An autonomous mobile robot

Abstract

This invention relates to an autonomous mobile robot, comprising: a mobile body; a buffer body disposed on the mobile body; an opening on one side of the buffer body extending horizontally to form a buffer space; a buffer mechanism horizontally disposed at the bottom of the buffer space along the depth direction; and an automatic door device, including a roller shutter assembly disposed at the opening of the buffer body, a drive assembly disposed at the top of the buffer body, and a traction assembly connecting the drive assembly and the roller shutter assembly; the roller shutter assembly includes a roller shutter disposed at the opening of the buffer body, the top of the roller shutter being rolled up and housed within the buffer space, and the bottom of the roller shutter extending downward along the opening of the buffer body; the traction assembly includes at least one set of linked first traction components and second traction components, both of which are connected to the bottom of the roller shutter. Under the forward and reverse driving of the drive assembly, the first traction component and the second traction component can respectively provide traction force in the lifting and lowering direction for the roller shutter.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and in particular to an autonomous mobile robot. Background Technology

[0002] In the pharmaceutical, 3C (computers, communications, and consumer electronics) and semiconductor industries, material handling is a routine task that can be carried out throughout the entire manufacturing, warehousing, and transportation process, and even within laboratories. AMR (Automatic Material Handling) robots can efficiently and accurately perform point-to-point material handling operations, achieving precision, flexibility, and information sharing, while shortening logistics time and reducing costs.

[0003] In the pharmaceutical, 3C (computers, communications, and consumer electronics), and semiconductor industries, production materials are considered special commodities. Strict controls are required at every stage, including safety and confidentiality, aseptic techniques (in pharmaceuticals), cleanliness, personnel, and equipment. Therefore, workshops need specialized safety facilities, aseptic rooms (in pharmaceuticals), isolation doors, aseptic packaging (in pharmaceuticals), and cleanrooms to meet the stringent requirements for material handling. Specialized AGV (Automated Guided Vehicle) robots can meet the specific requirements of users for particular production environments. They can ensure the safe and reliable transport of drugs, chips, and electronic products within the workshop without the need for specialized auxiliary facilities, reducing the impact of particles and microorganisms during transportation and significantly eliminating the risk of contamination.

[0004] Currently, the rolling shutter mechanism of robots equipped with rolling shutter doors is an electric rolling shutter door. Generally, an electric rolling shutter door includes a roller, a door curtain, and a rotating motor that drives the door curtain to open or close. The rotating motor is connected to a control module, which controls the rotating motor to rotate forward or backward, thereby driving the roller to rotate forward or backward, and in turn, the roller drives the door curtain to open or close.

[0005] Electric roller shutters require a stable power supply voltage to function properly. Unstable voltage can cause undervoltage, preventing the door from operating correctly. Additionally, some electric roller shutters are equipped with battery-powered systems; insufficient battery power can also lead to undervoltage issues.

[0006] Furthermore, the components of electric roller shutters will age over time. For example, components such as electromagnets and sensors will also experience aging problems, which can lead to insufficient voltage and prevent the roller shutter from working properly.

[0007] As can be seen from the above, the existing roller shutter mechanism has low protective capabilities and cannot meet the strict requirements for transporting special goods. Summary of the Invention

[0008] In view of the shortcomings of the existing technology, the present invention discloses an autonomous mobile robot.

[0009] The technical solution adopted in this invention is as follows:

[0010] An autonomous mobile robot, comprising:

[0011] Moving subject;

[0012] A cache body is disposed on the moving body; the cache body has an opening on one side and extends along the horizontal depth direction to form a cache space;

[0013] The caching mechanism is horizontally positioned at the bottom of the cache space along the depth direction of the cache space;

[0014] An automatic door device includes a roller shutter assembly disposed at the opening of the buffer body, a drive assembly disposed at the top of the buffer body, and a traction assembly connecting the drive assembly and the roller shutter assembly; the roller shutter assembly includes a roller shutter disposed at the opening of the buffer body, the top of the roller shutter being rolled up and received within the buffer space, and the bottom of the roller shutter extending downward along the opening of the buffer body; the traction assembly includes at least one set of linked first traction assembly and second traction assembly, both of which are connected to the bottom of the roller shutter, and under the forward and reverse drive of the drive assembly, the first traction assembly and the second traction assembly respectively provide traction force in the lifting and lowering direction of the roller shutter.

