Chassis for mobile robot and mobile robot

Abstract

The invention relates to the technical field of robots, and discloses a chassis for a mobile robot and the mobile robot, the chassis comprises a chassis body, a bearing flat plate and two damping mechanisms, and the two damping mechanisms are arranged on the two sides of the top surface of the chassis body at intervals in the length direction of the chassis body; and the damping mechanism comprises at least two damping springs, the at least two damping springs are arranged on the top face of the chassis body at intervals in the width direction of the chassis body, and all the damping springs are used for jointly supporting the bearing flat plate so as to conduct damping on a bearing object on the bearing flat plate. The invention aims to solve the technical problem that a wafer is easily damaged in the wafer carrying process due to the poor damping effect of a mobile robot.

Description

Technical Field

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

[0002] With the booming development of the global semiconductor industry, wafers, as the core components of semiconductor manufacturing, continue to expand in production scale, and the requirements for product quality are getting higher and higher. In order to meet this demand, wafer production lines are gradually transforming to highly automated and intelligent ones, aiming to use mobile robots to transport wafers to improve production efficiency, reduce labor costs, and ensure product consistency and yield.

[0003] With current technology, when mobile robots are transporting materials between wafer warehouses and production lines, as well as between upstream and downstream of production lines, there may be gullies, bumps, and complex terrain with uneven heights. Due to the poor shock absorption effect of mobile robots, wafers are easily damaged, which in turn leads to a low wafer yield. Summary of the invention

[0004] The purpose of the present invention is to provide a chassis for a mobile robot to solve the technical problem that the mobile robot has poor shock absorption effect, which easily causes wafer damage during the wafer transportation process.

[0005] In order to achieve the above-mentioned object, the present invention provides a chassis for a mobile robot, comprising a chassis body, a load-bearing plate and two shock-absorbing mechanisms, wherein the two shock-absorbing mechanisms are arranged at intervals on both sides of the top surface of the chassis body along the length direction of the chassis body;

[0006] The shock absorbing mechanism includes at least two shock absorbing springs, at least two of which are arranged on the top surface of the chassis body at intervals along the width direction of the chassis body, and all of the shock absorbing springs are used to jointly support the supporting plate to absorb shock to the supported object on the supporting plate.

[0007] Optionally, the two shock absorbing mechanisms are symmetrically arranged on both sides of the top surface of the chassis body in the length direction of the chassis body.

[0008] Optionally, the shock absorbing mechanism includes two shock absorbing springs, which are arranged at intervals on both sides of the top surface of the chassis body along the width direction of the chassis body, so that the four shock absorbing springs jointly support the bearing plate.

[0009] Optionally, the shock absorbing mechanism further comprises a first hinge, wherein the first hinge and the shock absorbing spring are spaced apart along the length direction of the chassis body, the first hinge and the shock absorbing spring have a preset spacing distance, and one end of the first hinge is rotatably connected to the chassis body, and the other end of the first hinge is rotatably connected to the bearing plate;

[0010] Wherein, the first hinge is used to limit the swing amplitude of the bearing plate along the length direction of the chassis body when the bearing plate swings.

[0011] Optionally, the shock absorbing mechanism further comprises a second hinge, the second hinge is spaced apart from the first hinge, one end of the second hinge is rotatably connected to the chassis body, and the other end of the second hinge is rotatably connected to the bearing plate;

[0012] Wherein, the second hinge is used to limit the swing amplitude of the carrying plate along the width direction of the chassis body when the carrying plate swings.

[0013] Optionally, the shock absorbing mechanism includes two first hinges, and each of the first hinges is arranged in a one-to-one correspondence with each of the shock absorbing springs.

[0014] Optionally, the shock absorbing mechanism comprises an elastic buffer and two second hinges, the two second hinges are arranged at intervals along the width direction of the chassis body, and two ends of the elastic buffer are respectively connected to the two second hinges;

[0015] When the bearing plate applies pressure to the second hinges, the two second hinges squeeze the elastic buffer to cause the elastic buffer to be compressed and deformed; when the bearing plate releases the pressure, the elastic buffer returns to its original state.

[0016] Optionally, the shock absorbing mechanism further comprises a guide shaft, the guide shaft extends along the width direction of the chassis body, the elastic buffer is sleeved on the guide shaft, and the second hinge is slidably disposed on the guide shaft.

