with the drive wheel, forming an angle between the front and rear chassis, breaking the planar state. At this time, the front and rear links will make a backward swinging motion to buffer the oscillations and keep the robot body in a balanced state.

[0007] Furthermore, the robot body includes an outer shell, and the outer shell, the front chassis, the rear chassis, and the pallet together form an installation cavity. A main controller and a drive controller for controlling the rotation of the drive wheels are disposed in the installation cavity, and the drive controller is signal-connected to the main controller.

[0008] Furthermore, the drive wheel is connected to the differential drive module, and the differential drive module is connected to the drive controller. The drive controller is used to control the two drive wheels to move at different speeds, so that the robot body can rotate from 0° to 360°.

[0009] Furthermore, a laser navigation component is provided inside the mounting cavity. The laser navigation component is located on the upper front side of the mounting cavity and is signal-connected to the main controller. The laser navigation component is used to detect obstacles at a distance on the robot's walking path and transmit the detection results to the main controller. The main controller controls the drive controller to adjust the drive wheels according to the position of the obstacle to avoid the obstacle.

[0010] Furthermore, a vision camera is also provided in the mounting cavity. The vision camera is connected to the front side of the upper surface of the front chassis and is signal-connected to the main controller. The vision camera is used to detect obstacles nearby on the robot's walking path and transmit the detection results to the main controller. The main controller controls the drive controller to adjust the drive wheels according to the position of the obstacle to avoid the obstacle.

[0011] Furthermore, a barcode scanner is connected to the groove formed between the front chassis and the rear chassis. The barcode scanner is signal-connected to the main controller. The barcode scanner is used to identify the identification code preset on the robot body's walking path, and then compare it with the matching information pre-stored in the main controller to locate the position of the robot body.

[0012] Furthermore, a charging brush plate is connected to the upper surface of the rear chassis, the charging brush plate is electrically connected to the battery assembly disposed in the mounting cavity, and the main controller is electrically connected to the battery assembly.

[0013] The advantages of this invention are: by setting up a rear link, a front link, a front chassis, and a rear chassis in the floating chassis, it can absorb vibrations when the robot is subjected to uneven force or when it passes through surfaces with unevenness, thereby reducing the impact on the goods placed on the pallet and effectively ensuring the stability and reliability of goods transportation.

[0014] To make the above and other objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural diagram of an autonomous mobile robot.

[0017] Figure 2 yes Figure 1 A schematic diagram of the internal structure.

[0018] Figure 3 This is a structural diagram of a floating chassis.

[0019] Figure 4 yes Figure 1 A schematic diagram of the bottom structure. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Reference Figure 1 , Figure 2 and Figure 3 An autonomous mobile robot in a preferred embodiment of the present invention includes a robot body 1, a floating chassis 2 connected to the robot body, an upper end of the floating chassis 2 connected to a support plate 3, and the floating chassis 2 including a rear link 21, a front link 22, a front chassis 23 and a rear chassis 24. One end of the rear link 21 is rotatably connected to the rear chassis 24, the other end of the rear link 21 is rotatably connected to the front link 22, the lower end of the front link 22 is rotatably connected to the front chassis 23, the rear side of the front chassis 23 is rotatably connected to the rear chassis 24, the floating chassis 2 is connected to the support plate 3, and drive wheels 5 are mounted on both sides of a groove 4 formed between the front chassis 23 and the rear chassis 24. Balance wheels 6 are mounted on both the front chassis 23 and the rear chassis 24.

[0022] When the robot body is in a planar state, the front link 22 and the rear link 21 form a rectangular structure with an open bottom. Regardless of whether the front chassis 23 or the rear chassis 24 is under force, the front link 22 and the rear link 21 can make a certain amount of swinging to alleviate the oscillation and keep the robot body 1 in a stable state. When the drive wheel 5 in the middle goes over the pit, the rear side of the front chassis 23 and the front side of the rear chassis 24 sink down with the drive wheel 5, forming an angle between the front chassis 23 and the rear chassis 24, breaking the planar state. At this time, the front link 22 and the rear link 21 will make a backward swinging motion to buffer the oscillation and keep the robot body 1 in a balanced state.

[0023] Reference Figure 1 and Figure 2 In the above embodiment, the robot body 1 includes an outer shell 11, the outer shell 11, the front chassis 23, the rear chassis 24 and the pallet 3 together form an installation cavity, and a main controller 7 and a drive controller 8 for controlling the rotation of the drive wheel 5 are provided in the installation cavity, and the drive controller 8 is signal connected to the main controller 7.

[0024] Reference Figure 1 and Figure 2 In the above embodiment, the drive wheel 5 is connected to the differential drive module, the differential drive module is connected to the drive controller 8, and the drive controller 8 is used to control the two drive wheels to move at different speeds, so that the robot body 1 can rotate from 0° to 360°.

