Autonomous mobile devices

Abstract

The present application relates to the field of warehousing and logistics technology, and in particular to an autonomous mobile device. The autonomous mobile device includes a base plate, a first wheel set and a second wheel set, and the first wheel set and the second wheel set are respectively arranged at both ends of the base plate. The first wheel set includes a suspension mechanism, a first differential wheel set and a first universal wheel, and the suspension mechanism is installed on the base plate. The suspension mechanism includes a first mounting portion and a second mounting portion, the first differential wheel set is arranged on the first mounting portion, and the first universal wheel is arranged on the second mounting portion. The second wheel set includes a second differential wheel set and a second universal wheel, and the second differential wheel set and the second universal wheel are respectively connected to the base plate. The above-mentioned autonomous mobile device adopts a driving scheme of two differential wheel sets and two universal wheels, which greatly reduces the production cost.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to an autonomous mobile device. Background Art

[0002] With the increasing development of the logistics industry, the transportation and storage of goods require more considerations. Warehouses usually store a large amount of goods. In order to reduce the labor cost in the logistics process, more and more logistics companies are using autonomous mobile robots (AMR), also known as AMR carts, to replace manual handling to achieve the transfer of goods. AMR carts can achieve long-term online work, which can undoubtedly achieve efficient operation results.

[0003] The current AMR car is usually an unmanned guided robot. The chassis is the walking mechanism that realizes its movement. In order to achieve more flexible cargo handling, the current chassis is an omnidirectional chassis, that is, it can achieve omnidirectional movement. The chassis of the existing AMR car usually includes four drive wheel modules. The price of the drive wheel module is relatively high. The use of four drive wheel modules will undoubtedly lead to a high cost for the entire chassis. Utility Model Content

[0004] The present application provides an autonomous mobile device.

[0005] The present application provides an autonomous mobile device, comprising a base plate, a first wheel set and a second wheel set, wherein the first wheel set and the second wheel set are respectively arranged at both ends of the base plate. The first wheel set comprises a suspension mechanism, a first differential wheel set and a first universal wheel, wherein the suspension mechanism is mounted on the base plate, the suspension mechanism comprises a first mounting portion and a second mounting portion, the first differential wheel set is arranged on the first mounting portion, and the first universal wheel is arranged on the second mounting portion. The second wheel set comprises a second differential wheel set and a second universal wheel, wherein the second differential wheel set and the second universal wheel are respectively connected to the base plate.

[0006] In some optional examples, the first differential wheel set, the first universal wheel, the second differential wheel set and the second universal wheel are arranged in sequence along the circumference of the substrate, the first differential wheel set and the second differential wheel set are arranged diagonally, and the first universal wheel and the second universal wheel are arranged diagonally.

[0007] In some optional examples, the suspension mechanism includes a cantilever and a rotating connection assembly, the first mounting portion and the second mounting portion are respectively arranged at both ends of the cantilever, the rotating connection assembly is arranged between the first mounting portion and the second mounting portion, and the cantilever is rotatably connected to the substrate through the rotating connection assembly so that the cantilever can rotate around a first axis relative to the substrate, and the first axis is parallel to the plane where the substrate is located.

[0008] In some optional examples, the rotating connection assembly includes a first rotating pin, a fixed seat and a limiting portion, the fixed seat is connected to the substrate, the cantilever is rotatably connected to the fixed seat through the first rotating pin, and the limiting portion is arranged on the fixed seat and is located on the rotation path of the cantilever relative to the fixed seat.

[0009] In some optional examples, the limiting portion limits the rotation angle range of the cantilever relative to the fixing seat to be greater than or equal to 0° and less than or equal to 10°.

[0010] In some optional examples, the first differential wheel set includes a mounting seat, a first drive wheel and a second drive wheel. The mounting seat is rotatably connected to the first mounting portion and can rotate around a second axis relative to the base plate, and the second axis intersects with the plane where the base plate is located; the first drive wheel and the second drive wheel are respectively connected to both ends of the mounting seat.

[0011] In some optional examples, the first driving wheel includes a first roller and a first driving member, the first driving member is connected to the mounting seat, and the first roller is transmission-connected to the first driving member; the second driving wheel includes a second roller and a second driving member, the second driving member is connected to the mounting seat, and the second roller is transmission-connected to the second driving member.