[0015] In one embodiment of the present invention, the buffer mechanism includes a buffer bracket, a first mounting block, a second mounting block, a first roller, a second roller, and a conveyor belt; the first mounting block is mounted on the outer end of the buffer bracket so that the buffer mechanism extends out of the buffer body; the second mounting block is mounted on the inner end of the buffer bracket; both ends of the first roller are adjustablely mounted on the first mounting block; both ends of the second roller are mounted on the second mounting block; the conveyor belt is tensioned between the first roller and the second roller.

[0016] In one embodiment of the present invention, the first mounting block has a horizontally formed waist-shaped hole and a through hole communicating with the waist-shaped hole. Both ends of the first roller are inserted into the waist-shaped hole, and an adjusting bolt is inserted into the through hole. The adjusting bolt is threadedly connected to the end of the first roller.

[0017] In one embodiment of the present invention, the roller blind includes a plurality of roller blind units that are hinged sequentially; each roller blind unit includes a flexible and deformable main body, a pivot portion disposed at the top or bottom of the main body, a bushing portion disposed at the bottom or top of the main body away from the pivot portion, and a plurality of extension portions disposed on the outside of the main body; the pivot portion of each roller blind unit is coaxially rotatably engaged with the bushing portion of the adjacent roller blind unit; the extension portions are configured such that when the main body is bent and deformed away from the extension portions, the extension portions expand away from each other; when the main body returns to a flat state, the extension portions receive and support each other.

[0018] In one embodiment of the present invention, the cross-section of the extension portion is L-shaped, and a plurality of deformation spaces are formed between the extension portion and the main body portion.

[0019] In one embodiment of the present invention, the roller blind assembly further includes two sets of guide side plates and guide columns symmetrically disposed inside the opening along the opening width direction of the buffer body; the guide side plates are disposed inside the buffer body near the top, and the opposite sides of the guide side plates are respectively provided with receiving tracks, and the edge of the roller blind can be rolled along the receiving tracks during the rising process of the roller blind; the opposite sides of the guide columns are provided with vertical guide tracks, and the two sides of the roller blind extend horizontally into the guide tracks.

[0020] In one embodiment of the present invention, the receiving track is a spiral groove type; the horizontal extension space of the receiving track is greater than its vertical extension space.

[0021] In one embodiment of the present invention, the first traction assembly includes a first fixed pulley group, a first movable pulley, and a first traction rope. The first fixed pulley group is installed on the buffer body; the first movable pulley is installed on the drive assembly; one end of the first traction rope is fixed to the top of the buffer body on the side away from the opening, and the other end of the first traction rope is wrapped around the first movable pulley, guided by the first fixed pulley group, and fixedly connected to the bottom of the roller shutter; the second traction assembly includes a second fixed pulley group, a second movable pulley, and a second traction rope; the second fixed pulley group is installed on the buffer body; the second movable pulley is installed on the drive assembly; one end of the second traction rope is fixed to the top of the buffer body on the side near the opening, and the other end of the second traction rope is wrapped around the second movable pulley, guided by the second fixed pulley group, and fixedly connected to the bottom of the roller shutter.

[0022] In one embodiment of the present invention, the driving component includes a lead screw mechanism horizontally disposed on the buffer body along the depth direction of the buffer space, a drive motor connected to the lead screw mechanism, and a mounting bracket disposed on the lead screw nut of the lead screw mechanism; the first movable pulley and the second movable pulley are coaxially disposed on the mounting bracket.

[0023] In one embodiment of the present invention, the traction component includes two sets of first traction components and second traction components. The two sets of first traction components and second traction components are connected to the same drive component and are symmetrically disposed on both sides of the drive component along the width direction of the buffer body.

[0024] The technical solution of the present invention has the following advantages over the prior art:

[0025] The autonomous mobile robot described in this invention is equipped with a specially designed automatic door device, which is anti-theft and anti-peeping, and enables confidential transportation; at the same time, it ensures that the internal storage space of the autonomous mobile robot is isolated from the external environment, ensuring internal cleanliness, and has security functions such as anti-theft and protection.

