Mobile robot

Abstract

The utility model provides a mobile robot, and relates to the technical field of robots. The mobile robot comprises a carrying seat, a floating suspension assembly, a supporting assembly and a power assembly, one of the front end portion and the rear end portion of the carrying seat serves as an adjusting portion, and the other one serves as a fixing portion; the floating suspension assembly comprises a suspension frame and two first supporting wheels, the suspension frame is pivoted to the bottom of the adjusting part through a pivoting shaft and detachably and fixedly connected to the adjusting part through a connecting structure, and the axial direction of the pivoting shaft is consistent with the front-back direction; the supporting assembly comprises two second supporting wheels; the power assembly is arranged on the carrying base, connected to at least one of the two first supporting wheels and the two second supporting wheels and used for driving the connected one to rotate and steer. The mobile robot can be switched to two different wheel trains by changing the connection state of the connection structure, can adapt to different road conditions, and can complete the performance test of the two wheel trains.

Description

Technical Field

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

[0002] After design, processing and assembly, all parts of a general chassis vehicle are fixed, and it only has a single wheel system. The single wheel system is applicable to a relatively single road condition, and its performance test requires designing and assembling chassis vehicles with multiple different wheel systems to complete the performance test of different wheel systems, which results in high testing costs. Utility Model Content

[0003] The utility model aims to provide a mobile robot to solve the technical problems that the existing mobile robots only have a single wheel system, are applicable to relatively single road conditions, and have high cost for performance testing of different wheel systems.

[0004] In order to solve the above problems, the utility model provides a mobile robot, comprising:

[0005] A carrier, one of the front end and the rear end of which is used as an adjusting portion and the other is used as a fixing portion;

[0006] A floating suspension assembly comprises a suspension frame and two first support wheels rotatably connected to the left and right sides of the suspension frame in a one-to-one correspondence, wherein the suspension frame is pivotally connected to the bottom of the adjustment portion through a pivot shaft and is detachably fixed to the adjustment portion through a connecting structure, wherein the axial direction of the pivot shaft is consistent with the front-rear direction;

[0007] The supporting assembly includes two second supporting wheels rotatably connected to the left and right sides of the fixing portion in a one-to-one correspondence; and

[0008] A power assembly is disposed on the carrier and connected to at least one of the two first support wheels and the two second support wheels, and is used for driving the connected one to rotate and turn.

[0009] Optionally, two hanging ears are fixedly provided at the bottom of the adjusting part, and the two hanging ears are provided with hanging holes; the hanging frame is provided with a through hole, the pivot shaft is passed through the through hole and its two ends both extend out of the through hole and are plugged into the two hanging holes one by one, wherein the pivot shaft and the through hole are rotatably plugged, and / or the two ends of the pivot shaft and the corresponding hanging holes are rotatably plugged.

[0010] Optionally, the connection structure includes an inserting hole provided on at least one of the hanging ears, a limiting hole provided on the hanging bracket, and a limiting pin inserted into the inserting hole and the limiting hole, wherein the axial direction of the limiting pin is consistent with the front-to-back direction.

[0011] Optionally, a left elastic buffer is connected between a left area of ​​the adjustment portion and a left area of ​​the suspension bracket, and a right elastic buffer is connected between a right area of ​​the adjustment portion and a right area of ​​the suspension bracket.

[0012] Optionally, the power assembly includes two first driving components arranged on the suspension frame, two second driving components arranged on the carrier, and a power supply component connected to the first driving components and the second driving components, wherein the driving ends of the two first driving components are connected to the two first support wheels one by one, and the driving ends of the two second driving components are connected to the two second support wheels one by one.

[0013] Optionally, the carrier is provided with a navigation obstacle avoidance component and a control component, and the navigation obstacle avoidance component, the first driving component and the second driving component are all connected to the control component.

[0014] Optionally, the carrier is provided with an emergency stop button, and the emergency stop button is connected to the control component.

[0015] Optionally, a first edge and a second edge are provided on the outer periphery of the carrier, the first edge is located above the second edge, and the projection of the first edge toward the second edge completely covers the second edge, the navigation obstacle avoidance component is carried on the second edge, and the emergency stop button is arranged on the top of the first edge.

