Autonomous mobile robot

Abstract

The utility model provides an autonomous mobile robot, and relates to the technical field of robots. The autonomous mobile robot includes: a chassis; the working structure is arranged on the chassis; the shell assembly is arranged on the outer side of the chassis in a covering mode, the working structure is located between the shell assembly and the chassis, a notch can be formed in a partial area on the shell assembly through movement or disassembly, and the notch and the working structure are oppositely arranged; wherein the notch is located in the peripheral side of the shell assembly, and / or the notch is located in the top of the shell assembly. According to the autonomous mobile robot, the area which can be detached during maintenance operation is arranged on the shell assembly, so that a user can directly perform maintenance operation on the working structure in the shell assembly through the gap formed after detachment, and the technical effects of optimizing the structure of the shell assembly and reducing the maintenance difficulty and the maintenance cost of the autonomous mobile robot are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to an autonomous mobile robot. Background Art

[0002] At present, AMR (Autonomous Mobile Robot) carts have been widely used in industries such as logistics, warehousing, manufacturing, and medical care, which can help enterprises improve production efficiency, reduce costs, and enhance safety.

[0003] In related technologies, for AMR carts at the heavy-load level, since the AMR carts need to carry a large load, the weight of the AMR carts themselves is relatively heavy, and it is impossible to move or flip the AMR carts by manpower alone. Therefore, when maintaining the working structure on the chassis of the AMR cart, special tools such as gantry cranes, two-column lifts, and overhead cranes are required to lift the entire AMR cart and then perform operations under the chassis, or special tools are used to lift the entire outer shell of the AMR cart and then perform operations above the chassis.

[0004] However, at the customer site, there may not be special tools and fixed points for installing special tools, resulting in the technical problem of difficult maintenance of AMR carts. Summary of the Utility Model

[0005] The utility model aims to solve at least one of the technical problems existing in the prior art.

[0006] Therefore, the utility model provides an autonomous mobile robot.

[0007] In view of this, the utility model provides an autonomous mobile robot, which includes: a chassis; a working structure disposed on the chassis; and a housing assembly covering the outside of the chassis, and the working structure is located between the housing assembly and the chassis, and a part of the area on the housing assembly can form a gap through movement or disassembly, and the gap is disposed opposite to the working structure; wherein, the gap is located on the circumference of the housing assembly, and / or the gap is located on the top of the housing assembly.

[0008] In this technical solution, an autonomous mobile robot is defined, which includes a chassis, a working structure, and a housing assembly.

[0009] The chassis is the main frame structure of the autonomous mobile robot, and the chassis is used to provide positioning and support for other structures on the autonomous mobile robot, ensuring the working stability and reliability of the autonomous mobile robot.

[0010] The working structure is installed on the chassis. The working structure is used to implement various functions of the autonomous mobile robot. For example, the traveling function is realized through the wheel assembly in the working structure, the function of stacking goods is realized through the lifting assembly in the working structure, and the autonomous mobile robot can be used without being connected to a power source through the battery in the working structure.

[0011] The housing assembly is connected to the chassis, and the housing assembly wraps around the outside of the chassis and the working structure. The housing assembly forms the outer surface of the autonomous mobile robot. The housing assembly can resist external impacts for the chassis and the working structure, thereby providing protection for the chassis and the working structure, reducing the failure rate of the autonomous mobile robot. At the same time, the housing assembly can also prevent users from being injured by accidentally touching the working structure, thereby improving the safety of the autonomous mobile robot.

[0012] On this basis, some areas of the housing assembly proposed in this application are detachable structures. When maintaining the autonomous mobile robot, the user can form a gap that can expose part of the working structure on the housing assembly by disassembling the detachable structure on the housing assembly, so that the user can repair the working structure inside the housing assembly through the gap, or replace the working structure inside the housing assembly through the gap. After completing the maintenance operation, reinstall the removed part of the housing assembly to block the gap and restore the shielding and protection function of the housing assembly.

[0013] It can be seen that in this application, by setting an area on the housing assembly that can be removed during maintenance operations, the user can directly perform maintenance operations on the working structure inside the housing assembly through the gap formed after disassembly, thus eliminating the operation of lifting the entire autonomous mobile robot or lifting the housing assembly by special tools such as gantry cranes, two-column lifts, and overhead cranes. The autonomous mobile robot can complete maintenance operations without the aid of special tools, so as to solve the technical problem of difficult product maintenance in the related art. Furthermore, the technical effect of optimizing the structure of the housing assembly and reducing the maintenance difficulty and cost of the autonomous mobile robot is achieved.

[0014] In addition, the above-mentioned autonomous mobile robot provided by the present utility model may further have the following additional technical features:

[0015] In some technical solutions of the present utility model, optionally, the housing assembly includes: side shells located on the periphery of the chassis and surrounding the chassis; a top cover located on the top of the chassis; and a side ring located on the periphery of the chassis, with the side shells being located between the side ring and the top cover, and the side ring surrounding the chassis.

[0016] In this technical solution, the housing assembly includes side shells, a top cover and a side ring.

[0017] Among them, the side shells are connected to the chassis, surround the chassis on all sides, and can form shielding protection around the chassis.

[0018] The top cover is connected to the side shell and / or the chassis. After assembly, the top cover can cover the opening at the top of the side shell to form a shielding protection on the top of the chassis.

[0019] The side ring is installed on the side of the side shell facing away from the top cover. After assembly, the side ring surrounds the chassis on all sides. The side ring can provide shielding protection for the wheel body under the chassis to prevent the wheel body from being damaged by collision during travel, thereby reducing the failure rate of the autonomous mobile robot and achieving comprehensive protection for the autonomous mobile robot.

[0020] In some technical solutions of the present utility model, optionally, the working structure includes: a gear train assembly, and the gear train assembly is connected to the chassis; wherein, the top cover includes a cover plate, the cover plate is located on top of the gear train assembly, and the housing assembly can form a first notch by removing the cover plate, and the gear train assembly can pass through the first notch.