[0026] The autonomous mobile robot described in this invention, driven by the forward and reverse directions of the drive component, has a first traction component and a second traction component that are linked to provide traction force in the lifting and lowering direction for the roller blind. The speed of the roller blind is consistent during the opening and closing process, that is, the roller blind is at a uniform speed during the opening and closing process. This avoids the situation where the speed of the roller blind is inconsistent when it is opening and closing, which is caused by the use of roller blinds in the prior art. It also reduces wear at high speeds and improves position control. Attached Figure Description

[0027] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0028] Figure 1 This is a schematic diagram of the structure of the autonomous mobile robot in this invention.

[0029] Figure 2 This is a schematic diagram of the caching mechanism in this invention.

[0030] Figure 3 yes Figure 2 Enlarged diagram of point A in the middle.

[0031] Figure 4 This is a schematic diagram of the automatic door device in this invention.

[0032] Figure 5 This is a schematic diagram of the structure of the roller blind assembly (excluding guide posts) in this invention.

[0033] Figure 6 This is a schematic diagram of the structure of the guide side plate in this invention.

[0034] Figure 7 This is a schematic diagram of the structure and state changes of the roller blind unit in this invention.

[0035] Figure 8 yes Figure 7 Enlarged diagram of point B in the middle.

[0036] Figure 9 This is a schematic diagram of the structure of the drive component and the traction component in this invention.

[0037] Figure 10 This is a schematic diagram of the structure of the traction component (excluding the second connecting block and the fourth connecting block) in this invention.

[0038] Explanation of reference numerals in the instruction manual:

[0039] 100. Moving subject;

[0040] 200. Cache body; 201. Top plate;

[0041] 300. Buffer mechanism; 301. Buffer bracket; 302. First mounting block; 3021. Oblong hole; 3022. Through hole; 303. Second mounting block; 304. First roller; 305. Second roller; 306. Conveyor belt; 307. Adjusting bolt; 308. Baffle bracket; 309. Guide baffle;

[0042] 400. Automatic door device;

[0043] 500. Roller blind assembly; 501. Guide side panel; 5011. Receiving track; 502. Guide post; 5021. Guide track; 503. Roller blind; 504. Roller blind unit; 5041. Main body; 5042. Spindle; 5043. Bushing; 5044. Extension; 5045. Protrusion; 5046. Groove; 505. Deformation space;

[0044] 600. Drive assembly; 601. Lead screw mechanism; 602. Drive motor;

[0045] 700. Traction assembly; 701. First traction assembly; 7011. First movable pulley; 7012. Second pulley; 7013. Third pulley; 7014. Fourth pulley; 7015. Fifth pulley; 7016. First traction rope; 7017. First mounting base; 7018. Second mounting base; 7019. First connecting block; 7020. Second connecting block; 702. Second traction assembly; 7021. Second movable pulley; 7022. Seventh pulley; 7023. Eighth pulley; 7024. Ninth pulley; 7025. Second traction rope; 7026. Third connecting block; 7027. Fourth connecting block. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0047] The foregoing and other technical contents, features, and effects of the present invention will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front, or back, are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for illustrative purposes and not for limiting the present invention. Furthermore, in all embodiments, the same reference numerals denote the same elements.

[0048] To improve the protective performance of mobile robots when transporting special items, roller shutters are often installed on them. However, existing electric roller shutters consist of a roller, a curtain, and a motor that drives the curtain to open or close. The motor is connected to a control module, which controls the motor to rotate forward or backward, thereby driving the roller to rotate forward or backward, and in turn, the roller drives the curtain to open or close. In actual use, it has been found that electric roller shutters require a stable power supply voltage to operate normally. If the power supply voltage is unstable, the door will malfunction due to insufficient voltage. Furthermore, some electric roller shutters are equipped with battery-powered systems, and insufficient battery power will also cause insufficient voltage. In addition, the components of electric roller shutters age over time; for example, electromagnets and sensors may also fail due to aging, leading to insufficient voltage and malfunction. Therefore, it is clear that the existing roller shutter mechanism has low protective capabilities and cannot meet the stringent requirements for transporting special items.

[0049] To address the above problems, this invention provides an autonomous mobile robot.

[0050] like Figure 1 As shown, this application provides an autonomous mobile robot, including a mobile body 100, a buffer body 200, a buffer mechanism 300, and an automatic door device 400.

[0051] The mobile body 100 can move autonomously. It can be equipped with a mobile chassis with electromagnetic, laser, vision and other sensors for detection or guidance, and can navigate autonomously and plan automatically along the imaging set path. For example, the mobile chassis structure of AMR and AGV commonly used in the industry.