[0012] In some optional examples, the mounting base includes a first mounting member, a second mounting member and a second rotating pin, the first mounting member is rotatably connected to the first mounting member, the first driving wheel and the second driving wheel are respectively connected to the two ends of the second mounting member, the second mounting member is rotatably connected to the first mounting member through the second rotating pin, and the axis of rotation of the second mounting member relative to the first mounting member is parallel to the plane where the substrate is located.

[0013] In some optional examples, the first differential wheel set also includes a bearing, the bearing includes an inner ring and an outer ring, the inner ring is connected to the first mounting portion, the outer ring is rotatably connected to the outer periphery of the inner ring, and the mounting seat is connected to the outer ring; the first differential wheel set also includes an encoder, the encoder is connected to the mounting seat and meshes with the outer ring.

[0014] In some optional examples, the first differential wheel set includes a differential steering wheel, the differential steering wheel includes a third roller and a third driving member, the third roller is transmission-connected to the third driving member, the third driving member is connected to the first mounting portion, and the third driving member is a motor with an encoder.

[0015] In some optional examples, the substrate includes a main body, a first connecting part and a second connecting part, the first connecting part and the second connecting part are arranged on the main body at intervals from each other and are located at the same end of the main body, the second differential wheel set is connected to the first connecting part, and the second universal wheel is connected to the second connecting part.

[0016] Compared with the prior art, the autonomous mobile device provided by the present application adopts a driving scheme of a first differential wheel set, a second differential wheel set, a first universal wheel and a second universal wheel, that is, a driving scheme of two differential wheel sets and two universal wheels, which greatly reduces the production cost. The combination of two differential wheel sets and two universal wheels has a good load-bearing capacity and a lower mounting surface compared to the steering wheel drive scheme, which can reduce the height of the autonomous mobile device to adapt to more application scenarios. The suspension mechanism allows all four wheels of the autonomous mobile device to touch the ground, reducing the problem of skidding in mid-air. The first differential wheel set and the first universal wheel share a set of suspension mechanisms, which is simple in structure and further reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a schematic diagram of the exploded structure of an autonomous mobile device provided in one embodiment of the present application.

[0019] Figure 2 yes Figure 1 Schematic diagram of the exploded structure of the first wheel group of the autonomous mobile device shown.

[0020] Figure 3 yes Figure 2 A schematic cross-sectional structure diagram of the first wheel assembly is shown.

[0021] Figure 4 yes Figure 3 Magnified view of the middle P region.

[0022] Figure 5 yes Figure 2 A simplified schematic diagram of the structure of a first wheel group and a second wheel group of the autonomous mobile device is shown.

[0023] Figure 6 yes Figure 2 A schematic diagram of the exploded structure of the first differential wheel set of the first wheel set is shown.

[0024] Figure 7 yes Figure 6 A schematic diagram of the exploded structure of the first differential wheel set from another perspective is shown.

[0025] Figure 8 yes Figure 2 A schematic structural diagram of another embodiment of the first wheel set is shown.

[0026] Explanation of reference numerals: 100, autonomous mobile device; 10, base plate; 12, main body; 121, first end; 123, second end; 14, first connecting portion; 16, second connecting portion; 20, body; 30, first wheel set; 32, suspension mechanism; 321, first mounting portion; 323, second mounting portion; 325, cantilever; 327, rotating connecting assembly; 3272, first rotating pin; 3274, fixing seat; 3275, top plate; 3273, side plate; 3276, limiting portion; 33, differential steering wheel; 332, third roller; 334, third driving member; 34, first A differential wheel set; 341, a mounting seat; 3412, a first mounting member; 3414, a second mounting member; 3416, a second rotating pin; 343, a first driving wheel; 3432, a first roller; 3434, a first driving member; 3436, a first reducer; 345, a second driving wheel; 3452, a second roller; 3454, a second driving member; 3456, a second reducer; 347, a bearing; 3472, an inner ring; 3474, an outer ring; 349, an encoder; 36, a first universal wheel; 50, a second wheel set; 52, a second differential wheel set; 54, a second universal wheel. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0028] If certain words are used in the specification and claims to refer to specific components, those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. The specification and claims do not use differences in names as a way to distinguish components, but use differences in components' functions as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to"; "substantially" means that those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0029] See also Figure 1, an embodiment of the present application provides an autonomous mobile device 100. This specification does not limit the specific type of the autonomous mobile device 100. The autonomous mobile device 100 can be a self-moving vehicle, such as an automated guided vehicle (AGV), an intelligent mobile transport flatbed vehicle (IMV), etc. The autonomous mobile device 100 can also be a self-moving robot, such as an autonomous mobile robot (AMR), an artificial intelligence transport robot (ART). In this embodiment, the autonomous mobile device 100 is an autonomous mobile robot, also known as an AMR vehicle. The autonomous mobile device 100 can be applied to industries such as logistics, warehousing, processing and manufacturing, and complete activities including warehousing, picking, packaging and transportation.