[0017] Optionally, the shock absorbing mechanism further includes a limiting member, the limiting member is fixed to both ends of the guide shaft, and the limiting member is arranged on a side of the second hinge away from the elastic buffer member.

[0018] In a second aspect, the present invention provides a mobile robot, comprising the chassis for the mobile robot.

[0019] The present invention provides a chassis for a mobile robot, which has the following beneficial effects:

[0020] The present invention arranges two shock absorbing mechanisms at intervals along the length direction on both sides of the top surface of the chassis body, and each shock absorbing mechanism comprises at least two shock absorbing springs, which are arranged at intervals along the width direction of the chassis body to form a shock absorbing system for the mobile robot. The two shock absorbing mechanisms jointly support the load-bearing plate at the front and rear positions in the length direction of the chassis body. When the mobile robot travels on an uneven ground, the vibration will be transmitted to the load-bearing plate. At this time, the elastic deformation of each shock absorbing spring absorbs and disperses the vibration energy, thereby reducing the impact of the vibration on the object loaded on the load-bearing plate, ensuring the running stability of the mobile robot and the safety of the loaded object, and improving the shock absorbing effect of the mobile robot. When the loaded object is a wafer, the wafer can be prevented from being damaged, thereby improving the yield rate of the wafer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the structure of a chassis provided in an embodiment of the present invention;

[0023] Figure 2 An exploded schematic diagram of a chassis provided by an embodiment of the present invention;

[0024] Figure 3 A schematic structural diagram of a chassis provided by an embodiment of the present invention without a bearing plate;

[0025] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0026] Figure 5 Another structural schematic diagram of a chassis provided by an embodiment of the present invention without a bearing plate;

[0027] Figure 6 for Figure 5 A partial enlarged view of point B in the middle;

[0028] Figure 7 A schematic structural diagram of a first hinge provided by an embodiment of the present invention;

[0029] Figure 8 A schematic structural diagram of a second hinge provided in an embodiment of the present invention.

[0030] The following are marked in the figure:

[0031] 1. Chassis body; 2. Load-bearing plate; 3. Shock-absorbing mechanism; 30. Shock-absorbing spring; 31. First hinge; 311. First connecting rod; 312. Second connecting rod; 313. Fixed block; 32. Second hinge; 33. Elastic buffer; 34. Guide shaft; 35. Limiting member; 4. Bellows cover; X, length direction; Y, width direction. DETAILED DESCRIPTION

[0032] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "inside", "outside", etc. used in the present invention to indicate the orientation or positional relationship are based on the positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] In the description of the present invention, it should be understood that the present invention uses the terms "first", "second", etc. to describe various information, but these information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0035] At present, the chassis of traditional mobile robots generally use universal wheels as the moving mechanism. The universal wheels enable the robot to move freely in various complex environments due to its flexibility and multi-directional rotation characteristics. In order to enhance the driving stability and riding comfort of the robot on uneven ground, shock-absorbing springs are often set on the universal wheels to absorb vibration energy, reduce the impact on the robot and the loaded objects, and protect the robot and its load from damage. However, since the universal wheels need to be driven and turned frequently during movement, the shock-absorbing springs are prone to fatigue damage or even breakage when continuously subjected to dynamic loads and complex stress changes, which not only affects the shock absorption effect, but also may cause instability in the robot during driving, and even cause the robot to overturn or be damaged in severe cases.

[0036] like Figures 1 to 3As shown, an embodiment of the present invention provides a chassis for a mobile robot, including a chassis body 1, a supporting plate 2 and two shock absorbing mechanisms 3, wherein the two shock absorbing mechanisms 3 are arranged at intervals on both sides of the top surface of the chassis body 1 along the length direction X of the chassis body 1; the shock absorbing mechanism 3 includes at least two shock absorbing springs 30, and at least two shock absorbing springs 30 are arranged at intervals on the top surface of the chassis body 1 along the width direction Y of the chassis body 1, and all the shock absorbing springs 30 are used to jointly support the supporting plate 2 to reduce shock to the supported object on the supporting plate 2.