[0052] A buffer body 200 is mounted on the movable body 100. One side of the buffer body 200 has an opening, extending horizontally to form a buffer space. This depth direction is understood as the direction of horizontal extension from the opening into the interior of the buffer body 200. Specifically, the buffer body 200 can adopt a frame structure, and side plates or top plates 201 can be provided on the sides other than the opening side to form a hollow buffer space inside.

[0053] A cache mechanism 300 is horizontally positioned at the bottom of the cache space along its depth. In this embodiment, at least one set of cache mechanisms 300 is provided within the cache space. In some possible embodiments, two or more sets of cache mechanisms 300 may be provided. These cache mechanisms 300 may be arranged horizontally side by side. Specifically, this embodiment describes the case of one cache mechanism 300. Figure 2As shown, the buffer mechanism 300 includes a buffer support 301, a first mounting block 302, a second mounting block 303, a first roller 304, a second roller 305, and a conveyor belt 306. There are two buffer supports 301. These two buffer supports 301 are horizontally arranged within the buffer space along its depth direction. There are two first mounting blocks 302, each mounted on the outer end of the buffer support 301, i.e., the end closest to the opening, so that the buffer mechanism 300 extends beyond the buffer body 200. There are also two second mounting blocks 303, each mounted on the inner end of the buffer support 301, i.e., the end furthest from the opening. The two ends of the first roller 304 are adjustablely mounted to the first mounting block 302. The two ends of the second roller 305 are mounted to the second mounting block 303. The first roller 304 and the second roller 305 are horizontally arranged, and their axial directions are perpendicular to the length direction of the buffer support 301. Furthermore, at least one of the first roller 304 and the second roller 305 should have a power input, or be an electric roller. The conveyor belt 306 is tensioned around the first roller 304 and the second roller 305. Specifically, the conveyor belt 306 is wound around the first roller 304 and the second roller 305 in sequence to form a ring structure. In some possible embodiments, the buffer mechanism 300 may also employ a matching conveying device depending on the type of buffered items. For example, roller conveyors, pallet conveyors, scraper conveyors, etc., will not be described in detail here.

[0054] In a further embodiment, combined with Figure 2 and Figure 3 The first mounting block 302 has a horizontally formed oblong hole 3021 and a through hole 3022 communicating with the oblong hole 3021. The oblong hole 3021 is located on the opposite side of the first mounting block 302. The through hole 3022 extends inward from the end of the first mounting block 302 away from the buffer bracket 301 to the oblong hole 3021. Both ends of the first roller 304 are inserted into the oblong hole 3021. An adjusting bolt 307 is inserted into the through hole 3022, and the adjusting bolt 307 is threadedly connected to the end of the first roller 304. The distance between the first roller 304 and the second roller 305 can be adjusted by adjusting the bolt 307, thereby adjusting the tension of the conveyor belt 306. Furthermore, under certain conditions, the distance between the first roller 304 and the docking device (not shown in the figure) can be reduced, facilitating material transport.

[0055] In a further embodiment, such as Figure 2As shown, the buffer body 200 also includes a baffle bracket 308 mounted on the buffer support 301. This baffle bracket 308 can be considered part of the frame structure of the buffer body 200, used to fix the buffer support 301 of the buffer mechanism 300. Additionally, a guide baffle 309 is provided on the inner side of the baffle bracket 308. The guide baffle 309 prevents the material transported on the conveyor belt 306 from tilting, slipping, or colliding with the inner wall of the buffer body 200, thereby protecting the material.

[0056] like Figure 4 As shown, the automatic door device 400 includes a roller shutter assembly 500 disposed at the opening of the buffer body 200, a drive assembly 600 disposed at the top of the buffer body 200, and a traction assembly 700 connecting the drive assembly 600 and the roller shutter assembly 500.