[0030] In this embodiment, the autonomous mobile device 100 may include a base plate 10, a first wheel set 30 and a second wheel set 50, and the first wheel set 30 and the second wheel set 50 are respectively arranged at both ends of the base plate 10. Among them, the first wheel set 30 may include a suspension mechanism 32, a first differential wheel set 34 and a first universal wheel 36. The suspension mechanism 32 is installed on the base plate 10, and the suspension mechanism 32 may include a first mounting portion 321 and a second mounting portion 323. The first differential wheel set 34 is arranged on the first mounting portion 321, and the first universal wheel 36 is arranged on the second mounting portion 323. The second wheel set 50 includes a second differential wheel set 52 and a second universal wheel 54, and the second differential wheel set 52 and the second universal wheel 54 are respectively connected to the base plate 10.

[0031] The autonomous mobile device 100 adopts a driving scheme of a first differential wheel set 34, a second differential wheel set 52, a first universal wheel 36 and a second universal wheel 54, that is, a driving scheme of two differential wheel sets and two universal wheels, which greatly reduces the production cost. The combination of two differential wheel sets and two universal wheels has a good load-bearing capacity and a lower mounting surface than the steering wheel driving scheme, which can reduce the height of the autonomous mobile device 100 to adapt to more application scenarios. The suspension mechanism 32 allows all four wheels of the autonomous mobile device 100 to touch the ground, reducing the problem of suspended slippage. The first differential wheel set 34 and the first universal wheel 36 share a set of suspension mechanisms 32, which is simple in structure and further reduces costs.

[0032] In this application, unless otherwise clearly specified or limited, the terms "installed", "connected", "connected", "fixed" and the like 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, it can be internal communication between two elements, or it can be only surface contact. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] In some embodiments, the autonomous mobile device 100 may further include a body 20, which may be disposed on a side of the base plate 12 away from the first wheel set 30 and the second wheel set 50. The body 20 may be a transport platform (such as a lifting plate), or may be a mechanical arm or other structure of a robot.

[0034] In this embodiment, the substrate 10 is used to install the first wheel set 30 and the second wheel set 50. If the autonomous mobile device 100 also includes a body, the substrate 10 is also used to install the body. The substrate 10 may include a body 12, a first connecting portion 14, and a second connecting portion 16. The body 12 is generally in the shape of a rectangular shell, and a plurality of mounting grooves, mounting holes, and other structures may be provided on the body 12 to install part of the structure of the body, such as a battery, a control module, and the like. The body 12 has a first end 121 and a second end 123 that are opposite to each other, and the first end 121 and the second end 123 are arranged along a first direction X, wherein the first direction X is the length direction of the body 12. The first end 121 may be the front of the autonomous mobile device 100, or the rear of the autonomous mobile device 100. In this embodiment, the first end 121 is the front of the autonomous mobile device 100.

[0035] The first connection portion 14 and the second connection portion 16 are both disposed at the second end 123 of the body 12, and the first connection portion 14 and the second connection portion 16 are used to mount the second differential wheel set 52 and the second universal wheel 54, respectively. The first connection portion 14 and the second connection portion 16 are arranged at intervals from each other along the second direction Y, and the second direction Y intersects (e.g., is perpendicular to) the first direction X, and the second direction Y is the width direction of the body 12. This specification does not limit the specific structure of the first connection portion 14 and the second connection portion 16. Taking the first connection portion 14 as an example, the first connection portion 14 can be a structure such as a mounting block or a mounting seat connected to the body 12, or a structure such as a mounting groove or a connecting hole disposed at the bottom of the body 12. In this embodiment, the first connection portion 14 is an installation notch provided at the bottom of the body 12 (the side of the body 12 facing the second wheel set 50), and the first connection portion 14 is recessed relative to the bottom of the body 12 to facilitate the installation of the second differential wheel set 52 or the second universal wheel 54, so that the overall center of gravity and height of the chassis of the autonomous mobile device 100 are lower, which not only runs stably but also can adapt to low and small space operations. The structure of the second connection portion 16 is substantially the same as that of the first connection portion 14, and will not be repeated here.