[0016] Optionally, a main accommodating groove with an upward notch is provided in the carrier, and the main accommodating groove includes a first accommodating area, a second accommodating area and a third accommodating area in sequence along the direction from the adjusting portion to the fixing portion, and the bottom of the carrier is partially concave in an area corresponding to the first accommodating area to form a bottom auxiliary accommodating groove, and the bottom auxiliary accommodating groove is through-set on a side away from the second accommodating area, and a portion of the first driving component extending out of the suspension bracket is accommodated in the bottom auxiliary accommodating groove;

[0017] The control component is accommodated in the first accommodating area, the power supply component is accommodated in the second accommodating area, the groove bottom of the third accommodating area is provided with an accommodating hole, and the part of the second driving component away from the corresponding second support wheel passes through the accommodating hole and is accommodated in the third accommodating area.

[0018] Optionally, the carrier is provided with a laser pen.

[0019] The mobile robot provided by the utility model can realize the switching of two wheel systems by changing the connection structure of the suspension frame to the adjustment part. During use, when the road condition is relatively smooth, the connection structure can be adjusted to a fixed connection state, and the mobile robot is a four-point support wheel system. The power component is started to drive the corresponding first support wheel or second support wheel to rotate and rotate, and the mobile robot has high movement stability and speed on a flat road surface. When the road condition is relatively poor, the connection structure can be adjusted to a dismantled state, and the mobile robot is a three-point support wheel system. The floating suspension component can adapt to the unevenness of the road surface to perform floating vibration reduction, thereby improving the movement stability of the mobile robot.

[0020] Similarly, when the mobile robot is used for performance testing, the mobile robot can be placed in a test scene, and the mobile robot can be adjusted to a three-point support wheel system or a four-point support wheel system by changing the connection state of the connection structure. The power component is started to drive the corresponding first support wheel or second support wheel to rotate and turn, and the mobile robot moves forward, backward or turns accordingly, thereby realizing the switching of the two wheel systems and performance testing at a lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A first-person perspective axonometric diagram of a mobile robot provided by an embodiment of the utility model;

[0023] Figure 2 A second perspective axonometric diagram of the mobile robot provided by an embodiment of the utility model;

[0024] Figure 3 A top view of a mobile robot provided by an embodiment of the utility model;

[0025] Figure 4 A bottom view of the mobile robot provided by an embodiment of the utility model;

[0026] Figure 5 A right side view of the mobile robot provided by an embodiment of the utility model;

[0027] Figure 6 An axonometric view of a carrier in a mobile robot provided in an embodiment of the utility model;

[0028] Figure 7A schematic diagram of a first driving component connected to a floating suspension assembly in a mobile robot provided by an embodiment of the utility model;

[0029] Figure 8 A schematic diagram of a suspension frame in a mobile robot provided by an embodiment of the utility model;

[0030] Fig. 9 A schematic diagram of the second supporting wheel and the second driving component in the mobile robot provided by an embodiment of the utility model being connected to a connecting frame.

[0031] Description of reference numerals:

[0032] 100-carrier; 110-adjustment part; 111-hanging ear; 111a-hanging hole; 112a-plug hole; 112-upper left connecting ear; 113-upper right connecting ear; 120-fixing part; 130-first surrounding edge; 140-second surrounding edge; 150-main accommodating groove; 151-first accommodating area; 151a-bottom auxiliary accommodating groove; 152-second accommodating area; 153-third accommodating area; 153a-accommodating hole; 160-positioning bracket; 171-side block; 173-upper block; 174-lower pad; 180-mounting seat; 190-third surrounding edge; 191-side auxiliary accommodating groove; 200-floating suspension assembly; 210-suspension frame; 211-through hole; 212-limit Position hole; 213-limit pin; 214-lower left connecting ear; 215-lower right connecting ear; 220-first support wheel; 230-pivot shaft; 240-bearing; 250-washer; 300-support assembly; 310-second support wheel; 320-connecting frame; 410-first drive component; 420-second drive component; 430-power supply component; 431-battery; 432-charging brush plate; 433-electrical control component; 441-motor; 441a-housing; 441b-driver; 442-reducer; 510-left elastic buffer; 520-right elastic buffer; 600-navigation obstacle avoidance component; 700-control component; 800-emergency stop button; 900-laser pen. DETAILED DESCRIPTION