[0021] In this technical solution, the working structure includes a gear train assembly, and the gear train assembly includes a first bracket, a drive motor, and a wheel body. The wheel body includes a drive wheel and a universal wheel. The drive motor and the wheel body are installed on the first bracket. The first bracket is used to position and support the drive motor and the wheel body. The drive motor is used to drive the drive wheel to rotate, and the driven universal wheel cooperates with the drive wheel for follow-up steering, so that the autonomous mobile robot can autonomously travel in the site according to needs, thereby meeting the requirements for transporting and stacking goods.

[0022] Among them, the gear train assembly is assembled as a complete module. During the assembly process, the first bracket needs to be fixed on the chassis to synchronously complete the assembly of the gear train assembly.

[0023] On this basis, the top cover includes a detachable cover plate. After removing the cover plate from the top cover, a first notch can be formed on the top of the housing assembly, and the first notch can be passed through by the gear train assembly.

[0024] Therefore, during the assembly process, the gear train assembly can be installed from top to bottom through the first notch, without first lifting the chassis and installing the gear train assembly under the chassis, thereby reducing the assembly difficulty of the gear train assembly and improving the production efficiency of the autonomous mobile robot.

[0025] On the other hand, when the gear train assembly needs to be maintained, the user can directly perform maintenance operations or replacement operations on the inner gear train assembly from the first notch after removing the cover plate, without first lifting the autonomous mobile robot and performing maintenance under the chassis. Thus, the user can complete the maintenance operation of the gear train assembly without relying on special tools such as gantry cranes, two-column lifts, and overhead cranes, so as to solve the technical problem of high product maintenance difficulty in the related technology. Furthermore, the technical effect of optimizing the structure of the housing assembly, reducing the maintenance difficulty and maintenance cost of the autonomous mobile robot is achieved.

[0026] In some technical solutions of the present utility model, optionally, the protruding distance of the gear train assembly relative to the bottom surface of the chassis is the height of the chassis; the range of the height of the chassis is: greater than or equal to 60 mm and less than or equal to 500 mm.

[0027] In this technical solution, the outward protruding distance of the gear train assembly relative to the ground of the chassis is the height of the chassis. When the autonomous mobile robot is placed on the ground, this distance corresponds to the distance between the bottom surface of the chassis and the ground.

[0028] On this basis, by defining that the height of the chassis is greater than or equal to 60 mm, a space can be reserved under the chassis for a forklift to insert, so as to form a forklift position under the autonomous mobile robot, enabling the autonomous mobile robot to be transported by a forklift when a failure occurs. Compared with gantry cranes, double-column lifts, and overhead cranes, forklifts are more commonly used, and the applicable scenarios of forklifts are wider and the movable range is wider, without the need to install at fixed points. Thus, the technical effect of reducing the maintenance difficulty of the autonomous mobile robot is achieved.

[0029] By defining that the height of the chassis is less than or equal to 500 mm, on the basis of reserving enough space for the forklift to insert under the chassis, the center of gravity of the autonomous mobile robot can be reduced, thereby improving the stability of the autonomous mobile robot, reducing the probability of the autonomous mobile robot tipping over during operation, and further achieving the technical effect of improving the structural stability of the autonomous mobile robot.

[0030] In some technical solutions of the present utility model, optionally, the gear train assembly includes: a first bracket, the first bracket is connected to the chassis, and the first bracket is opposite to the cover plate; a wheel body, the wheel body is connected to the first bracket, and the wheel body is located on the side of the first bracket facing away from the cover plate; wherein, the side ring includes a first anti-collision beam, the first anti-collision beam is located on the periphery of the wheel body, and the housing assembly can form a second notch by removing the first anti-collision beam, and the wheel body can pass through the second notch.

[0031] In this technical solution, the gear train assembly includes a first bracket, a driving motor, and a wheel body. The wheel body includes a driving wheel and a universal wheel. The driving motor and the wheel body are installed on the first bracket. The first bracket is used to provide positioning and support for the driving motor and the wheel body. The driving motor is used to drive the driving wheel to rotate, and the driven universal wheel cooperates with the driving wheel for follow-up steering, enabling the autonomous mobile robot to move autonomously in the site according to requirements, so as to meet the transportation and stacking requirements of goods.

[0032] On this basis, the side ring includes a first anti-collision beam. After assembly, the first anti-collision beam is located on the periphery of the wheel body to provide collision protection for the wheel body and prevent the wheel body from being damaged due to external collision.

[0033] Specifically, taking the example of installing two sets of gear train components on the left and right sides of an autonomous mobile robot, two first anti-collision beams are respectively arranged on the left and right sides of the side ring.

[0034] When maintenance of the wheel body is required, the user can remove the first anti-collision beam from the side ring to form a second notch on the lower side of the housing assembly that can expose the wheel body. The second notch allows the wheel body to pass through, enabling the user to directly perform maintenance operations or replacement operations on the inner wheel body from the second notch, without first lifting the autonomous mobile robot and performing maintenance under the chassis, and without having to lift the entire housing assembly and perform maintenance operations from above the chassis. Thus, the user can complete the maintenance operation of the wheel body without relying on special tools such as gantry cranes, two-post lifts, and overhead cranes, so as to solve the technical problem of high product maintenance difficulty in the related art. Furthermore, the technical effect of optimizing the structure of the housing assembly and reducing the maintenance difficulty and cost of the autonomous mobile robot is achieved.

[0035] In some technical solutions of the present utility model, optionally, the working structure further includes: a lifting assembly, the lifting assembly is connected to the chassis, and an electric control box is included in the lifting assembly; wherein, the top cover further includes a lifting plate, the lifting plate is connected to the lifting assembly, the lifting assembly is used to drive the lifting plate to rise or fall, the lifting plate includes a first window, and the housing assembly can form a third notch by opening the first window, and the third notch is opposite to the electric control box.

[0036] In this technical solution, the working structure further includes a lifting assembly, and the top cover further includes a lifting plate.