[0036] In the description of the present application, it should be understood that terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", and "inside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only used to simplify the description of the present application and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present application.

[0037] Please also see Figure 1 and Figure 2 In this embodiment, the first wheel set 30 is disposed at the first end 121, and the suspension mechanism 32 is connected to the first end 121, which is used to solve the problem that the wheels of the autonomous mobile device 100 are suspended when used on uneven ground. The suspension mechanism 32 may include a cantilever 325, a rotating connection assembly 327, and the above-mentioned first mounting portion 321 and second mounting portion 323. The cantilever 325 is rotatably connected to the body 12 through the rotating connection assembly 327, so that the cantilever 325 can rotate relative to the body 12 around the first axis A1, and the first axis A1 is substantially parallel to the plane where the body 12 is located. In this embodiment, the direction of the first axis A1 is substantially the same as the first direction X.

[0038] The cantilever 325 has a length direction, and the length direction is extended along the second direction Y. The first mounting portion 321 and the second mounting portion 323 are respectively arranged at the two ends of the cantilever 325. The present specification does not limit the specific structure of the first mounting portion 321 and the second mounting portion 323. The specific structure of the first mounting portion 321 and the second mounting portion 323 can be adaptively adjusted according to the structure of their connection. For example, the first mounting portion 321 is used to mount the first differential wheel set 34, and the structure of the first mounting portion 321 can be adaptively adjusted according to the structure of the first differential wheel set 34; the second mounting portion 323 is used to mount the first universal wheel 36, and the structure of the second mounting portion 323 can be adaptively adjusted according to the structure of the first universal wheel 36.

[0039] When the autonomous mobile device 100 is traveling on an uneven ground, the cantilever 325 can rotate around the first axis A1 relative to the body 12, and the first differential wheel set 34 and the first universal wheel 36 can move up and down under the action of the suspension mechanism 32 to better adapt to the height changes of the ground, ensure good contact with the ground, and alleviate the phenomenon of some wheels slipping or being suspended.

[0040] This specification does not limit the specific position of the suspension mechanism 32. For example, in other embodiments, the suspension mechanism 32 may also be disposed at the second end 123, and the second differential wheel set 52 and the second steering wheel 54 are respectively connected to the two ends of the cantilever 325, and the first connecting portion 14 and the second connecting portion 16 may both be disposed at the first end 121.

[0041] Please also see Figure 2 , Figure 3 and Figure 4 In this embodiment, the rotating connection assembly 327 is roughly arranged in the middle of the cantilever 325, between the first mounting portion 321 and the second mounting portion 323. The rotating connection assembly 327 may include a first rotating pin 3272, a fixing seat 3274 and a limiting portion 3276. The fixing seat 3274 may include a top plate 3275 and two side plates 3273. The top plate 3275 is roughly parallel to the plane where the body 12 is located. The top plate 3275 is connected to the body 12, for example, fixedly connected to the body 12 by screws. The two side plates 3273 are connected to both sides of the top plate 3275 and are arranged opposite to each other in the first direction X. The top plate 3275 and the two side plates 3273 of the fixing seat 3274 form a nested structure, which is sleeved outside the cantilever 325. The two side plates 3273 are located outside the two sides of the cantilever 325 to clamp the cantilever 325. The structure of the fixing seat 3274 can ensure the stability of the installation of the cantilever 325 and reduce the overall height.

[0042] The first rotation pin 3272 is inserted through the cantilever 325 of the two side plates 3273. Specifically, a through hole for the first rotation pin 3272 to be inserted is provided in the middle of the cantilever 325, and the first rotation pin 3272 is rotatably inserted through the through hole. When the heights of the two ends of the cantilever 325 (the distance between the two ends of the cantilever 325 and the ground when the autonomous mobile device 100 is in use) are approximately the same, the cantilever 325 and the top plate 3275 are approximately parallel and spaced apart to facilitate the cantilever 325 to rotate relative to the fixing seat 3274.