[0057] Combination Figure 5 and Figure 6 The roller shutter assembly 500 includes two sets of guide side plates 501 and guide posts 502 symmetrically arranged inside the opening of the buffer body 200 along the width direction of the opening, as well as the roller shutter 503. This width direction is understood as the direction perpendicular to the aforementioned depth direction in the horizontal plane. The guide side plates 501 are located inside the buffer body 200 near the top. Specifically, the guide side plates 501 are fixedly connected to the inner side wall of the buffer body 200. A spiral groove-shaped receiving track 5011 is formed on the inner side of the guide side plates 501. The horizontal extension space of the receiving track 5011 is greater than its vertical extension space, increasing the receiving space of the roller shutter 503 in the horizontal direction and avoiding the vertical space occupation when the roller shutter 503 is retracted, thus improving the space utilization rate inside the buffer body 200. During the rising process of the roller shutter 503, the edge of the roller shutter 503 can be rolled up along the receiving track 5011. The inner side of the guide post 502 has a vertical guide rail 5021, and the two sides of the roller blind 503 extend laterally to the guide rail 5021, so that the roller blind 503 can be raised and lowered along the guide rail 5021 during the raising and lowering process, maintaining a high degree of sealing.

[0058] like Figure 7As shown, the roller blind 503 includes a plurality of roller blind units 504 connected in sequence, with each roller blind unit 504 connected end to end. Each roller blind unit 504 includes a flexible and deformable main body 5041, a pivot portion 5042 located at the top or bottom of the main body 5041, a bushing portion 5043 located away from the pivot portion 5042 at the bottom or top of the main body 5041, and a plurality of extension portions 5044 located on the outside of the main body 5041. The pivot portion 5042 of each roller blind unit 504 is coaxially rotatably engaged with the bushing portion 5043 of the adjacent roller blind unit 504. The extension portions 5044 are configured such that when the main body 5041 bends and deforms away from the extension portion 5044, the extension portions 5044 expand away from each other; when the main body 5041 returns to its flat state, the extension portions 5044 are accommodated and support each other. In this embodiment, the roller blind unit 504 of the roller blind 503 is made of PVC material, which has a certain deformation capability and a certain energy support performance, so that the roller blind 503 is easy to roll up and also has high protective performance.

[0059] In this embodiment, the extension portion 5044 has an L-shaped cross-section, and multiple deformation spaces 505 are formed between the extension portion 5044 and the main body portion 5041 to reduce the difficulty of the roller blind unit 504 during winding and deformation. When the roller blind unit 504 is not bent or deformed by external force, the main body portion 5041 forms the flat inner surface of the roller blind unit 504, and the extension portion 5044 is inserted end to end to form the flat outer surface of the roller blind unit 504. Specifically, in conjunction with Figure 7 and Figure 8 The extension section 5044 includes multiple segmented units, each segmented unit including a protrusion 5045 and a groove 5046. When the roller blind 503 is rolled up along the receiving track 5011, the outer surface of the roller blind unit 504 bends, that is, the extension section 5044 deforms, such as... Figure 8 As shown, the grooves 5046 and protrusions 5045 of adjacent segment units separate, and the protrusions 5045 and grooves 5046 of adjacent roller blind units 504 also separate. When the automatic door device 400 is closed and the roller blind 503 is unfolded, the protrusions 5045 are embedded in the grooves 5046 to improve the support of the roller blind 503, specifically including the roller blind unit 504 as a whole and the support lines between the roller blind units 504. Even if the roller blind 503 is subjected to external forces, it will not easily bulge into the interior of the buffer body 200, thereby providing better protection and anti-theft performance.

[0060] like Figure 9As shown, the drive assembly 600 includes a lead screw mechanism 601 horizontally mounted on the top plate 201 of the buffer body 200 along the depth direction of the buffer space, a drive motor 602 connected to the lead screw mechanism 601, and a mounting bracket mounted on the lead screw nut of the lead screw mechanism 601. Specifically, the lead screw mechanism 601 includes a first fixed plate and a second fixed plate arranged in parallel, a lead screw disposed between the first fixed plate and the second fixed plate, and the output end of the drive motor 602 connected to the lead screw. The lead screw converts rotational motion into linear motion, driving the mounting bracket to move horizontally. Furthermore, a double guide rod can be provided between the first fixed plate and the second fixed plate, with the double guide rods respectively disposed on both sides of the lead screw to increase guidance.