[0037] The lifting assembly is installed on the chassis, the top cover is installed on the lifting assembly, the top cover is used to support the goods. When it is necessary to raise the height of the goods, the lifting assembly lifts the goods through the cover plate to meet the stacking requirements of the goods. Among them, an electric control box is included in the lifting assembly, and the electric control box is used to realize the automatic control and intelligent control of the lifting assembly.

[0038] On this basis, a first window is provided on the lifting plate, the first window can be opened and closed, and the first window is arranged opposite to the electric control box below. After opening the first window, a third notch can be formed on the lifting plate.

[0039] When maintenance of the electric control box is required, the user can directly perform maintenance operations at the third notch after opening the first window, without having to remove the entire lifting plate, and close the first window again after completing the maintenance operation.

[0040] It can be seen that by providing an openable and closable first window on the lifting plate, the technical effect of reducing the maintenance difficulty and cost of the lifting assembly and providing convenient conditions for the user can be achieved.

[0041] Specifically, the first window is hinged on the lifting plate, and lifting the first window can open the third notch.

[0042] In some technical solutions of the present utility model, optionally, the electric control box includes an opening, and a fuse is included inside the electric control box. The autonomous mobile robot further includes: a sealing cover that covers the opening of the electric control box, and the sealing cover includes a second window that is opposite to the fuse.

[0043] In this technical solution, the top of the electric control box includes an opening, and this opening is closed by the sealing cover.

[0044] By providing the sealing cover, the sealing requirements of the electric control box can be met to prevent dust and moisture from entering the electric control box, thereby reducing the probability of electrical failures in the electric control box and achieving the technical effect of reducing the failure rate of the autonomous mobile robot.

[0045] On this basis, a fuse is included inside the electric control box, and a second window is provided on the sealing cover. The second window is disposed opposite to the fuse below. After opening the second window, the fuse below can be exposed.

[0046] Among them, compared with other structures in the electric control box, the replacement and maintenance frequency of the fuse is relatively high. By providing the second window, a dedicated channel for replacing the fuse can be provided for users, enabling users to quickly complete the replacement of the fuse without opening the sealing cover. On the one hand, this avoids the weakening of the sealing performance of the sealing cover due to frequent disassembly and assembly, and on the other hand, reduces the difficulty of replacing the fuse. Furthermore, the technical effects of improving the sealing reliability of the electric control box and reducing the maintenance difficulty of the electric control box are achieved.

[0047] In some technical solutions of the present utility model, optionally, an installation groove is further included on the periphery of the chassis, and the working structure further includes: a battery disposed in the installation groove; wherein, the side shell includes a side plate opposite to the installation groove, and the side ring further includes a second anti-collision beam opposite to the installation groove. The outer shell assembly can form a fourth notch by disassembling the side plate and the second anti-collision beam, and the installation groove is located within the fourth notch.

[0048] In this technical solution, an installation groove is provided on the periphery of the chassis, and the battery is installed in the installation groove. The battery can supply power to the autonomous mobile robot, enabling the autonomous mobile robot to be used without being connected to a power source, thereby broadening the applicable scenarios of the autonomous mobile robot and enhancing the practicality of the autonomous mobile robot.

[0049] Specifically, the battery can supply power to the drive motor in the wheel system assembly, and the battery can also supply power to the electric control box in the drive assembly.

[0050] On this basis, the side shell includes a detachable side plate, and the side ring includes a detachable second anti-collision beam. The side plate can block the installation groove to prevent the battery from being exposed, providing shielding and protection for the battery. The second anti-collision beam can form collision protection under the side plate to prevent the battery from being damaged by external impacts. After removing the side plate and the second anti-collision beam, a fourth notch can be formed on the periphery of the outer shell assembly, and the installation groove is located inside the fourth notch, so that the installation groove is exposed in the fourth notch.

[0051] When the battery needs to be replaced, the side plate and the second anti-collision beam are removed from the side ring, allowing the user to directly disassemble and assemble the battery at the fourth notch, without the need to lift the entire outer shell assembly from above the chassis for battery disassembly and assembly operations. Thus, the user can replace the battery without relying on special tools such as gantry cranes, two-post lifts, and overhead cranes, solving the technical problem of high product maintenance difficulty in the related art. Furthermore, the technical effect of optimizing the structure of the outer shell assembly and reducing the maintenance difficulty and cost of the autonomous mobile robot is achieved.

[0052] In some technical solutions of the present utility model, optionally, the autonomous mobile robot further includes: a second bracket detachably connected to the chassis, and the second bracket can be withdrawn from under the chassis; a coil disposed on the second bracket.

[0053] In this technical solution, a detachable second bracket is provided under the chassis. After removing the second bracket from the chassis, the second bracket can be withdrawn from under the chassis.

[0054] The coil is disposed on the second bracket and is connected to the battery. The coil can achieve the wireless charging function of the autonomous mobile robot. Specifically, after controlling the autonomous mobile robot to travel to the charging position, wireless charging can be performed.

[0055] When the coil fails, the user can withdraw the coil together with the second bracket from under the chassis after removing the second bracket. After repairing or replacing the coil on the second bracket, the second bracket is pushed back under the chassis and the second bracket is re-assembled.

[0056] It can be seen that by providing the second bracket and installing the coil on the second bracket in this application, the user can complete the maintenance operation of the coil without flipping or lifting the autonomous mobile robot, enabling the maintenance operation of the coil to be free from the limitations of special tools such as gantry cranes, two-post lifts, and overhead cranes. Furthermore, the technical effect of reducing the maintenance difficulty and cost of the autonomous mobile robot is achieved.

[0057] In some technical solutions of the present utility model, optionally, the autonomous mobile robot further includes: a stop block disposed on the second bracket, and the stop block is located on the side of the coil facing away from the chassis.