[0043] Therefore, in this embodiment, the cantilever 325 and the fixed seat 3274 are in an articulated relationship. The above-mentioned structural articulation design enables the cantilever 325 to swing left and right at a small angle (that is, the first differential wheel set 34 and the first universal wheel 36 swing up and down at a small angle), ensuring that the first differential wheel set 34 and the first universal wheel 36 are always in contact with the ground on uneven roads, preventing suspension and slipping caused by uneven ground, and allowing the autonomous mobile equipment 100 to travel smoothly and safely.

[0044] The limiting portion 3276 is provided on the fixed seat 3274 and is located on the rotation path of the cantilever 325 relative to the fixed seat 3274. The limiting portion 3276 is used to limit the angular range of the cantilever 325 relative to the fixed seat 3274. The specific structure of the limiting portion 3276 in this specification can be a limiting column, a limiting block, or a limiting surface. In this embodiment, the limiting portion 3276 is a limiting inclined surface provided on the top plate 3275. The limiting portion 3276 is provided on the side of the top plate 3275 facing the cantilever 325, and the limiting portion 3276 is inclined relative to the second direction Y. There are two limiting portions 3276, and the two limiting portions 3276 are located on both sides of the first rotating pin 3272 and are symmetrically arranged with respect to the first rotating pin 3272. When the cantilever 325 and the top plate 3275 are approximately parallel to one side of the cantilever 325 away from the top plate 3275 , the distance between the side of the limiting portion 3276 close to the first rotating pin 3272 and the cantilever 325 is smaller than the distance between the end of the limiting portion 3276 away from the first rotating pin 3272 and the cantilever 325 .

[0045] The cantilever 325 can rotate in two directions (clockwise and counterclockwise) relative to the fixed seat 3274, and the two limit portions 3276 are respectively located on the paths of the two directions of rotation. The cantilever 325 can rotate to abut against the limit portion 3276, and the limit portion 3276 limits the angle range of rotation of the cantilever 325 relative to the fixed seat 3274. This specification does not limit the specific angle of inclination of the limit portion 3276 relative to the second direction Y. The specific inclination angle of the limit portion 3276 can be adaptively adjusted according to the flatness of the bottom surface of the environment in which the autonomous mobile device 100 is used. For example, in this embodiment, the autonomous mobile device 100 is used in a scene with a ground flatness of 5%, and the limit portion 3276 limits the rotation angle range of the cantilever 325 relative to the fixed seat 3274 to: greater than or equal to 0° and less than or equal to 10°, and the angle between the limit portion 3276 and the second direction Y is 5°.

[0046] In other embodiments, the limiting portion 3276 can be realized by a limiting groove structure between the first rotating pin 3272 and the through hole of the cantilever 325. For example, the inner wall of the through hole is provided with a slide groove extending along the circumferential part, and the two ends of the slide groove are where the limiting portion 3276 is located. The first rotating pin 3272 has a protrusion, and the protrusion is embedded in the slide groove. When the cantilever 325 rotates relative to the first rotating pin 3272, the protrusion slides in the circumferential direction in the slide groove, and the two ends of the slide groove limit the protrusion of the first rotating pin 3272, so as to limit the angle range of rotation of the cantilever 325 relative to the fixed seat 3274.

[0047] Please refer again Figure 1 In this embodiment, the first differential wheel set 34 is connected to the first mounting portion 321 at the first end 121 of the substrate 10, and the first universal wheel 36 is connected to the second mounting portion 323 at the first end 121. The second differential wheel set 52 and the second universal wheel 54 are both arranged at the second end 123, and the two are arranged along the second direction Y. The first differential wheel set 34, the first universal wheel 36, the second differential wheel set 52 and the second universal wheel 54 are arranged in sequence along the circumference of the substrate 10, and the first differential wheel set 34 and the second differential wheel set 52 are arranged diagonally, and the first universal wheel 36 and the second universal wheel 54 are arranged diagonally. Since the substrate 10 in this embodiment is roughly rectangular, as shown in FIG. Figure 5 As shown, the first differential wheel set 34, the first universal wheel 36, the second differential wheel set 52 and the second universal wheel 54 are respectively located at the four corners of the substrate 10, and the first differential wheel set 34 and the second differential wheel set 52 are on the diagonal line of the rectangular substrate 10, and the first universal wheel 36 and the second universal wheel 54 are also on the diagonal line of the rectangular substrate 10.