[0061] Combination Figure 9 and Figure 10 The traction assembly 700 is symmetrically arranged on the top plate 201 of the buffer body 200 along the length direction of the lead screw mechanism 601. Specifically, the traction assembly 700 includes two sets of first traction assemblies 701 and second traction assemblies 702. The two sets of first traction assemblies 701 and second traction assemblies 702 are connected to the same drive assembly 600 and are symmetrically arranged on both sides of the drive assembly 600 along the width direction of the buffer body 200. It should be noted that the traction assembly 700 may only include one set of linked first traction assemblies 701 and second traction assemblies 702, as long as both the first traction assembly 701 and the second traction assembly 702 are connected to the bottom of the roller shutter 503, and under the forward and reverse drive of the drive assembly 600, the first traction assembly 701 and the second traction assembly 702 can respectively provide traction force in the lifting and lowering direction for the roller shutter 503.

[0062] The first traction assembly 701 includes a first movable pulley 7011, a second pulley 7012, a third pulley 7013, a fourth pulley 7014, a fifth pulley 7015, a first traction rope 7016, a first mounting base 7017, a second mounting base 7018, a first connecting block 7019, and a second connecting block 7020. The first mounting base 7017 is fixed to the side of the top plate 201 of the buffer body 200 away from the opening, and the second mounting base 7018 is fixed to the side of the top plate 201 of the buffer body 200 near the opening. The first movable pulley 7011 is mounted on the mounting bracket of the drive assembly 600. The second pulley 7012, third pulley 7013, fourth pulley 7014, and fifth pulley 7015 form a first fixed pulley group. The first connecting block 7019 is fixed to the first mounting base 7017. One end of the first traction rope 7016 is connected to the first connecting block 7019, and the other end is sequentially wound around the first movable pulley 7011, the second pulley 7012, the third pulley 7013, the fourth pulley 7014, and the fifth pulley 7015, and connected to the second connecting block 7020 installed on the outer side of the bottom of the roller shutter 503. The drive assembly 600 can pull the roller shutter 503 upward through the first traction assembly 701.

[0063] The second traction assembly 702 includes a second movable pulley 7021, a seventh pulley 7022, an eighth pulley 7023, a ninth pulley 7024, a second traction rope 7025, a third connecting block 7026, and a fourth connecting block 7027. The second movable pulley 7021 is also mounted on the mounting bracket of the drive assembly 600, and the ninth pulley 7024 is mounted on the baffle bracket 308. The seventh pulley 7022, the eighth pulley 7023, and the ninth pulley 7024 form a second fixed pulley group, and the third connecting block 7026 is fixed to the second mounting base 7018. Multiple second mounting bases 7018 are provided as needed. One end of the second traction rope 7025 is connected to the third connecting block 7026, and the other end is sequentially wound around the second movable pulley 7021, the seventh pulley 7022, the eighth pulley 7023, and the ninth pulley 7024 before connecting to the fourth connecting block 7027 on the inner bottom side of the roller shutter 503. The drive assembly 600 can pull the roller shutter 503 down via the second traction assembly 702.

[0064] During the ascent or descent of the roller blind assembly 500, the first traction assembly 701 and the second traction assembly 702 work in sync. Relying on only one drive assembly 600, the ascent and descent can be switched at any time without any jamming. Specifically, during ascent, the first traction assembly 701 pulls the roller blind 503 from the outside, while the second traction assembly 702 applies a reverse constraint to the roller blind 503 from the inside. This prevents the first traction rope 7016 from slackening and disengaging from the pulley due to a sudden stop in power during ascent, thus ensuring the roller blind 503 rises stably. During descent, the second traction assembly 702 pulls the roller blind 503 downwards, while the first traction assembly 701 maintains an upward constraint. This prevents the roller blind 503 from descending too quickly due to a sudden stop in power or its own weight, thus preventing the second traction rope 7025 from disengaging from the pulley. This ensures the roller blind 503 operates smoothly and maintains a high degree of flatness. Thus, the first traction component 701 and the second traction component 702 work in sync, which can effectively ensure the smooth lifting and lowering of the roller shutter 503 and the stable operation of the automatic door device 400.

[0065] It is understood that the first movable pulley 7011 and the second movable pulley 7021 provided in this embodiment move with the nut of the lead screw mechanism 601, and can achieve small stroke displacement during the winding and unwinding process, so as to realize large stroke winding and unwinding of the roller shutter 503.

[0066] In this embodiment, the roller blind 503 is retracted and extended in a consistent manner by means of a traction rope and a pulley system, namely a fixed pulley system and a movable pulley, under the drive of the same drive mechanism. This ensures that the roller blind 503 maintains good flatness during the retraction and extension process and improves the protective performance of the roller blind 503.