[0058] In this technical solution, a stop block is further installed at the bottom of the second bracket. After assembly, the stop block is located below the coil. The stop block can provide shielding protection below the coil, enabling the stop block to resist impacts for the coil and preventing the coil from being damaged by abnormal protrusions on the bottom surface. Thus, the technical effects of reducing the failure rate of the coil and improving the safety and reliability of the autonomous mobile robot are achieved.

[0059] In some technical solutions of the present utility model, optionally, the top of the housing assembly includes a first lifting hole; the periphery of the housing assembly includes a second lifting hole.

[0060] In this technical solution, a first lifting hole is provided at the top of the housing assembly, and the first lifting hole can be connected to the hooks of special tools such as gantry cranes, double-column lift trucks, and overhead cranes. A second lifting hole is provided on the periphery of the housing assembly. Similarly, the second lifting hole can be connected to the hooks of special tools such as gantry cranes, double-column lift trucks, and overhead cranes.

[0061] By providing the first lifting hole and the second lifting hole, the autonomous mobile robot can adapt to the lifting requirements in different scenarios, thereby achieving the technical effects of broadening the applicable scenarios of the autonomous mobile robot and improving the practicality of the autonomous mobile robot.

[0062] In some technical solutions of the present utility model, optionally, the periphery of the housing assembly includes a towing hole.

[0063] In this technical solution, a towing hole is provided on the periphery of the housing assembly. Specifically, the towing hole can be provided on the front and rear sides of the autonomous mobile robot. The towing hole can be connected to a towing rope through a hook to tow the autonomous mobile robot by means of the towing rope.

[0064] Thus, by providing the towing hole, when the autonomous mobile robot breaks down under the shelf, the autonomous mobile robot can be pulled out from under the shelf through the towing rope, facilitating the user to repair the autonomous mobile robot in an open space, and thereby achieving the technical effect of reducing the maintenance difficulty of the autonomous mobile robot.

[0065] The additional aspects and advantages of the present utility model will become apparent in the following description section or be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The above and / or additional aspects and advantages of the present utility model will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0067] Figure 1 Shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present utility model;

[0068] Figure 2Shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present utility model;

[0069] Figure 3 Shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present utility model;

[0070] Figure 4 Shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present utility model;

[0071] Figure 5 Shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present utility model;

[0072] Figure 6 Shows a schematic structural diagram of an autonomous mobile robot according to an embodiment of the present utility model.

[0073] Wherein, Figures 1 to 6 The corresponding relationship between the reference numerals and the component names in is:

[0074] 100 Autonomous mobile robot, 110 Chassis, 1102 Installation groove, 120 Working structure, 122 Gear train assembly, 1222 First bracket, 1224 Wheel body, 124 Lifting assembly, 1242 Electric control box, 1244 Opening, 1246 Sealing cover, 1248 Second window, 126 Battery, 130 Housing assembly, 1302 First lifting hole, 1304 Second lifting hole, 1306 Towing hole, 132 Notch, 1322 First notch, 1324 Second notch, 1326 Third notch, 1328 Fourth notch, 134 Side shell, 1342 Side plate, 136 Top cover, 1362 Cover plate, 1364 Lifting plate, 1366 First window, 138 Side ring, 1382 First anti-collision beam, 1384 Second anti-collision beam, 140 Second bracket, 142 Coil, 144 Block. Detailed implementation manners

[0075] In order to be able to more clearly understand the above-mentioned objects, features and advantages of the present utility model, the present utility model will be further described in detail below with reference to the drawings and specific implementation manners. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0076] In the following description, many specific details are set forth in order to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present utility model is not limited by the specific embodiments disclosed below.

[0077] Next, refer to Figures 1 to 6 Describe an autonomous mobile robot according to some embodiments of the present utility model.

[0078] As Figure 1 , Figure 2 , Figure 3 and Figure 4 shown in the figure, an embodiment of the present utility model provides an autonomous mobile robot 100, which includes: a chassis 110; a working structure 120, the working structure 120 is arranged on the chassis 110; a housing assembly 130, the housing assembly 130 covers the outside of the chassis 110, and the working structure 120 is located between the housing assembly 130 and the chassis 110. A part of the area on the housing assembly 130 can form a notch 132 through movement or disassembly, and the notch 132 is arranged opposite to the working structure 120; wherein, the notch 132 is located on the circumferential side of the housing assembly 130, and / or the notch 132 is located on the top of the housing assembly 130.

[0079] In this embodiment, an autonomous mobile robot 100 is defined, and the autonomous mobile robot 100 includes a chassis 110, a working structure 120 and a housing assembly 130.

[0080] The chassis 110 is the main frame structure of the autonomous mobile robot 100. The chassis 110 is used to provide positioning and support for other structures on the autonomous mobile robot 100, and ensure the working stability and reliability of the autonomous mobile robot 100.

[0081] The working structure 120 is installed on the chassis 110. The working structure 120 is used to realize various functions of the autonomous mobile robot 100. For example, the traveling function is realized through the gear train assembly 122 in the working structure 120, the function of stacking goods is realized through the lifting assembly 124 in the working structure 120, and the autonomous mobile robot 100 can be used without power through the battery 126 in the working structure 120.

[0082] The housing assembly 130 is connected to the chassis 110, and the housing assembly 130 wraps the outside of the chassis 110 and the working structure 120. The housing assembly 130 forms the outer surface of the autonomous mobile robot 100. The housing assembly 130 can resist external impacts for the chassis 110 and the working structure 120, thereby providing protection for the chassis 110 and the working structure 120, reducing the failure rate of the autonomous mobile robot 100. At the same time, the housing assembly 130 can also prevent users from being injured by accidentally touching the working structure 120, thereby improving the safety of the autonomous mobile robot 100.

[0083] On this basis, a partial area on the housing assembly 130 proposed in this application is a detachable structure. When maintaining the autonomous mobile robot 100, the user can form a notch 132 that can expose part of the working structure 120 on the housing assembly 130 by detaching the detachable structure on the housing assembly 130, so that the user can repair the working structure 120 inside the housing assembly 130 through the notch 132, or replace the working structure 120 inside the housing assembly 130 through the notch 132. After completing the maintenance operation, reinstall the removed part of the housing assembly 130 to block the notch 132 and restore the shielding and protection function of the housing assembly 130.