[0037] In this embodiment, the chassis body 1 serves as the supporting base of the entire device and has sufficient strength and rigidity to withstand external shock and vibration. The carrying plate 2 is used to place the robot body or the carrying object, and the carrying plate 2 is connected to the chassis body 1 through a shock absorbing mechanism 3. The carrying object can be the robot body or a rack, a fixture, or other structure equipped with multiple wafers.

[0038] Based on the above technical solution, in this embodiment, two shock absorbing mechanisms 3 are arranged at intervals along the length direction X on both sides of the top surface of the chassis body 1, and each shock absorbing mechanism 3 includes at least two shock absorbing springs 30, and the shock absorbing springs 30 are arranged at intervals along the width direction Y of the chassis body 1 to form a shock absorbing system for the mobile robot. The two shock absorbing mechanisms 3 jointly support the carrying plate 2 at the front and rear positions of the length direction X of the chassis body 1. When the mobile robot travels on an uneven ground, the vibration will be transmitted to the carrying plate 2. At this time, the elastic deformation of each shock absorbing spring 30 absorbs and disperses the vibration energy, reducing the impact of the vibration on the objects loaded on the carrying plate 2, ensuring the stability of the mobile robot and the safety of the loaded objects, and improving the shock absorbing effect of the mobile robot. When the loaded object is a wafer, it can prevent the wafer from being damaged and improve the yield rate of the wafer.

[0039] It can be understood that compared with directly installing the shock-absorbing spring on the universal wheel, the shock-absorbing mechanism 3 or the shock-absorbing spring 30 in this embodiment is set on the top surface of the chassis body 1, which can effectively disperse and absorb vibrations and reduce fatigue damage of the shock-absorbing spring 30. At the same time, it can ensure the shock-absorbing effect and prevent the mobile robot from easily causing damage to the wafers during the wafer transportation process.

[0040] In some embodiments, Figure 2 As shown, the two shock absorbing mechanisms 3 are symmetrically arranged on both sides of the top surface of the chassis body 1 in the length direction X of the chassis body 1.

[0041] Specifically, the symmetrically arranged shock absorbing mechanism 3 can ensure that when the chassis is subjected to external impact or vibration, the shock absorbing force on both sides of the chassis is balanced, so as to reduce the shaking and tilting of the chassis, thereby improving the stability of the mobile robot during driving. In addition, the symmetrically arranged shock absorbing mechanism 3 can disperse the load borne by the chassis. When the mobile robot is loaded with heavy objects or driving on different terrains, this dispersion effect can reduce the burden of a single shock absorbing mechanism and prevent damage caused by overload.

[0042] In some embodiments, Figure 3 As shown, the shock absorbing mechanism 3 includes two shock absorbing springs 30 , which are arranged at intervals on both sides of the top surface of the chassis body 1 along the width direction Y of the chassis body 1 , so that the four shock absorbing springs 30 support the supporting plate 2 together.

[0043] Specifically, the shock absorbing spring 30 can be made of a spring material with high elasticity, high strength and long life, such as stainless steel or alloy steel. One end of the shock absorbing spring 30 is fixedly connected to the top surface of the chassis body 1, and the other end is fixedly connected to the bottom surface of the bearing plate 2. The four shock absorbing springs 30 are symmetrically arranged to support the bearing plate 2 together to form an elastic support assembly. When the mobile robot is subjected to external impact or vibration, the four shock absorbing springs 30 absorb and disperse the impact force from different positions, thereby protecting the chassis body 1 and the bearing plate 2 from damage.

[0044] In some embodiments, the shock absorbing mechanism 3 may further include other shock absorbing elements, such as shock absorbing pads, shock absorbers, etc., which are used in conjunction with the shock absorbing spring 30 to form a more complex shock absorbing system to further enhance the shock absorbing effect.

[0045] In some embodiments, the elastic coefficient and length of the shock absorbing spring 30 can be adjusted according to the weight load of the mobile robot. For example, in a scenario where a higher load capacity is required, a shock absorbing spring 30 with a larger elastic coefficient and a longer length can be selected; and in a scenario where a better shock absorbing effect is required, a shock absorbing spring 30 with a smaller elastic coefficient and a shorter length can be selected.