[0048] The first differential wheel set 34, the first universal wheel 36, the second differential wheel set 52 and the second universal wheel 54 are arranged diagonally, which can provide the driving force required by the autonomous mobile device 100 with a certain load capacity (for example, 3T load) while ensuring the operating stability of the autonomous mobile device 100.

[0049] Please also see Figure 2 and Figure 6 In this embodiment, the first differential wheel set 34 may include a mounting seat 341, a first drive wheel 343 and a second drive wheel 345. The mounting seat 341 is rotatably connected to the first mounting portion 321 and can rotate relative to the substrate 10 around the second axis A2, and the second axis A2 intersects with the plane where the substrate 10 is located. The second axis A2 extends along a third direction Z, and the third direction Z intersects (for example, is perpendicular to) the first direction X and the second direction Y. In this embodiment, the third direction Z is the substrate 10 (such as Figure 1 The first driving wheel 343 and the second driving wheel 345 are respectively connected to the two ends of the mounting seat 341. The differential motion of the first driving wheel 343 and the second driving wheel 345 enables the mounting seat 341 to rotate relative to the first mounting portion 321, thereby providing steering for the entire autonomous mobile device 100.

[0050] The mounting seat 341 may include a first mounting member 3412, a second mounting member 3414, and a second rotation pin 3416. The first mounting member 3412 is rotatably connected to the first mounting portion 321. The second mounting member 3414 is rotatably connected to the first mounting member 3412 through the second rotation pin 3416. The axis of rotation of the second mounting member 3414 relative to the first mounting member 3412 is parallel to the plane where the substrate 10 is located. In this embodiment, when the first driving wheel 343 and the second driving wheel 345 do not have a differential motion to rotate the mounting seat 341 relative to the first mounting portion 321, the axis of rotation of the second mounting member 3414 relative to the first mounting member 3412 is substantially extended along the second direction Y.

[0051] The present specification does not limit the specific manner of the rotational connection between the first mounting member 3412 and the first mounting portion 321. For example, the first mounting member 3412 and the first mounting portion 321 may be connected via a bearing. In this embodiment, the first differential wheel set 34 further includes a bearing 347, and the bearing 347 includes an inner ring 3472 and an outer ring 3474. The inner ring 3472 may be fixedly connected to the first mounting portion 321, and the outer ring 3474 may be rotatably connected to the outer periphery of the inner ring 3472 via a ball bearing. The first mounting member 3412 may be fixedly connected to the outer ring 3474. In order to adapt to the shape of the outer ring 3474, in this embodiment, the first mounting portion 321 is generally annular, and the first mounting portion 321 and the outer ring 3474 may be connected via bolts, and the first mounting portion 321 does not contact the inner ring 3472, so as not to affect the relative rotation between the inner ring 3472 and the outer ring 3474.

[0052] The second mounting member 3414 may be provided with a mounting block for mounting the second rotating pin 3416. The second rotating pin 3416 may include a single relatively long pin shaft or two relatively short pin shafts. In this embodiment, the second rotating pin 3416 includes two relatively short pin shafts, and the two pin shafts are respectively connected to the two ends of the second mounting member 3414 (e.g., the mounting blocks connected to the second mounting member 3414). The first mounting member 3412 may also be provided with a matching block for rotationally matching with the second rotating pin 3416. The second rotating pin 3416 is rotatably connected to the first mounting member 3412.

[0053] The first driving wheel 343 and the second driving wheel 345 are connected to the two ends of the second mounting member 3414, respectively, and the second rotating pin 3416 is located between the first driving wheel 343 and the second driving wheel 345. The first mounting member 3412 and the second mounting member 3414 are in an articulated relationship, and the second mounting member 3414 can swing left and right at a small angle (i.e., the first driving wheel 343 and the second driving wheel 345 can swing up and down at a small angle) through the above-mentioned structural articulation design, ensuring that the first driving wheel 343 and the second driving wheel 345 are always in contact with the ground on an uneven road surface, preventing suspension and slipping caused by uneven ground, and making the autonomous mobile device 100 travel and turn smoothly and safely.