[0084] It can be seen that in this application, by setting an area on the housing assembly 130 that can be removed during maintenance operations, the user can directly perform maintenance operations on the working structure 120 inside the housing assembly 130 through the notch 132 formed after disassembly, thus eliminating the need to lift the entire autonomous mobile robot 100 or lift the housing assembly 130 using special tools such as gantry cranes, two-column lifts, and overhead cranes. This enables the autonomous mobile robot 100 to complete maintenance operations without the aid of special tools, solving the technical problem of high product maintenance difficulty in the related art. Furthermore, it achieves the technical effects of optimizing the structure of the housing assembly 130 and reducing the maintenance difficulty and cost of the autonomous mobile robot 100.

[0085] As Figure 1 shown, in some embodiments of the present utility model, optionally, the housing assembly 130 includes: a side shell 134 located on the periphery of the chassis 110, with the side shell 134 surrounding the chassis 110; a top cover 136 located on top of the chassis 110; and a side ring 138 located on the periphery of the chassis 110, with the side shell 134 located between the side ring 138 and the top cover 136, and the side ring 138 surrounding the chassis 110.

[0086] In this embodiment, the housing assembly 130 includes a side shell 134, a top cover 136, and a side ring 138.

[0087] Among them, the side shell 134 is connected to the chassis 110, and the side shell 134 surrounds the four sides of the chassis 110, and the side shell 134 can form shielding and protection around the chassis 110.

[0088] The top cover 136 is connected to the side shell 134 and / or the chassis 110. After assembly, the top cover 136 can cover the open mouth at the top of the side shell 134 to form shielding and protection on top of the chassis 110.

[0089] The side ring 138 is installed on the side of the side shell 134 facing away from the top cover 136. After assembly, the side ring 138 surrounds the chassis 110. The side ring 138 can provide shielding protection for the wheel body 1224 under the chassis 110 to prevent the wheel body 1224 from being damaged due to collision during movement, thereby reducing the failure rate of the autonomous mobile robot 100 and achieving all-round protection for the autonomous mobile robot 100.

[0090] like Figure 1 and Figure 2 As shown, in some embodiments of the present invention, optionally, the working structure 120 includes: a wheel train assembly 122, which is connected to the chassis 110; wherein the top cover 136 includes a cover plate 1362, which is located on the top of the wheel train assembly 122, and the outer shell assembly 130 can form a first gap 1322 by removing the cover plate 1362, and the wheel train assembly 122 can pass through the first gap 1322.

[0091] In this embodiment, the working structure 120 includes a wheel train assembly 122, which includes a first bracket 1222, a drive motor and a wheel body 1224, and the wheel body 1224 includes a drive wheel and a universal wheel. The drive motor and the wheel body 1224 are mounted on the first bracket 1222, and the first bracket 1222 is used to provide positioning and support for the drive motor and the wheel body 1224. The drive motor is used to drive the drive wheel to rotate, and the driven universal wheel cooperates with the drive wheel to perform follow-up steering, so that the autonomous mobile robot 100 can move autonomously in the site according to demand, thereby meeting the transportation and stacking requirements of goods.

[0092] The wheel train assembly 122 is assembled as a complete module. During the assembly process, the first bracket 1222 needs to be fixed on the chassis 110 to synchronously complete the assembly of the wheel train assembly 122 .

[0093] On this basis, the top cover 136 includes a detachable cover plate 1362 . After the cover plate 1362 is removed from the top cover 136 , a first gap 1322 can be formed at the top of the housing assembly 130 , and the first gap 1322 can allow the wheel train assembly 122 to pass through.

[0094] Therefore, during the assembly process, the wheel train assembly 122 can be installed from top to bottom through the first notch 1322, without first lifting the chassis 110 and then installing the wheel train assembly 122 under the chassis 110, thereby reducing the difficulty of assembling the wheel train assembly 122 and improving the production efficiency of the autonomous mobile robot 100.

[0095] On the other hand, when the gear train assembly 122 needs to be maintained, the user can directly perform maintenance or replacement operations on the inner gear train assembly 122 from the first notch 1322 after removing the cover plate 1362, without having to lift the autonomous mobile robot 100 first and perform maintenance under the chassis 110. Thus, the user can complete the maintenance operation of the gear train assembly 122 without relying on special tools such as gantry cranes, two-post lifts, and overhead cranes, so as to solve the technical problem of high product maintenance difficulty in the related art. Furthermore, the technical effect of optimizing the structure of the housing assembly 130 and reducing the maintenance difficulty and cost of the autonomous mobile robot 100 is achieved.

[0096] In some embodiments of the present invention, optionally, the protruding distance of the gear train assembly 122 relative to the bottom surface of the chassis 110 is the height of the chassis 110; the range of the height of the chassis 110 is: greater than or equal to 60 mm and less than or equal to 500 mm.

[0097] In this embodiment, the outward protruding distance of the gear train assembly 122 relative to the ground of the chassis 110 is the height of the chassis 110. When the autonomous mobile robot 100 is placed on the ground, this distance corresponds to the distance between the bottom surface of the chassis 110 and the ground.

[0098] On this basis, by defining that the height of the chassis 110 is greater than or equal to 60 mm, a space can be reserved under the chassis 110 for a forklift to insert, so as to form a forklift position under the autonomous mobile robot 100, enabling the autonomous mobile robot 100 to be transported by a forklift when a failure occurs. Compared with gantry cranes, two-post lifts, and overhead cranes, forklifts are more commonly used, and the applicable scenarios of forklifts are wider and the movable range is wider, without the need to rely on fixed-point installation. Thus, the technical effect of reducing the maintenance difficulty of the autonomous mobile robot 100 is achieved.