[0046] In some embodiments, Figures 3 to 6 As shown, the shock absorbing mechanism 3 also includes a first hinge 31, and the first hinge 31 and the shock absorbing spring 30 are spaced apart along the length direction X of the chassis body 1, and the first hinge 31 and the shock absorbing spring 30 have a preset spacing distance, and one end of the first hinge 31 is rotatably connected to the chassis body 1, and the other end of the first hinge 31 is rotatably connected to the supporting plate 2; wherein the first hinge 31 is used to limit the swing amplitude of the supporting plate 2 along the length direction X of the chassis body 1 when the supporting plate 2 swings.

[0047] Specifically, the first hinge 31 is arranged beside the shock-absorbing spring 30, and the first hinge 31 and the shock-absorbing spring 30 are arranged in parallel along the length direction X of the chassis body 1. When the chassis is subjected to external impact or vibration and swings, the first hinge 31 swings along with the supporting plate 2, and the shock-absorbing spring 30 damps the supporting plate 2. The first hinge 31 limits the swing amplitude of the supporting plate 2 along the length direction X of the chassis body 1 to prevent the supporting plate 2 from being thrown out of the supporting object due to excessive swing amplitude.

[0048] This embodiment combines the first hinge 31 and the shock-absorbing spring 30 together, which not only realizes the shock-absorbing protection of the chassis, but also limits the swing amplitude of the supporting plate 2, thereby improving the overall stability and safety of the chassis.

[0049] In some embodiments, the first hinge 31 is a guide hinge, which can connect and support an object, and provide a guide and rotation function, so as to achieve precise motion control and positioning while ensuring the relative motion of the object. A guide hinge is usually composed of two or more rods, which are connected by bearings or other means to form a rotatable fulcrum, so as to rotate relatively within a certain range.

[0050] For example, Figure 7 As shown, the first hinge 31 includes a first link 311, a second link 312 and a fixed block 313, the lower end of the first link 311 is rotatably connected to the chassis body 1, the upper end of the first link 311 is rotatably connected to the lower end of the second link 312 (the rotational connection direction of the first link 311 and the second link 312 is the length direction X of the chassis body 1), the upper end of the second link 312 is rotatably connected to the fixed block 313, and the fixed block 313 is fixedly connected to the bottom surface of the bearing plate 2, so that one end of the first hinge 31 is rotatably connected to the chassis body 1, and the other end is rotatably connected to the bearing plate 2. When the bearing plate 2 swings due to vibration, the first link 311 and the second link 312 rotate along the length direction of the chassis body 1 to limit the swing direction and swing amplitude of the bearing plate 2.

[0051] Of course, the first hinge 31 in this embodiment is not limited to the structural form of a connecting rod, and can also be a hinge structure that can form a structure that provides guidance and rotation and limits the swing direction and swing amplitude of the supporting plate 2.

[0052] In some embodiments, Figures 3 to 6 As shown, the shock absorbing mechanism 3 also includes a second hinge 32, which is spaced apart from the first hinge 31, and one end of the second hinge 32 is rotatably connected to the chassis body 1, and the other end of the second hinge 32 is rotatably connected to the supporting plate 2; wherein the second hinge 32 is used to limit the swing amplitude of the supporting plate 2 along the width direction Y of the chassis body 1 when the supporting plate 2 swings.

[0053] In some embodiments, the second hinge 32 is similar in structure to the first hinge 31 and is a guide hinge that can connect and support objects while providing guiding and rotation functions, thereby achieving precise motion control and positioning while ensuring relative movement of objects.

[0054] Specifically, during the movement of the mobile robot, vibration may cause the carrying plate 2 to swing in different directions. In this embodiment, a second hinge 32 is provided on the basis of the first hinge 31. The setting direction of the second hinge 32 is consistent with the width direction Y of the chassis body 1. When the carrying plate 2 swings, the second hinge 32 limits the swing amplitude of the carrying plate 2 in the width direction Y of the chassis body 1. In this way, the first hinge 31 and the second hinge 32 limit the swing amplitude of the carrying plate 2 in the length direction X and the width direction Y of the chassis body 1, respectively, to improve the stability and safety of the chassis when subjected to external shock or vibration.

[0055] In some embodiments, Figures 3 to 6 As shown, the shock absorbing mechanism 3 includes two first hinges 31 , and each first hinge 31 is arranged in one-to-one correspondence with each shock absorbing spring 30 .