[0067] Specifically, the first movable pulley 7011 has a horizontal axis, the second pulley 7012 has a vertical axis, the third pulley 7013 has a vertical axis, and the fourth pulley 7014 has a vertical axis, which serves to steer the first traction rope 7016. The purpose of making the first movable pulley 7011 horizontal is to reduce the horizontal width occupied. Even if there is a height difference between the installation positions of the first connecting block 7019 and the second pulley 7012, it can avoid the first connecting block 7019 occupying the horizontal installation space of the second pulley 7012, simplifying the structural dimensions and reducing costs.

[0068] The second movable pulley 7021 is horizontally installed and coaxially mounted with the first movable pulley 7011. The first movable pulley 7011 and the second movable pulley 7021 are located on opposite sides of the mounting bracket. This reduces the horizontal width occupied while avoiding multi-directional torque, thus improving structural stability. Similarly, even if the installation positions of the third connecting block 7026 and the seventh pulley 7022 create a height difference, the third connecting block 7026 can avoid occupying the horizontal installation space of the seventh pulley 7022, simplifying structural dimensions and reducing costs. The axis of the seventh pulley 7022 is vertical, the axis of the eighth pulley 7023 is horizontal, and the axis of the ninth pulley 7024 is horizontal. The axes of the eighth pulley 7023 and the ninth pulley 7024 intersect, serving to steer the second traction rope 7025.

[0069] The working principle of this embodiment is as follows:

[0070] When the roller blind 503 needs to rise, the drive motor 602 drives the lead screw mechanism 601 to move, which in turn moves the mounting bracket closer to the opening of the buffer body 200. Simultaneously, it moves the first movable pulley 7011 and the second movable pulley 7021 closer to the opening of the buffer body 200. The first traction assembly 701, through the cooperation of the first traction rope 7016 with the first movable pulley 7011 and the first fixed pulley group, pulls the roller blind 503 from the outside. Simultaneously, the second traction assembly 702, through the cooperation of the second traction rope 7025 with the second movable pulley 7021 and the second fixed pulley group, applies a reverse constraint to the rising of the roller blind 503 from the inside, ensuring a stable rise.

[0071] When the roller blind 503 needs to descend, the drive motor 602 drives the lead screw mechanism 601 to move, which in turn moves the mounting bracket toward the opening away from the buffer body 200. Simultaneously, it moves the first movable pulley 7011 and the second movable pulley 7021 toward the opening away from the buffer body 200. The second traction assembly 702 pulls the roller blind 503 downward through the cooperation of the second traction rope 7025 with the second movable pulley 7021 and the second fixed pulley group. The first traction assembly 701 applies an upward counter-constraint to the roller blind 503 through the cooperation of the first traction rope 7016 with the first movable pulley 7011 and the first fixed pulley group, ensuring a smooth descent.

[0072] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0073] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An autonomous mobile robot, characterized in that, include: Moving body (100); A cache body (200) is disposed on the moving body (100); the cache body (200) has an opening on one side and extends along the horizontal depth direction to form a cache space; A buffer mechanism (300) is horizontally disposed at the bottom of the buffer space along the depth direction of the buffer space; the buffer mechanism (300) includes a buffer support (301), a first mounting block (302), a second mounting block (303), a first roller (304), a second roller (305), and a conveyor belt (306); the first mounting block (302) is mounted on the outer end of the buffer support (301) so that the buffer mechanism (300) extends out of the buffer body (200); the second mounting block (303) is mounted on the inner end of the buffer support (301); both ends of the first roller (304) are adjustablely mounted on the first mounting block (302); both ends of the second roller (305) are mounted on the second mounting block (303); the conveyor belt (306) is tensioned on the first roller (304) and the second roller (305). An automatic door device (400) includes a roller shutter assembly (500) disposed at the opening of the buffer body (200), a drive assembly (600) disposed at the top of the buffer body (200), and a traction assembly (700) connecting the drive assembly (600) and the roller shutter assembly (500); the roller shutter assembly (500) includes a roller shutter (503) disposed at the opening of the buffer body (200), the top of the roller shutter (503) being rolled up and received within the buffer space, and the bottom of the roller shutter (503) along... The opening of the buffer body (200) extends downward; the traction component (700) includes at least one set of first traction component (701) and second traction component (702) that are linked together. The first traction component (701) and the second traction component (702) are both connected to the bottom of the roller shutter (503). Under the forward and reverse drive of the drive component (600), the first traction component (701) and the second traction component (702) provide traction force in the lifting and lowering direction for the roller shutter (503).