[0099] By defining that the height of the chassis 110 is less than or equal to 500 mm, on the basis of reserving enough space for a forklift to insert under the chassis 110, the center of gravity of the autonomous mobile robot 100 can be lowered, thereby improving the stability of the autonomous mobile robot 100 and reducing the probability of the autonomous mobile robot 100 tipping over during operation. Furthermore, the technical effect of improving the structural stability of the autonomous mobile robot 100 is achieved.

[0100] Such as Figure 1 、 Figure 2 and Figure 3As shown, in some embodiments of the present utility model, optionally, the gear train assembly 122 includes: a first bracket 1222, the first bracket 1222 is connected to the chassis 110, and the first bracket 1222 faces the cover plate 1362; a wheel body 1224, the wheel body 1224 is connected to the first bracket 1222, and the wheel body 1224 is located on the side of the first bracket 1222 facing away from the cover plate 1362; wherein, the side ring 138 includes a first anti-collision beam 1382, the first anti-collision beam 1382 is located on the peripheral side of the wheel body 1224, and the housing assembly 130 can form a second notch 1324 by removing the first anti-collision beam 1382, and the wheel body 1224 can pass through the second notch 1324.

[0101] In this embodiment, the gear train assembly 122 includes a first bracket 1222, a driving motor, and a wheel body 1224. The wheel body 1224 includes a driving wheel and a universal wheel. The driving motor and the wheel body 1224 are installed on the first bracket 1222. The first bracket 1222 is used to provide positioning and support for the driving motor and the wheel body 1224. The driving motor is used to drive the driving wheel to rotate, and the driven universal wheel cooperates with the driving wheel for follow-up steering, so that the autonomous mobile robot 100 can move autonomously in the site according to needs, thereby meeting the requirements of transporting and stacking goods.

[0102] On this basis, the side ring 138 includes a first anti-collision beam 1382. After assembly, the first anti-collision beam 1382 is located on the peripheral side of the wheel body 1224 to provide collision protection for the wheel body 1224 and prevent the wheel body 1224 from being damaged due to external collision.

[0103] Specifically, taking the example that two sets of gear train assemblies 122 are installed on the left and right sides of the autonomous mobile robot 100 respectively, two first anti-collision beams 1382 are respectively arranged on the left and right sides of the side ring 138.

[0104] When maintenance of the wheel body 1224 is required, the user can remove the first anti-collision beam 1382 from the side ring 138 to form a second notch 1324 capable of exposing the wheel body 1224 under the side of the housing assembly 130. The second notch 1324 can be passed through by the wheel body 1224, enabling the user to directly perform maintenance operations or replacement operations on the inner wheel body 1224 from the second notch 1324, without first lifting the autonomous mobile robot 100 and performing maintenance under the chassis 110, and without lifting the entire housing assembly 130 and performing maintenance operations from above the chassis 110. Thus, the user can complete the maintenance operation of the wheel body 1224 without relying on special tools such as gantry cranes, two-post lifts, and overhead cranes, so as to solve the technical problem of high product maintenance difficulty in the related art. Furthermore, the technical effects of optimizing the structure of the housing assembly 130, reducing the maintenance difficulty and maintenance cost of the autonomous mobile robot 100 are achieved.

[0105] Such as Figure 1 AndFigure 4 As shown, in some embodiments of the present utility model, optionally, the working structure 120 further includes: a lifting assembly 124, the lifting assembly 124 is connected to the chassis 110, and an electric control box 1242 is included in the lifting assembly 124; wherein, the top cover 136 further includes a lifting plate 1364, the lifting plate 1364 is connected to the lifting assembly 124, the lifting assembly 124 is used to drive the lifting plate 1364 to rise or fall, the lifting plate 1364 includes a first window 1366, and the housing assembly 130 can form a third notch 1326 by opening the first window 1366, and the third notch 1326 is opposite to the electric control box 1242.

[0106] In this embodiment, the working structure 120 further includes a lifting assembly 124, and the top cover 136 further includes a lifting plate 1364.

[0107] The lifting assembly 124 is installed on the chassis 110, the top cover 136 is installed on the lifting assembly 124, the top cover 136 is used to support goods, and when it is necessary to lift the height of the goods, the lifting assembly 124 jacks up the goods through the cover plate 1362 to meet the stacking requirements of the goods. Among them, the electric control box 1242 is included in the lifting assembly 124, and the electric control box 1242 is used to realize the automatic control and intelligent control of the lifting assembly 124.

[0108] On this basis, a first window 1366 is provided on the lifting plate 1364, the first window 1366 is openable and closable, and the first window 1366 is arranged opposite to the electric control box 1242 below. After the first window 1366 is opened, a third notch 1326 can be formed on the lifting plate 1364.

[0109] When it is necessary to maintain the electric control box 1242, the user can directly perform maintenance operations at the third notch 1326 after opening the first window 1366, without removing the entire lifting plate 1364, and close the first window 1366 again after completing the maintenance operations.

[0110] Thus, by providing the openable and closable first window 1366 on the lifting plate 1364, the technical effects of reducing the maintenance difficulty and maintenance cost of the lifting assembly 124 and providing convenient conditions for users can be achieved.

[0111] Specifically, the first window 1366 is hinged to the lifting plate 1364, and the third notch 1326 can be opened by lifting the first window 1366.

[0112] Such as Figure 1 and Figure 4As shown, in some embodiments of the present utility model, optionally, the electric control box 1242 includes an opening 1244, and a fuse is included inside the electric control box 1242. The autonomous mobile robot 100 further includes: a sealing cover 1246, the sealing cover 1246 covers the opening 1244 of the electric control box 1242, and the sealing cover 1246 includes a second window 1248, and the second window 1248 faces the fuse.

[0113] In this embodiment, the top of the electric control box 1242 includes an opening 1244, and the opening 1244 is closed by the sealing cover 1246.

[0114] By providing the sealing cover 1246, the sealing requirement of the electric control box 1242 can be met to prevent dust and moisture from entering the electric control box 1242, thereby reducing the probability of electrical failures occurring in the electric control box 1242, and achieving the technical effect of reducing the failure rate of the autonomous mobile robot 100.