[0033] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] This embodiment provides a mobile robot, such as Figure 1-Figure 5 As shown, it includes a carrier 100, a floating suspension component 200, a support component 300 and a power component, wherein one of the front end and the rear end of the carrier 100 serves as an adjusting portion 110 and the other serves as a fixing portion 120; the floating suspension component 200 includes a suspension frame 210 and two first support wheels 220 rotatably connected to the left and right sides of the suspension frame 210 in a one-to-one manner, the suspension frame 210 is pivotally connected to the bottom of the adjusting portion 110 through a pivot shaft 230 and is detachably fixed to the adjusting portion 110 through a connecting structure, wherein the axial direction of the pivot shaft 230 is consistent with the front-to-back direction; the support component 300 includes two second support wheels 310 rotatably connected to the left and right sides of the fixing portion 120 in a one-to-one manner; the power component is arranged on the carrier 100 and connected to at least one of the two first support wheels 220 and the two second support wheels 310, and is used to drive the connected one to rotate and turn.

[0037] The mobile robot provided in this embodiment can switch between the two wheel systems by changing the connection structure of the suspension frame 210 to the adjustment part 110. Specifically, when the suspension frame 210 is fixed to the adjustment part 110 through the connection structure, the suspension frame 210 is relatively fixed to the carrier 100. Accordingly, the two first support wheels 220 and the two second support wheels 310 are all stably supported at the bottom of the carrier 100, forming a four-point support wheel system. The four-point support wheel system has high movement stability but weak vibration reduction effect. When the connection structure is removed, the suspension frame 210 can rotate left and right relative to the carrier 100 around the pivot shaft 230, then the two first support wheels 220 and the suspension frame 210 can be simplified to one support point, and the two second support wheels 310 are stably supported at the bottom of the carrier 100, forming a three-point support wheel system as a whole. The floating suspension component 200 of the three-point support wheel system can adapt to the uneven trend of the road surface and rotate accordingly, and has a better vibration reduction effect.

[0038] During use, when the road condition is relatively smooth, the connection structure can be adjusted to a fixed connection state, the mobile robot is a four-point support wheel system, and the power assembly is started to drive the corresponding first support wheel 220 or the second support wheel 310 to rotate and rotate, and the mobile robot has high movement stability and speed on a flat road surface; when the road condition is relatively poor, the connection structure can be adjusted to a dismantled state, the mobile robot is a three-point support wheel system, and the floating suspension assembly 200 can adapt to the unevenness of the road surface for floating vibration reduction, thereby improving the movement stability of the mobile robot.

[0039] Similarly, when the mobile robot is used for performance testing, the mobile robot can be placed in a test scene, and the mobile robot can be adjusted to a three-point support wheel system or a four-point support wheel system by changing the connection state of the connection structure. The power component is started to drive the corresponding first support wheel 220 or the second support wheel 310 to rotate and turn, and the mobile robot moves forward, backward or turns accordingly, thereby realizing the switching of the two wheel systems and performance testing at a lower cost.

[0040] The first support wheel 220 and the second support wheel 310 may be Mecanum wheels or omnidirectional wheels, so that the mobile robot can move in all directions and improve its mobility.

[0041] Optionally, in this embodiment, if Figure 1 and Figure 5As shown, two hanging ears 111 are fixedly provided at the bottom of the adjusting part 110, and the two hanging ears 111 are provided with hanging holes 111a; the hanging frame 210 is provided with a through hole 211, and the pivot shaft 230 is passed through the through hole 211, and both ends thereof extend out of the through hole 211 and are plugged into the two hanging holes 111a one by one, wherein the pivot shaft 230 and the through hole 211 are rotatably plugged. The hanging frame 210 realizes the hanging and rotating connection with the adjusting part 110 through the plug-in cooperation between the pivot shaft 230 and the two hanging holes 111a, wherein the pivot shaft 230 and the through hole 211 are rotatably plugged, and the two ends of the pivot shaft 230 and the corresponding hanging holes 111a can be rotatably plugged or fixedly plugged, and when the connection structure is in a disassembled state, the two first support wheels 220 can drive the hanging frame 210 to rotate around the pivot shaft 230 under the influence of the unevenness of the road surface, thereby realizing its floating vibration reduction. Specifically, a bearing 240 may be disposed in the through hole 211 , a washer 250 may be disposed on the inner ring of the bearing 240 , and the pivot shaft 230 may be inserted into the washer 250 , thereby realizing the rotational insertion of the pivot shaft 230 and the through hole 211 .