[0054] In this embodiment, the first differential wheel set 34 further includes an encoder 349, which is connected to the mounting seat 341. The outer ring 3474 is configured in a gear shape, and the encoder 349 has a pinion gear meshing with the outer ring 3474. The encoder 349 is used to record the rotation angle between the mounting seat 341 and the first mounting portion 321, thereby recording the differential steering angle of the first driving wheel 343 and the second driving wheel 345, and providing steering data for the autonomous mobile device 100.

[0055] Please also see Figure 6 and Figure 7 The first driving wheel 343 may include a first roller 3432 and a first driving member 3434, the first driving member 3434 is connected to the second mounting member 3414, and the first roller 3432 is drivingly connected to the first driving member 3434. In this embodiment, the first driving member 3434 is a driving motor, and the first roller 3432 is connected to the output end of the first driving member 3434. In some embodiments, the first driving wheel 343 may also include a first reducer 3436, and the first reducer 3436 is connected between the first roller 3432 and the first driving member 3434.

[0056] The structure of the second driving wheel 345 is substantially the same as that of the first driving wheel 343. The second driving wheel 345 may also include a second roller 3452 and a second driving member 3454. The second driving member 3454 is connected to the second mounting member 3414 and is arranged with the first driving member 3434 along the axial direction of the second rotating pin 3416. The second roller 3452 is transmission-connected to the second driving member 3454. The second driving member 3454 is a driving motor. The second roller 3452 is connected to the output end of the second driving member 3454 and is located on the side of the mounting seat 341 away from the first roller 3432. The second driving wheel 345 may also include a second reducer 3456. The second reducer 3456 is connected between the second roller 3452 and the second driving member 3454.

[0057] When the autonomous mobile device 100 is traveling, the first driving member 3434 and the second driving member 3454 respectively drive the first roller 3432 and the second roller 3452 to move differentially, providing steering for the first differential wheel set 34. The hinged structure between the first mounting member 3412 and the second mounting member 3414 ensures that the first roller 3432 and the second roller 3452 can touch the ground at the same time. The encoder 349 records the differential steering angle and provides steering data.

[0058] In this embodiment, the first universal wheel 36 is connected to the second mounting portion 323. In order to adapt to the height of the first differential wheel set 34, the second mounting portion 323 can be provided as a mounting block with a certain height to compensate for the height difference between the first universal wheel 36 and the first differential wheel set 34 (such as Figure 2 The second differential wheel set 52 is connected to the first connection portion 14. The structure of the second differential wheel set 52 is substantially the same as that of the first differential wheel set 34, which will not be described in detail. For details, please refer to the above description of the first differential wheel set 34. The second universal wheel 54 is connected to the second connection portion 16.

[0059] See also Figure 8In other embodiments, the first differential wheel set 34 may include a differential steering wheel 33, the differential steering wheel 33 includes a third roller 332 and a third driving member 334, the third roller 332 is connected to the third driving member 334 by transmission, the third driving member 334 is connected to the first mounting portion 321, and the third driving member 334 is a motor with an encoder. Correspondingly, the second differential wheel set 52 has the same structure as the first differential wheel set 34, and the second differential wheel set 52 may also include a differential steering wheel. The differential steering wheel uses a motor with an encoder (the third driving member 334) instead of the above-mentioned encoder 349, so that the steering of the autonomous mobile device 100 becomes controllable, further reducing the complexity of the motion control of the autonomous mobile device 100.

[0060] When the autonomous mobile device 100 provided in the embodiment of the present application is driving, the first driving member 3434 and the second driving member 3454 respectively drive the first roller 3432 and the second roller 3452 to move differentially to provide steering for the first differential wheel set 34. The hinge structure between the first mounting member 3412 and the second mounting member 3414 ensures that the first roller 3432 and the second roller 3452 can touch the ground at the same time. The encoder 349 records the differential steering angle to provide steering data.

[0061] The autonomous mobile device 100 adopts a driving scheme of a first differential wheel set 34, a second differential wheel set 52, a first universal wheel 36 and a second universal wheel 54. Compared with the configuration of four drive wheel sets, the autonomous mobile device 100 provided by the present application saves costs while greatly reducing the complexity of motion control. The combination of two differential wheel sets and two universal wheels has a good load-bearing capacity and a lower mounting surface compared with the steering wheel drive scheme, which can reduce the height of the autonomous mobile device 100 to adapt to more application scenarios. The suspension mechanism 32 allows all four wheels of the autonomous mobile device 100 to touch the ground, reducing the problem of suspended slippage. The first differential wheel set 34 and the first universal wheel 36 share a set of suspension mechanisms 32, which is simple in structure and further reduces costs.