[0115] On this basis, a fuse is included inside the electric control box 1242, and a second window 1248 is provided on the sealing cover 1246. The second window 1248 is arranged opposite to the fuse below. After the second window 1248 is opened, the fuse below can be exposed.

[0116] Among them, compared with other structures in the electric control box 1242, the replacement and maintenance frequency of the fuse is relatively high. By providing the second window 1248, a dedicated channel for replacing the fuse can be provided for users, enabling users to quickly complete the replacement of the fuse without opening the sealing cover 1246. Thus, on the one hand, the sealing performance of the sealing cover 1246 is prevented from weakening due to frequent disassembly and assembly, and on the other hand, the difficulty of replacing the fuse is reduced. Furthermore, the technical effects of improving the sealing reliability of the electric control box 1242 and reducing the maintenance difficulty of the electric control box 1242 are achieved.

[0117] As Figure 1 and Figure 5 shown, in some embodiments of the present utility model, optionally, the peripheral side of the chassis 110 further includes a mounting groove 1102, and the working structure 120 further includes: a battery 126, the battery 126 is arranged in the mounting groove 1102; wherein, the side shell 134 includes a side plate 1342, the side plate 1342 faces the mounting groove 1102, the side ring 138 further includes a second anti-collision beam 1384, the second anti-collision beam 1384 faces the mounting groove 1102, and the housing assembly 130 can form a fourth notch 1328 by disassembling the side plate 1342 and the second anti-collision beam 1384, and the mounting groove 1102 is located in the fourth notch 1328.

[0118] In this embodiment, an installation groove 1102 is provided on the circumferential side of the chassis 110. The battery 126 is installed in the installation groove 1102. The battery 126 can supply power to the autonomous mobile robot 100, enabling the autonomous mobile robot 100 to be used without being connected to a power source, thereby broadening the applicable scenarios of the autonomous mobile robot 100 and enhancing the practicability of the autonomous mobile robot 100.

[0119] Specifically, the battery 126 can supply power to the drive motor in the gear train assembly 122, and the battery 126 can also supply power to the electric control box 1242 in the drive assembly.

[0120] On this basis, the side shell 134 includes a detachable side plate 1342, and the side ring 138 includes a detachable second anti-collision beam 1384. The side plate 1342 can block the installation groove 1102 to prevent the battery 126 from being exposed, providing shielding and protection for the battery 126. The second anti-collision beam 1384 can form collision protection below the side plate 1342 to prevent the battery 126 from being damaged by external impacts. After removing the side plate 1342 and the second anti-collision beam 1384, a fourth notch 1328 can be formed on the circumferential side of the housing assembly 130. The installation groove 1102 is located inside the fourth notch 1328, so that the installation groove 1102 is exposed in the fourth notch 1328.

[0121] When the battery 126 needs to be replaced, the side plate 1342 and the second anti-collision beam 1384 are removed from the side ring 138, enabling the user to directly disassemble and assemble the battery 126 in the fourth notch 1328 without having to lift the entire housing assembly 130 from above the chassis 110 to perform the battery 126 disassembly and assembly operation. Thus, the user can replace the battery 126 without relying on special tools such as gantry cranes, two-column lifts, and overhead cranes, solving the technical problem of high product maintenance difficulty in the related art. Furthermore, the technical effect of optimizing the structure of the housing assembly 130 and reducing the maintenance difficulty and cost of the autonomous mobile robot 100 is achieved.

[0122] As Figure 6 shown, in some embodiments of the present utility model, optionally, the autonomous mobile robot 100 further includes: a second bracket 140, the second bracket 140 is detachably connected to the chassis 110, and the second bracket 140 can be pulled out from under the chassis 110; a coil 142, the coil 142 is disposed on the second bracket 140.

[0123] In this embodiment, a detachable second bracket 140 is provided under the chassis 110. After removing the second bracket 140 from the chassis 110, the second bracket 140 can be pulled out from under the chassis 110.

[0124] The coil 142 is arranged on the second bracket 140. The coil 142 is connected to the battery 126. The coil 142 can realize the wireless charging function of the autonomous mobile robot 100. Specifically, after the autonomous mobile robot 100 is controlled to travel to the charging position, wireless charging can be carried out.

[0125] When the coil 142 fails, the user can draw out the coil 142 together with the second bracket 140 from below the chassis 110 after removing the second bracket 140. After repairing or replacing the coil 142 on the second bracket 140, push the second bracket 140 back under the chassis 110 and re-assemble the second bracket 140.

[0126] It can be seen that in this application, by setting the second bracket 140 and installing the coil 142 on the second bracket 140, the user can complete the maintenance operation of the coil 142 without flipping or lifting the autonomous mobile robot 100, so that the maintenance operation of the coil 142 can get rid of the limitations of special tools such as gantry cranes, two-column lifts, and overhead cranes. Furthermore, the technical effects of reducing the maintenance difficulty and maintenance cost of the autonomous mobile robot 100 are achieved.

[0127] As Figure 6 shown, in some embodiments of the present utility model, optionally, the autonomous mobile robot 100 further includes: a stop block 144. The stop block 144 is arranged on the second bracket 140. The stop block 144 is located on the side of the coil 142 facing away from the chassis 110.

[0128] In this embodiment, a stop block 144 is further installed at the bottom of the second bracket 140. After assembly, the stop block 144 is located below the coil 142. The stop block 144 can provide shielding protection below the coil 142, so that the stop block 144 can resist impacts for the coil 142 and prevent the coil 142 from being damaged by abnormal protrusions on the bottom surface. Thus, the technical effects of reducing the failure rate of the coil 142 and improving the safety and reliability of the autonomous mobile robot 100 are achieved.

[0129] As Figure 1 and Figure 3 shown, in some embodiments of the present utility model, optionally, the top of the housing assembly 130 includes a first lifting hole 1302; the periphery of the housing assembly 130 includes a second lifting hole 1304.