[0042] Of course, in addition to the above-mentioned limitation that the pivot shaft 230 and the through hole 211 are rotationally connected to achieve the suspension rotation connection between the floating suspension component 200 and the adjustment part 110, only the two ends of the pivot shaft 230 and the corresponding suspension hole 111a can be rotationally connected.

[0043] Specifically, in this embodiment, Figure 1 and Figure 8 As shown, the connection structure includes a plug-in hole 112a provided on at least one hanging ear 111, a limiting hole 212 provided on the hanging bracket 210, and a limiting pin 213 plugged into the plug-in hole 112a and the limiting hole 212, wherein the axial direction of the limiting pin 213 is consistent with the front-to-back direction. This is one specific form of the connection structure. When a three-point support gear train is required, the limit pin 213 can be pulled outward to release the connection state of the connection structure, and the suspension frame 210 can rotate left and right around the pivot axis 230 relative to the carrier 100; when a four-point support gear train is required, the limit pin 213 can be inserted into the limit hole 212 and the plug-in hole 112a. Since the axial direction of the limit pin 213 extends in the front-to-back direction, the relative rotation of the suspension frame 210 and the carrier 100 in the left and right directions is limited, thereby completing the locking of the suspension frame 210; the above-mentioned plug-in hole 112a, limit hole 212 and limit pin 213 are adopted, the structure is simple, and the switching convenience between the three-point support gear train and the four-point support gear train is relatively high.

[0044] Among them, the plug-in hole 112a can be set only in one of the hanging ears 111. When in use, the limit pin 213 is plugged into the single plug-in hole 112a and the limit hole 212 to achieve the locking of the suspension bracket 210 and the carrier 100; the plug-in holes 112a can also be set in both hanging ears 111. When in use, the limit pin 213 is plugged into the plug-in hole 112a, the limit hole 212 and the plug-in hole 112a in sequence, thereby achieving the locking of the suspension bracket 210 and the carrier 100.

[0045] In this embodiment, Figure 1 and Figure 4 As shown, a left elastic buffer 510 may be connected between the left area of ​​the adjustment part 110 and the left area of ​​the suspension frame 210, and a right elastic buffer 520 may be connected between the right area of ​​the adjustment part 110 and the right area of ​​the suspension frame 210. On the one hand, when the mobile robot adopts a three-point support wheel system or a four-point support wheel system, the left elastic buffer 510 and the right elastic buffer 520, both in a compressed state, can increase the pre-pressure of the first support wheel 220 and the second support wheel 310, so that they can maintain sufficient traction; on the other hand, when the mobile robot adopts a three-point support wheel system, during the process of the suspension frame 210 rotating left and right relative to the carrier 100, the left elastic buffer 510 and the right elastic buffer 520 will have a damping effect that hinders the rotation of the suspension frame 210, thereby improving the stability of the rotation of the suspension frame 210 relative to the carrier 100, further improving the vibration reduction effect, and improving the moving stability of the mobile robot.

[0046] Specifically, Figure 1 As shown, both the left elastic buffer 510 and the right elastic buffer 520 can be made of springs, wherein the left area of ​​the adjustment part 110 is provided with an upper left connecting ear 112, and the right area is provided with an upper right connecting ear 113, the left area of ​​the suspension frame 210 is provided with a lower left connecting ear 214, and the right area is provided with a lower right connecting ear 215, the top end of the left elastic buffer 510 is connected to the upper left connecting ear 112, and the bottom end is connected to the lower left connecting ear 214, the top end of the right elastic buffer 520 is connected to the upper right connecting ear 113, and the bottom end is connected to the lower right connecting ear 215.

[0047] In this embodiment, Figure 1 , Figure 2 and Figure 7As shown, the power assembly includes two first driving components 410 provided on the suspension frame 210, two second driving components 420 provided on the carrier 100, and a power supply component 430 connected to the first driving components 410 and the second driving components 420, wherein the driving ends of the two first driving components 410 are connected to the two first support wheels 220 in a one-to-one correspondence, and the driving ends of the two second driving components 420 are connected to the two second support wheels 310 in a one-to-one correspondence. The two first driving components 410 are used to drive the two first support wheels 220 respectively, and the two second driving components 420 are used to drive the two second support wheels 310 respectively, and the power supply assembly supplies power to the two first driving components 410 and the two second driving components 420, then the mobile robot is set to four-wheel drive, thereby improving the mobility performance of the mobile robot and realizing multi-scenario performance testing.

