Damping structure, mobile robot and warehousing system

Abstract

The embodiment of the utility model discloses a damping structure, a mobile robot and a warehousing system. The damping structure comprises a base, a mounting seat and a damping part, and the base is provided with a first limiting part; the mounting seat is used for mounting a workpiece and is provided with a second limiting part; the mounting seat is connected with the base through the damping piece; wherein one of the second limiting part and the first limiting part is matched in the other one, and a gap is formed between the second limiting part and the first limiting part, so that the mounting seat can move relative to the base, and the amplitude of the mounting seat when the mounting seat moves relative to the base is limited through the gap. When vibration or impact borne by the base is large and the amplitude of the work piece moving relative to the base is larger than a preset range, the second limiting part and the first limiting part are in contact and clamped, so that rigid connection between the second limiting part and the first limiting part is achieved, and the amplitude of the mounting base moving relative to the base is limited.

Description

Technical Field

[0001] The present application relates to the field of shock absorption structures, and in particular to a shock absorption structure, a mobile robot, and a warehousing system. Background Art

[0002] At present, during the movement of mobile robots such as automated guided vehicles (AGVs) in a warehousing system, due to heavy loads or uneven ground, great vibrations or impacts will be generated, and working components such as radars and cameras of the mobile robot are prone to damage under vibrations or impacts. In related technologies, the working components are installed on the main body of the mobile robot through shock absorption components to prevent the working components from being damaged under vibrations or impacts. However, when the mobile robot generates vibrations or impacts, the movement range of the working components is large, affecting the normal use of the working components. For example, it affects the scanning range of the radar or the shooting range of the camera. Summary of the Utility Model

[0003] The present application is made based on the inventor's discovery and recognition of the following facts and problems:

[0004] In related technologies, working components such as radars and cameras are usually installed on the main body of the mobile robot using a rigid structure. When the mobile robot has a heavy load or the ground it passes over is uneven, the mobile robot will generate large vibrations or impacts, and the working components are prone to damage under such vibrations or impacts. In related technologies, the working components are installed on the main body of the mobile robot using shock absorption components. When the mobile robot vibrates or is impacted, the shock absorption components undergo elastic deformation to absorb the energy of the vibration or impact, thereby preventing the working components from being damaged under vibrations or impacts. However, when the shock absorption components undergo elastic deformation, the movement range of the working components is large, affecting the normal use of the working components.

[0005] The present application aims to solve at least one of the problems in related technologies to a certain extent.

[0006] Generating vibrations The present application aims to solve at least one of the problems in related technologies to a certain extent.

[0007] To this end, an embodiment of the present application provides a shock absorption structure, including:

[0008] A base provided with a first limiting portion;

[0009] A mounting seat for mounting a working component and provided with a second limiting portion;

[0010] A shock absorption component, and the mounting seat is connected to the base through the shock absorption component;

[0011] Wherein, one of the second limiting part and the first limiting part is fitted inside the other, and there is a gap between the second limiting part and the first limiting part, so that the mounting seat is movable relative to the base and the amplitude of the mounting seat moving relative to the base is limited by the gap.

[0012] In some alternative embodiments, one of the first limiting part and the second limiting part is a limiting hole, and the other of the first limiting part and the second limiting part is a limiting post, and at least a part of the limiting post is fitted inside the limiting hole.

[0013] In some alternative embodiments, the width of the gap in a plane orthogonal to the axial direction of the limiting post is 0.4 mm to 1.0 mm.

[0014] In some alternative embodiments, the base and the mounting seat are arranged at intervals in the vertical direction, and the shock-absorbing member is arranged between the base and the mounting seat in the vertical direction.

[0015] In some alternative embodiments, the base is provided with an avoidance channel for avoiding the workpiece.

[0016] In some alternative embodiments, the base includes a bottom plate, and the avoidance channel is formed on the bottom plate.

[0017] In some alternative embodiments, the number of the shock-absorbing members is multiple, and the multiple shock-absorbing members are arranged at intervals around the circumference of the base.

[0018] In some alternative embodiments, the number of both the first limiting part and the second limiting part is multiple, the multiple first limiting parts are arranged at intervals around the circumference of the base, and the second limiting part corresponds to the first limiting part one by one.

[0019] In some alternative embodiments, at least two of the first limiting parts are arranged at intervals in the transverse direction of the base, and at least two of the first limiting parts are arranged at intervals in the longitudinal direction of the base.

[0020] In some alternative embodiments, the mounting seat includes a seat body and a mounting body connected to the seat body, the shock-absorbing member is connected to the seat body, the second limiting part is arranged on the seat body, the mounting body protrudes relative to the seat body in a direction away from the base, and the mounting body is used for mounting the workpiece.

[0021] In some alternative embodiments, the seat body includes a first seat body and a second seat body that are spaced apart along the lateral direction of the base, and both the first seat body and the second seat body are connected to the base through the shock-absorbing member; both ends of the mounting body in the lateral direction are respectively connected to the first seat body and the second seat body.