[0130] In this embodiment, a first lifting hole 1302 is provided at the top of the housing assembly 130. The first lifting hole 1302 can be connected to the hooks of special tools such as gantry cranes, two-column lifts, and overhead cranes. A second lifting hole 1304 is provided on the periphery of the housing assembly 130. Similarly, the second lifting hole 1304 can be connected to the hooks of special tools such as gantry cranes, two-column lifts, and overhead cranes.

[0131] By setting the first lifting hole 1302 and the second lifting hole 1304, the autonomous mobile robot 100 can adapt to the lifting requirements in different scenarios, thereby achieving the technical effects of broadening the applicable scenarios of the autonomous mobile robot 100 and enhancing the practicability of the autonomous mobile robot 100.

[0132] As Figure 1 and Figure 3 shown, in some embodiments of the present invention, optionally, the peripheral side of the housing assembly 130 includes a towing hole 1306.

[0133] In this embodiment, a towing hole 1306 is provided on the peripheral side of the housing assembly 130. Specifically, the towing hole 1306 can be provided on the front and rear sides of the autonomous mobile robot 100. The towing hole 1306 can be connected to a towing rope through a hook to tow the autonomous mobile robot 100 by means of the towing rope.

[0134] It can be seen that by setting the towing hole 1306, when the autonomous mobile robot 100 breaks down under the shelf, the autonomous mobile robot 100 can be pulled out from under the shelf by the towing rope, so that the user can repair the autonomous mobile robot 100 in an open space, thereby achieving the technical effect of reducing the maintenance difficulty of the autonomous mobile robot 100.

[0135] It should be clear that in the claims, the description and the drawings of the present invention, the term "a plurality" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for more convenient description of the present invention and to make the description process simpler, rather than to indicate or imply that the device or element referred to must have the specific orientation, be constructed and operated in the specific orientation. Therefore, these descriptions should not be construed as limitations on the present invention; terms such as "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects, or an indirect connection between multiple objects through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances of the above data.

[0136] In the claims, description and drawings of the present utility model, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In the claims, description and drawings of the present utility model, the schematic expressions 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.

[0137] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An autonomous mobile robot, characterized in that: include: Chassis; A working structure, wherein the working structure is arranged on the chassis; A housing component, wherein the housing component is covered on the outside of the chassis, and the working structure is located between the housing component and the chassis, and a part of the housing component can be moved or disassembled to form a gap, and the gap is arranged opposite to the working structure; Wherein, the notch is located on the peripheral side of the shell component, and / or the notch is located on the top of the shell component.

2. The autonomous mobile robot according to claim 1, characterized in that: The housing assembly comprises: A side shell, the side shell is located on the peripheral side of the chassis, and the side shell surrounds the chassis; A top cover, the top cover being located on the top of the chassis; The side ring is located at the peripheral side of the chassis, the side shell is located between the side ring and the top cover, and the side ring surrounds the chassis.

3. The autonomous mobile robot according to claim 2, characterized in that: The working structure includes: A gear train assembly, the gear train assembly being connected to the chassis; Wherein, the top cover includes a cover plate, and the cover plate is located on the top of the gear train assembly. The outer shell assembly can form a first gap by removing the cover plate, and the gear train assembly can pass through the first gap.

4. The autonomous mobile robot according to claim 3, characterized in that: The protrusion distance of the wheel train assembly relative to the bottom surface of the chassis is the height of the chassis; The height of the chassis is in the range of greater than or equal to 60 mm and less than or equal to 500 mm.

5. The autonomous mobile robot according to claim 3, characterized in that: The gear train assembly comprises: A first bracket, the first bracket is connected to the chassis, and the first bracket is opposite to the cover plate; A wheel body, the wheel body is connected to the first bracket, and the wheel body is located on a side of the first bracket facing away from the cover plate; Wherein, the side ring includes a first anti-collision beam, the first anti-collision beam is located on the peripheral side of the wheel body, the outer shell assembly can form a second gap by disassembling the first anti-collision beam, and the wheel body can pass through the second gap.

6. The autonomous mobile robot according to claim 2, characterized in that: The working structure also includes: A lifting assembly, the lifting assembly is connected to the chassis, and the lifting assembly includes an electric control box; Among them, the top cover also includes a lifting plate, which is connected to the lifting assembly, and the lifting assembly is used to drive the lifting plate to rise or fall. The lifting plate includes a first window, and the shell assembly can form a third gap by opening the first window, and the third gap is opposite to the electric control box.

7. The autonomous mobile robot according to claim 6, characterized in that: The electric control box includes an opening, and the electric control box includes a fuse. The autonomous mobile robot also includes: A sealing cover, wherein the sealing cover covers the opening of the electric control box, and the sealing cover comprises a second window, wherein the second window is opposite to the fuse.

8. The autonomous mobile robot according to claim 2, characterized in that: The peripheral side of the chassis also includes a mounting groove, and the working structure also includes: A battery, wherein the battery is disposed in the mounting slot; Among them, the side shell includes a side panel, which is opposite to the mounting groove, and the side ring also includes a second anti-collision beam, which is opposite to the mounting groove. The outer shell assembly can form a fourth notch by disassembling the side panel and the second anti-collision beam, and the mounting groove is located in the fourth notch.

9. The autonomous mobile robot according to any one of claims 1 to 8, characterized in that: Also includes: a second bracket, the second bracket being detachably connected to the chassis, and the second bracket being capable of being pulled out from under the chassis; A coil is arranged on the second bracket.

10. The autonomous mobile robot according to claim 9, characterized in that: Also includes: A stopper is arranged on the second bracket, and the stopper is located on a side of the coil facing away from the chassis.

11. The autonomous mobile robot according to any one of claims 1 to 8, characterized in that: The top of the housing assembly includes a first hanging hole; The peripheral side of the housing assembly includes a second hanging hole.

12. The autonomous mobile robot according to any one of claims 1 to 8, characterized in that: The peripheral side of the housing assembly includes a traction hole.

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