[0048] Specifically, Figure 4 and Figure 7 As shown, the first driving component 410 and the second driving component 420 may each include a motor 441 and a reducer 442, and the reducer 442 is drivingly connected between the motor 441 and the corresponding supporting wheels.

[0049] Alternatively, if Fig. 9 As shown, the mobile robot can also include two connecting frames 320, two second support wheels 310 are rotatably connected to the two connecting frames 320 in a one-to-one manner, and two second driving components 420 are installed on the two connecting frames 320 in a one-to-one manner and connected to the corresponding second support wheels 310. During assembly, the connecting frame 320, the second driving component 420 and the second support wheel 310 can be first formed into a fixed wheel group, and then the connecting frames 320 of the two fixed wheel groups can be fixedly connected to the left and right sides of the fixed part 120, respectively, thereby improving the assembly convenience of the second support wheel 310 and the second driving component 420, and ensuring the driving stability of the second driving component 420 on the second support part.

[0050] In this embodiment, Figure 1 and Figure 2As shown, the carrier 100 is provided with a navigation obstacle avoidance component 600 and a control component 700 , and the navigation obstacle avoidance component 600 , the first driving component 410 and the second driving component 420 are all connected to the control component 700 . When in use, the power component drives the first support wheel 220 and the second support wheel 310 to rotate and turn to drive the entire mobile robot to move. During the movement, the navigation and obstacle avoidance component 600 can obtain the parameters such as the orientation, height, posture, shape, distance, etc. of each object in the surrounding environment, and feed back the obtained parameter signal to the control component 700. The control component 700 establishes a surrounding environment contour map according to the received parameter signal. In the subsequent movement process, the navigation and obstacle avoidance component 600 can match the established surrounding environment contour map through the perceived environmental point cloud information, and then perform positioning according to the degree of matching; in addition to the above-mentioned navigation function, the control component 700 can also judge the distance between the mobile robot and the surrounding objects according to the distance signal fed back by the navigation and obstacle avoidance component 600. When the distance is small, the control component 700 controls the first drive component 410 and the second drive component 420 to close, slow down or drive the first support wheel 220 and the second support wheel 310 to turn, and correspondingly controls the mobile robot to stop moving, slow down or turn, thereby achieving the obstacle avoidance function and reducing the occurrence of collision damage during the movement of the mobile robot.

[0051] Optionally, in this embodiment, if Figure 1 and Figure 2 As shown, the carrier 100 is provided with an emergency stop button 800, and the emergency stop button 800 is connected to the control component 700. When the operator finds an abnormal situation during the movement of the mobile robot, the emergency stop button 800 can be pressed, and the emergency stop button 800 will feed back the emergency stop signal to the control component 700, and the control component 700 will control the closing of the first driving component 410 and the second driving component 420 accordingly, so that the mobile robot is emergency braked. Preferably, the emergency stop button 800 can be arranged on the top of the carrier 100, so that the operator can press the emergency stop button 800 downward to apply force.

[0052] Specifically, in this embodiment, Figure 1-Figure 6As shown, a first edge 130 and a second edge 140 are provided on the outer periphery of the carrier 100, the first edge 130 is located above the second edge 140, and the projection of the first edge 130 toward the second edge 140 completely covers the second edge 140, the navigation obstacle avoidance component 600 is carried on the second edge 140, and the emergency stop button 800 is arranged on the top of the first edge 130. The first edge 130 can be specifically arranged around the top of the carrier 100, and the emergency stop button 800 is located on the top surface of the first edge 130, so that the operator can press the emergency stop button 800; the first edge 130, the outer wall of the carrier 100 and the second edge 140 form an annular storage space, and the navigation obstacle avoidance component 600 is installed in the annular storage space. The first edge 130 and the second edge 140 can block and protect the navigation obstacle avoidance component 600 on both sides, and the navigation obstacle avoidance component 600 can detect objects in the surrounding environment through the outer opening of the annular storage space. At the same time, the first edge 130 completely blocks the second edge 140, which can block and protect the navigation obstacle avoidance component 600, the first support wheel 220, the second support wheel 310, etc. below it, and can improve the overall appearance of the mobile robot.

[0053] The two hanging ears 111, the upper left connecting ear 112 and the upper right connecting ear 113 can all be arranged at the bottom of the second peripheral edge 140. Specifically, the navigation obstacle avoidance component 600 can use a laser radar, and there are two navigation obstacle avoidance components 600, which are arranged at two opposite corners of the second peripheral edge 140.