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents. However, these modifications or replacements do not drive the essence of the corresponding technical solutions out of the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An autonomous mobile device, characterized in that: It comprises a base plate, a first wheel group and a second wheel group, wherein the first wheel group and the second wheel group are respectively arranged at two ends of the base plate; The first wheel set includes a suspension mechanism, a first differential wheel set and a first universal wheel, the suspension mechanism is installed on the base plate, the suspension mechanism includes a first mounting portion and a second mounting portion, the first differential wheel set is arranged on the first mounting portion, and the first universal wheel is arranged on the second mounting portion; The second wheel set includes a second differential wheel set and a second universal wheel, and the second differential wheel set and the second universal wheel are respectively connected to the base plate.

2. The autonomous mobile device according to claim 1, characterized in that The first differential wheel set, the first universal wheel, the second differential wheel set and the second universal wheel are sequentially arranged along the circumference of the base plate, the first differential wheel set and the second differential wheel set are diagonally arranged, and the first universal wheel and the second universal wheel are diagonally arranged.

3. The autonomous mobile device according to claim 1, characterized in that The suspension mechanism includes a cantilever and a rotating connection component, the first mounting portion and the second mounting portion are respectively arranged at two ends of the cantilever, the rotating connection component is arranged between the first mounting portion and the second mounting portion, and the cantilever is rotatably connected to the substrate through the rotating connection component so that the cantilever can rotate around a first axis relative to the substrate, and the first axis is parallel to the plane where the substrate is located.

4. The autonomous mobile device according to claim 3, characterized in that The rotating connection assembly includes a first rotating pin, a fixed seat and a limiting portion, the fixed seat is connected to the base plate, the cantilever is rotatably connected to the fixed seat through the first rotating pin, and the limiting portion is arranged on the fixed seat and is located on the rotation path of the cantilever relative to the fixed seat.

5. The autonomous mobile device according to claim 4, characterized in that The limiting portion limits the cantilever to a rotation angle range relative to the fixing seat of greater than or equal to 0° and less than or equal to 10°.

6. The autonomous mobile device according to claim 1, characterized in that The first differential wheel set includes a mounting seat, a first drive wheel and a second drive wheel. The mounting seat is rotatably connected to the first mounting portion and can rotate around a second axis relative to the base plate, and the second axis intersects with the plane where the base plate is located; the first drive wheel and the second drive wheel are respectively connected to both ends of the mounting seat.

7. The autonomous mobile device according to claim 6, characterized in that The first driving wheel includes a first roller and a first driving member, the first driving member is connected to the mounting seat, and the first roller is connected to the first driving member by transmission; the second driving wheel includes a second roller and a second driving member, the second driving member is connected to the mounting seat, and the second roller is connected to the second driving member by transmission.

8. The autonomous mobile device according to claim 6, characterized in that The mounting seat includes a first mounting member, a second mounting member and a second rotating pin, the first mounting member is rotatably connected to the first mounting portion, the first driving wheel and the second driving wheel are respectively connected to two ends of the second mounting member, the second mounting member is rotatably connected to the first mounting member through the second rotating pin, and the axis of rotation of the second mounting member relative to the first mounting member is parallel to the plane where the substrate is located.

9. The autonomous mobile device according to claim 6, characterized in that The first differential wheel set also includes a bearing, the bearing includes an inner ring and an outer ring, the inner ring is connected to the first mounting portion, the outer ring is rotatably connected to the outer periphery of the inner ring, and the mounting seat is connected to the outer ring; the first differential wheel set also includes an encoder, the encoder is connected to the mounting seat and meshes with the outer ring.

10. The autonomous mobile device according to claim 1, characterized in that The first differential wheel set includes a differential steering wheel, and the differential steering wheel includes a third roller and a third driving member. The third roller is transmission-connected to the third driving member, and the third driving member is connected to the first mounting portion. The third driving member is a motor with an encoder.

11. The autonomous mobile device according to any one of claims 1 to 10, characterized in that: The base plate includes a body, a first connecting part and a second connecting part, wherein the first connecting part and the second connecting part are arranged on the body at intervals and located at the same end of the body, the second differential wheel set is connected to the first connecting part, and the second universal wheel is connected to the second connecting part.

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