[0056] Specifically, in this embodiment, each shock-absorbing spring 30 is equipped with a first hinge 31. In this way, a group of shock-absorbing springs 30 and first hinges 31 are respectively arranged at the four corner positions of the top surface of the chassis body 1, providing four support points for the supporting plate 2 in the front, back, left and right directions. The shock-absorbing mechanisms and hinges arranged at the four corners help to disperse the vibration more evenly over the entire chassis.

[0057] In some embodiments, Figure 3 , Figure 4 and Figure 6 As shown, the shock absorbing mechanism 3 includes an elastic buffer 33 and two second hinges 32. The two second hinges 32 are arranged at intervals along the width direction Y of the chassis body 1, and the two ends of the elastic buffer 33 are respectively connected to the two second hinges 32; when the supporting plate 2 applies pressure to the second hinges 32, the two second hinges 32 squeeze the elastic buffer 33 to cause the elastic buffer 33 to be compressed and deformed; when the supporting plate 2 releases the pressure, the elastic buffer 33 returns to its original state.

[0058] Specifically, the elastic buffer 33 can be made of a spring or other elastic material, and is used to generate compression deformation when the supporting plate 2 applies pressure, thereby absorbing and vibrating energy.

[0059] When a load object is placed on the load plate 2 and a downward pressure is generated, the pressure is transmitted to the shock absorbing mechanism 3 through the load plate 2, and the two second hinges 32 are squeezed, and the two second hinges 32 squeeze the elastic buffer 33 to cause the elastic buffer 33 to be compressed and deformed, and the elastic buffer 33 absorbs part of the impact energy, thereby reducing the vibration and impact of the chassis body 1. When the object on the load plate 2 is removed or the pressure is reduced, the elastic buffer 33 returns to its original state due to its own elastic effect.

[0060] In some embodiments, Figure 8 As shown, the shock absorbing mechanism 3 further includes a guide shaft 34 , which extends along the width direction Y of the chassis body 1 , the elastic buffer 33 is sleeved on the guide shaft 34 , and the second hinge 32 is slidably disposed on the guide shaft 34 .

[0061] In this embodiment, the elastic buffer 33 is sleeved on the guide shaft 34 to ensure that it is compressed and deformed along the width direction Y. When the load-bearing plate 2 generates downward pressure on the load-bearing object due to vibration, the pressure is transmitted to the shock absorbing mechanism 3 through the load-bearing plate 2, and the second hinge 32 is squeezed and slides along the guide shaft 34 and squeezes the elastic buffer 33. The elastic buffer 33 is compressed and deformed under the constraint of the guide shaft 34, absorbing and dispersing part of the impact energy. When the pressure is released, the elastic buffer 33 returns to its original state due to its own elasticity, and pushes the second hinge 32 back to the initial position along the guide shaft 34.

[0062] In some embodiments, Figure 8 As shown, the shock absorbing mechanism 3 further includes a limiting member 35 , which is fixed to both ends of the guide shaft 34 , and is disposed on a side of the second hinge 32 away from the elastic buffer 33 .

[0063] Specifically, the elastic buffer 33 is arranged on the inner side between the two second hinges 32, and the two limit members 35 are respectively arranged on the outer sides of the two second hinges 32 (i.e., the side away from the elastic buffer 33). During the entire shock absorption process, the limit members 35 limit the sliding range of the second hinge 32 to prevent the second hinge 32 from detaching from the guide shaft 34, thereby enhancing the stability of the shock absorption mechanism 3.

[0064] In some embodiments, Figure 2 and Figure 3 As shown, the chassis includes an accordion cover 4, which is connected between the chassis body 1 and the supporting plate 2, and surrounds the top edge of the chassis body 1 to block the internal structure of the chassis body 1 and the shock absorbing mechanism 3. The accordion cover 4 can be freely extended and retracted following the elastic deformation of the shock absorbing mechanism 3, and will not hinder the movement trajectory of the shock absorbing mechanism 3.

[0065] In a second aspect, an embodiment of the present invention provides a mobile robot, which includes a chassis for the mobile robot.