[0054] Furthermore, in this embodiment, if Figure 6 As shown, a main accommodating groove 150 with a notch facing upward is provided in the carrier 100, and the main accommodating groove 150 includes a first accommodating area 151, a second accommodating area 152 and a third accommodating area 153 in sequence along the direction from the adjustment portion 110 to the fixing portion 120. The bottom of the carrier 100 is partially concave in the area corresponding to the first accommodating area 151 to form a bottom auxiliary accommodating groove 151a, and the bottom auxiliary accommodating groove 151a is through-set on one side away from the second accommodating area 152, as shown in FIG. Figure 4 As shown, the portion of the first driving component 410 extending out of the suspension bracket 210 is accommodated in the bottom auxiliary accommodation groove 151a; Figure 1 and Figure 3 As shown, the control component 700 is accommodated in the first accommodating area 151, the power supply component 430 is accommodated in the second accommodating area 152, the groove bottom of the third accommodating area 153 is provided with an accommodating hole 153a, and the second driving component 420 is accommodated in the third accommodating area 153 through the accommodating hole 153a away from the corresponding second support wheel 310.

[0055] Here is the arrangement of the components and parts in the carrier 100, wherein the top wall of the bottom auxiliary accommodating groove 151a can separate the first accommodating area 151 into two upper and lower accommodating chambers, wherein the control component 700 is installed in the accommodating chamber located at the upper part of the first accommodating area 151, and the housing portion 441a of the motor 441 in the two first driving components 410 is accommodated in the accommodating chamber located at the lower part of the first accommodating area 151 (i.e., the bottom auxiliary accommodating groove 151a); the power supply component 430 is accommodated in the second accommodating area 152; the bottom of the third accommodating area 153 can be provided with a larger accommodating chamber. The housing portion 441a of the motor 441 in the two second driving components 420 is located outside the connecting frame 320, and the housing portion 441a can pass through the corresponding housing hole 153a from bottom to top to extend into the third housing area 153, thereby realizing the arrangement of the control component 700, the housing portion 441a of the motor 441 in the first driving component 410, the power supply component 430 and the housing portion 441a of the motor 441 in the second driving component 420, thereby improving the structural compactness of the mobile robot and reducing the overall size.

[0056] Specifically, Figure 3 As shown, the control assembly 700 can be fixedly connected to the bottom wall of the first accommodating area 151 through the positioning bracket 160; Figure 1-Figure 3 As shown, the power supply component 430 may specifically include a battery 431 and an electrical control component 433 electrically connected to the battery 431. The battery 431 is fixed and limited by a side block 171, a front block, an upper block 173 and a lower pad 174 arranged in the second accommodating area 152, and is connected to each component for power supply through the electrical control component 433; when the battery 431 is a rechargeable battery, a mounting seat 180 may be provided on the side of the carrier 100, and a charging brush plate 432 may be installed on the mounting seat 180, the charging brush plate 432 is connected to the battery 431, and the battery 431 may be charged by connecting the charging brush plate 432 to an external power source; when the first driving component 410 and the second driving component 420 use a motor 441 and a reducer 442, the motor 441 may be controlled and connected to the control component 700 through the driver 441b.

[0057] Among them, Figure 1 and Figure 6 As shown, a third edge 190 may be further provided on one side or both sides of the carrier 100. The third edge 190, the second edge 140 and the side wall of the carrier 100 form a side auxiliary receiving groove 191, and the driver 441b of the first driving component 410 and the second driving component 420 may be accommodated in the side auxiliary receiving groove 191.

[0058] In this embodiment, Figure 1 and Figure 2As shown, the carrier 100 is provided with a laser pen 900. Specifically, the laser pen 900 can be set at the edge of the first peripheral edge 130. During the test, the control component 700 controls the mobile robot to stop at the target coordinate, and then uses the laser pen 900 to mark points and calculate the actual coordinates of the marked points, and the accuracy test of the mobile robot is completed by comparing the actual coordinates with the target coordinates.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A mobile robot, characterized in that: include: A carrier (100), wherein one of the front end and the rear end serves as an adjusting portion (110) and the other serves as a fixing portion (120); The floating suspension assembly (200) comprises a suspension frame (210) and two first support wheels (220) rotatably connected to the left and right sides of the suspension frame (210) in a one-to-one correspondence, wherein the suspension frame (210) is pivotally connected to the bottom of the adjustment portion (110) via a pivot shaft (230) and is detachably fixed to the adjustment portion (110) via a connecting structure, wherein the axial direction of the pivot shaft (230) is consistent with the front-rear direction; The supporting assembly (300) comprises two second supporting wheels (310) rotatably connected to the left and right sides of the fixing portion (120) in a one-to-one correspondence; and A power assembly is disposed on the carrier (100) and connected to at least one of the two first support wheels (220) and the two second support wheels (310), and is used to drive the connected one to rotate and turn.