2. The autonomous mobile robot according to claim 1, characterized in that, The first mounting block (302) has a horizontally formed waist-shaped hole (3021) and a through hole (3022) communicating with the waist-shaped hole (3021). The two ends of the first roller (304) are inserted into the waist-shaped hole (3021). An adjusting bolt (307) is inserted into the through hole (3022). The adjusting bolt (307) is threadedly connected to the end of the first roller (304).

3. The autonomous mobile robot according to claim 1, characterized in that, The roller blind includes a plurality of roller blind units (504) that are hinged together in sequence; each roller blind unit (504) includes a flexible and deformable main body (5041), a pivot portion (5042) disposed at the top or bottom of the main body (5041), a bushing portion (5043) disposed at the bottom or top of the main body (5041) away from the pivot portion (5042), and a plurality of extension portions (5044) disposed on the outside of the main body (5041); The pivot portion (5042) of the roller blind unit (504) is coaxially rotated with the bushing portion (5043) of the adjacent roller blind unit (504); the extension portion (5044) is configured to expand away from each other when the main body portion (5041) bends and deforms away from the extension portion (5044); when the main body portion (5041) returns to a flat state, the extension portion (5044) is received and supports each other.

4. The autonomous mobile robot according to claim 3, characterized in that, The extension portion (5044) has an L-shaped cross section, and multiple deformation spaces (505) are formed between the extension portion (5044) and the main body portion (5041).

5. The autonomous mobile robot according to claim 1, characterized in that, The roller shutter assembly (500) also includes two sets of guide side plates (501) and guide columns (502) symmetrically arranged inside the opening along the opening width direction of the buffer body (200); the guide side plates (501) are located inside the buffer body (200) near the top, and the opposite sides of the guide side plates (501) are respectively provided with receiving tracks (5011). During the rising process of the roller shutter (503), the edge of the roller shutter (503) can be rolled up along the receiving tracks (5011); the opposite sides of the guide columns (502) are provided with vertical guide tracks (5021), and the two sides of the roller shutter (503) extend horizontally into the guide tracks (5021).

6. The autonomous mobile robot according to claim 5, characterized in that, The receiving track (5011) is a spiral groove type; the horizontal extension space of the receiving track (5011) is greater than its vertical extension space.

7. The autonomous mobile robot according to claim 1, characterized in that, The first traction assembly (701) includes a first fixed pulley group, a first movable pulley (7011), and a first traction rope (7016). The first fixed pulley group is installed on the buffer body (200); the first movable pulley (7011) is installed on the drive assembly (600); one end of the first traction rope (7016) is fixed to the top of the buffer body (200) away from the opening, and the other end of the first traction rope (7016) is wrapped around the first movable pulley (7011), guided by the first fixed pulley group, and fixedly connected to the bottom of the roller shutter (503). The second traction assembly (702) includes a second fixed pulley group, a second movable pulley (7021), and a second traction rope (7025); the second fixed pulley group is installed on the buffer body (200); the second movable pulley (7021) is installed on the drive assembly (600); one end of the second traction rope (7025) is fixed to the top of the buffer body (200) near the opening, and the other end of the second traction rope (7025) is wrapped around the second movable pulley (7021) and guided by the second fixed pulley group to be fixedly connected to the bottom of the roller shutter (503).

8. The autonomous mobile robot according to claim 7, characterized in that, The drive assembly (600) includes a lead screw mechanism (601) horizontally disposed on the buffer body (200) along the depth direction of the buffer space, a drive motor (602) connected to the lead screw mechanism (601), and a mounting bracket disposed on the lead screw nut of the lead screw mechanism (601); the first movable pulley (7011) and the second movable pulley (7021) are coaxially disposed on the mounting bracket.

9. The autonomous mobile robot according to claim 1, characterized in that, The traction assembly (700) includes two sets of first traction assemblies (701) and second traction assemblies (702). The two sets of first traction assemblies (701) and second traction assemblies (702) are connected to the same drive assembly (600) and are symmetrically arranged on both sides of the drive assembly (600) along the width direction of the buffer body (200).

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