[0066] Specifically, the mobile robot may include components such as a chassis, a power system, an actuator, and a control system. The chassis is the supporting structure of the mobile robot, carrying all other components of the robot and providing a stable mobile platform for it. The mobile robot of this embodiment adopts the chassis described in the above embodiment, and utilizes the shock absorption performance to ensure that the robot can maintain stable operation in various terrains and working conditions. Wheels or tracks can be set under the chassis to provide the robot with mobile power.

[0067] The power system of the mobile robot includes batteries and power management modules. The batteries provide power for the robot, and the power management module is used to monitor and adjust the power output to ensure that the batteries can provide energy to the robot efficiently and safely.

[0068] The control system of the mobile robot includes a processor, a sensor, and a communication module. The processor is responsible for processing various data and instructions and controlling the movement of the robot. The sensor is used to sense the environment and status (such as distance, speed, etc.) around the robot. The communication module is used to realize the communication between the robot and external devices or systems, such as wireless LAN, Bluetooth, etc. The actuator of the mobile robot includes a robotic arm, which is used to grab, carry or manipulate objects.

[0069] It should be understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or system.

[0070] The serial numbers of the embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A chassis for a mobile robot, characterized in that: include: A chassis body, a bearing plate and two shock absorbing mechanisms, wherein the two shock absorbing mechanisms are arranged at intervals on both sides of the top surface of the chassis body along the length direction of the chassis body; The shock absorbing mechanism includes at least two shock absorbing springs, at least two of which are arranged on the top surface of the chassis body at intervals along the width direction of the chassis body, and all of the shock absorbing springs are used to jointly support the supporting plate to absorb shock to the supported object on the supporting plate.

2. The chassis for a mobile robot according to claim 1, characterized in that: The two shock absorbing mechanisms are symmetrically arranged on both sides of the top surface of the chassis body in the length direction of the chassis body.

3. The chassis for a mobile robot according to claim 2, characterized in that: The shock absorbing mechanism comprises two shock absorbing springs, which are arranged at intervals on both sides of the top surface of the chassis body along the width direction of the chassis body, so that the four shock absorbing springs support the bearing plate together.

4. The chassis for a mobile robot according to claim 3, characterized in that: The shock absorbing mechanism further includes a first hinge, wherein the first hinge and the shock absorbing spring are spaced apart along the length direction of the chassis body, the first hinge and the shock absorbing spring have a preset spacing distance, and one end of the first hinge is rotatably connected to the chassis body, and the other end of the first hinge is rotatably connected to the bearing plate; Wherein, the first hinge is used to limit the swing amplitude of the bearing plate along the length direction of the chassis body when the bearing plate swings.

5. The chassis for a mobile robot according to claim 4, characterized in that: The shock absorbing mechanism further includes a second hinge, the second hinge is spaced apart from the first hinge, one end of the second hinge is rotatably connected to the chassis body, and the other end of the second hinge is rotatably connected to the bearing plate; Wherein, the second hinge is used to limit the swing amplitude of the carrying plate along the width direction of the chassis body when the carrying plate swings.

6. The chassis for a mobile robot according to claim 4, characterized in that: The shock absorbing mechanism includes two first hinges, and each of the first hinges is arranged in one-to-one correspondence with each of the shock absorbing springs.

7. The chassis for a mobile robot according to claim 5, characterized in that: The shock absorbing mechanism comprises an elastic buffer and two second hinges, the two second hinges are arranged at intervals along the width direction of the chassis body, and two ends of the elastic buffer are respectively connected to the two second hinges; When the bearing plate applies pressure to the second hinges, the two second hinges squeeze the elastic buffer to cause the elastic buffer to be compressed and deformed; when the bearing plate releases the pressure, the elastic buffer returns to its original state.

8. The chassis for a mobile robot according to claim 7, characterized in that: The shock absorbing mechanism further comprises a guide shaft, the guide shaft extends along the width direction of the chassis body, the elastic buffer is sleeved on the guide shaft, and the second hinge is slidably arranged on the guide shaft.

9. The chassis for a mobile robot according to claim 8, characterized in that: The shock absorbing mechanism further comprises a limiting member, which is fixed to both ends of the guide shaft and is arranged on a side of the second hinge away from the elastic buffer member.

10. A mobile robot, characterized in that: The invention comprises a chassis for a mobile robot as claimed in any one of claims 1 to 9.

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