2. The mobile robot according to claim 1, characterized in that: Two hanging ears (111) are fixedly provided at the bottom of the adjusting portion (110), and the two hanging ears (111) are both provided with a hanging hole (111a); the hanging frame (210) is provided with a through hole (211), the pivot shaft (230) is passed through the through hole (211), and both ends thereof extend out of the through hole (211) and are plugged into the two hanging holes (111a) one by one, wherein the pivot shaft (230) and the through hole (211) are rotatably plugged, and / or both ends of the pivot shaft (230) and the corresponding hanging holes (111a) are rotatably plugged.

3. The mobile robot according to claim 2, characterized in that: The connection structure comprises a plug-in hole (112a) provided on at least one of the hanging ears (111), a limiting hole (212) provided on the hanging frame (210), and a limiting pin (213) plugged into the plug-in hole (112a) and the limiting hole (212), wherein the axial direction of the limiting pin (213) is consistent with the front-rear direction.

4. The mobile robot according to claim 1, characterized in that: A left elastic buffer (510) is connected between the left area of ​​the adjustment part (110) and the left area of ​​the suspension frame (210), and a right elastic buffer (520) is connected between the right area of ​​the adjustment part (110) and the right area of ​​the suspension frame (210).

5. The mobile robot according to any one of claims 1 to 4, characterized in that: The power assembly comprises two first driving components (410) arranged on the suspension frame (210), two second driving components (420) arranged on the carrier (100), and a power supply component (430) connected to the first driving components (410) and the second driving components (420), wherein the driving ends of the two first driving components (410) are connected to the two first supporting wheels (220) in a one-to-one correspondence, and the driving ends of the two second driving components (420) are connected to the two second supporting wheels (310) in a one-to-one correspondence.

6. The mobile robot according to claim 5, characterized in that: The carrier (100) is provided with a navigation obstacle avoidance component (600) and a control component (700); the navigation obstacle avoidance component (600), the first driving component (410) and the second driving component (420) are all connected to the control component (700).

7. The mobile robot according to claim 6, characterized in that: The carrier (100) is provided with an emergency stop button (800), and the emergency stop button (800) is connected to the control component (700).

8. The mobile robot according to claim 7, characterized in that: The outer periphery of the carrier (100) is provided with a first peripheral edge (130) and a second peripheral edge (140), the first peripheral edge (130) is located above the second peripheral edge (140), and the projection of the first peripheral edge (130) toward the second peripheral edge (140) completely covers the second peripheral edge (140), the navigation obstacle avoidance component (600) is carried on the second peripheral edge (140), and the emergency stop button (800) is arranged on the top of the first peripheral edge (130).

9. The mobile robot according to claim 6, characterized in that: A main accommodating groove (150) with an upward notch is provided in the carrier (100); the main accommodating groove (150) includes a first accommodating area (151), a second accommodating area (152) and a third accommodating area (153) in sequence along the direction from the adjusting portion (110) toward the fixing portion (120); the bottom of the carrier (100) is partially concave in the area corresponding to the first accommodating area (151) to form a bottom auxiliary accommodating groove (151a); the bottom auxiliary accommodating groove (151a) is through-set on a side away from the second accommodating area (152); the portion of the first driving component (410) extending out of the suspension bracket (210) is accommodated in the bottom auxiliary accommodating groove (151a); The control component (700) is accommodated in the first accommodating area (151), the power supply component (430) is accommodated in the second accommodating area (152), the groove bottom of the third accommodating area (153) is provided with an accommodating hole (153a), and the second driving component (420) is accommodated in the third accommodating area (153) through the accommodating hole (153a) at a position away from the corresponding second supporting wheel (310).

10. The mobile robot according to any one of claims 1 to 4, characterized in that: The carrier (100) is provided with a laser pen (900).

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