[0025] Reference Figure 1 and Figure 2 In the above embodiment, a laser navigation component 9 is provided in the mounting cavity. The laser navigation component is located on the upper front side of the mounting cavity and is signal-connected to the main controller 7. The laser navigation component 9 is used to detect obstacles at a distance on the walking path of the robot body 1 and transmit the detection results to the main controller 7. The main controller 7 controls the drive controller 8 to adjust the drive wheel 5 according to the position of the obstacle to avoid the obstacle.

[0026] Reference Figure 2 In the above embodiment, a vision camera 90 is also provided in the mounting cavity. The vision camera 90 is connected to the front side of the upper surface of the front chassis 23 and is signal-connected to the main controller 7. The vision camera 90 is used to detect obstacles nearby on the walking path of the robot body 1 and transmit the detection results to the main controller 7. The main controller 7 controls the drive controller 8 to adjust the drive wheel 5 according to the position of the obstacle to avoid the obstacle.

[0027] Reference Figure 4In the above embodiment, a barcode scanner 20 is connected in the groove formed between the front chassis 24 and the rear chassis 23. The barcode scanner 20 is signal-connected to the main controller 7. The barcode scanner 20 is used to identify the identification code preset on the robot body's walking path, and then compare it with the comparison information pre-stored in the main controller 7 to locate the position of the robot body 1.

[0028] Reference Figure 2 In the above embodiment, a charging brush plate 30 is connected to the upper surface of the rear chassis 24, the charging brush plate 30 is electrically connected to the battery assembly disposed in the mounting cavity, and the main controller 7 is electrically connected to the battery assembly.

[0029] In practical implementation, the autonomous robot involved in this invention can also be used as a general chassis module for other types of robots. For example, the guide rail can be connected by connecting the transition rail on the pallet 3, and a robotic arm can be set on the pallet 3 to move light goods.

[0030] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An autonomous mobile robot, characterized in that: The system includes a robot body connected to a floating chassis. The upper end of the floating chassis is connected to a support plate. The floating chassis includes a rear link, a front link, a front chassis, and a rear chassis. One end of the rear link is rotatably connected to the rear chassis, and the other end of the rear link is rotatably connected to the front link. The lower end of the front link is rotatably connected to the front chassis. The rear side of the front chassis is rotatably connected to the rear chassis. The floating chassis is connected to the support plate. Drive wheels are installed on both sides of a groove formed between the front chassis and the rear chassis. Balance wheels are installed on both the front chassis and the rear chassis. When the robot body is in a planar state, the front and rear links form a rectangular structure with an open bottom. Regardless of whether the front or rear chassis is under force, the front and rear links can make a certain amount of swing to alleviate oscillations and keep the robot body in a stable state. When the middle drive wheel goes over a pit, the rear side of the front chassis and the front side of the rear chassis sink along with the drive wheel, forming an angle between the front and rear chassis, breaking the planar state. At this time, the front and rear links will make a backward swinging motion to buffer the oscillations and keep the robot body in a balanced state.

2. The autonomous mobile robot according to claim 1, characterized in that: The robot body includes an outer shell, and the outer shell, the front chassis, the rear chassis, and the pallet together form an installation cavity. The installation cavity is equipped with a main controller and a drive controller for controlling the rotation of the drive wheels. The drive controller is signal-connected to the main controller.

3. The autonomous mobile robot according to claim 2, characterized in that: The drive wheel is connected to the differential drive module, which is connected to the drive controller. The drive controller is used to control the two drive wheels to move at different speeds, so that the robot body can rotate from 0° to 360°.

4. The autonomous mobile robot according to claim 3, characterized in that: A laser navigation component is installed inside the mounting cavity. The laser navigation component is located on the upper front side of the mounting cavity and is signal-connected to the main controller. The laser navigation component is used to detect obstacles at a distance on the robot's walking path and transmit the detection results to the main controller. The main controller controls the drive controller to adjust the drive wheels according to the position of the obstacle to avoid the obstacle.

5. The autonomous mobile robot according to claim 3, characterized in that: A vision camera is also installed in the mounting cavity. The vision camera is connected to the front side of the upper surface of the front chassis and is signal-connected to the main controller. The vision camera is used to detect obstacles nearby on the robot's walking path and transmit the detection results to the main controller. The main controller controls the drive controller to adjust the drive wheels according to the position of the obstacle to avoid the obstacle.

6. The autonomous mobile robot according to claim 2, characterized in that: A barcode scanner is connected to the groove formed between the front chassis and the rear chassis. The barcode scanner is signal-connected to the main controller. The barcode scanner is used to identify the identification code preset on the robot body's walking path, and then compare it with the matching information pre-stored in the main controller to locate the position of the robot body.

7. The autonomous mobile robot according to claim 2, characterized in that: A charging brush plate is connected to the upper surface of the rear chassis. The charging brush plate is electrically connected to the battery assembly disposed in the mounting cavity. The main controller is electrically connected to the battery assembly.

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