[0022] In some alternative embodiments, the second limiting portion is provided on both the first seat body and the second seat body.

[0023] In some alternative embodiments, both the first seat body and the second seat body are in the shape of plates extending along the longitudinal direction of the base.

[0024] In some alternative embodiments, the shock-absorbing member is a shock pad, a shock spring, an oil bladder or an air bladder.

[0025] In some alternative embodiments, the shock-absorbing member is detachably connected to the base; and / or, the shock-absorbing member is detachably connected to the mounting seat.

[0026] The embodiment of the present application further provides a mobile robot, including:

[0027] A main body;

[0028] A working member;

[0029] A shock-absorbing structure, the shock-absorbing structure can be the shock-absorbing structure of any of the above embodiments, the base is mounted on the main body, and the working member is mounted on the mounting seat.

[0030] In some alternative embodiments, the working member includes a radar and / or a camera.

[0031] In some alternative embodiments, the mobile robot is an automated guided vehicle.

[0032] The embodiment of the present application further provides a warehousing system, including the mobile robot of any of the above embodiments.

[0033] The shock absorption structure, mobile robot, and warehousing system according to the embodiments of the present application have a workpiece installed on a mounting base. When vibrations or impacts occur on the base, there is a gap between the second limiting portion and the first limiting portion, enabling the mounting base to move relative to the base. Meanwhile, the shock absorption member absorbs the energy of vibrations or impacts through deformation, preventing the workpiece from being damaged under vibrations or impacts. When the vibrations or impacts received by the base are relatively small, the range of movement of the mounting base relative to the base is small, and the second limiting portion and the first limiting portion do not come into contact. When the vibrations or impacts received by the base are relatively large, the range of movement of the mounting base relative to the base is large. When the amplitude of the movement of the workpiece relative to the base is greater than a preset range, the second limiting portion and the first limiting portion come into contact and jam, enabling the second limiting portion and the first limiting portion to achieve a rigid connection, thereby restricting the amplitude of the movement of the mounting base relative to the base and keeping the range of movement of the workpiece within the preset range to ensure the normal use of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a perspective view of the shock absorption structure according to the embodiment of the present application connected to the workpiece.

[0035] Figure 2 is a front view of the shock absorption structure according to the embodiment of the present application connected to the workpiece.

[0036] Figure 3 is a bottom view of the shock absorption structure according to the embodiment of the present application connected to the workpiece.

[0037] Figure 4 is a perspective view of the mobile robot according to the embodiment of the present application.

[0038] REFERENCE SIGNS:

[0039] 100, mobile robot;

[0040] 10, shock absorption structure;

[0041] 1, base; 11, first limiting portion; 12, fixing portion; 13, avoidance channel; 101, bottom plate; 1011, mounting hole;

[0042] 2, mounting base; 21, second limiting portion; 22, mounting portion; 201, seat body; 2011, first seat body; 2012, second seat body; 202, mounting body;

[0043] 3, shock absorption member;

[0044] 20, workpiece;

[0045] 30, main body; 301, mounting groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

[0048] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0049] In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be fixedly connected, may be detachably connected, or may be integrated; it may be mechanically connected, may be electrically connected or may be communicable with each other; it may be directly connected, or may be indirectly connected through an intermediate medium, and may be the connection inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0050] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0051] In the present application, terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0052] In a warehousing system, during the process of a mobile robot performing a handling task, it may be in a state of heavy load or encounter uneven ground, resulting in relatively large vibrations or impacts on the mobile robot. When the working parts (such as radars, cameras, etc.) of the mobile robot are rigidly connected to the main body of the mobile robot, the working parts are prone to damage under relatively large vibrations or impacts. When the working parts of the mobile robot are connected to the main body of the mobile robot using shock-absorbing parts, although the working parts can be prevented from being subjected to relatively large vibrations or impacts, however, the working parts will move relatively greatly with respect to the main body, resulting in a relatively large inclination of the working surface of the working parts, affecting the normal use of the working parts.

[0053] To solve the above problems, an embodiment of the present application provides a shock-absorbing structure. This shock-absorbing structure can limit the amplitude of movement of the working part when avoiding the working part from being subjected to relatively large impacts and vibrations, and ensure the normal use of the working part.

[0054] Regarding the technical problems existing in the related art, referring to Figures 1 to 3 As shown, the shock-absorbing structure 10 of the embodiment of the present application includes a base 1, a mounting seat 2, and a shock-absorbing part 3. The mounting seat 2 is connected to the base 1 through the shock-absorbing part 3. The base 1 is provided with a first limiting part 11. The mounting seat 2 is used for mounting a working part 20 and is provided with a second limiting part 21. One of the second limiting part 21 and the first limiting part 11 cooperates inside the other. There is a gap between the second limiting part 21 and the first limiting part 11, so that the mounting seat 2 can move relative to the base 1 and the amplitude of the mounting seat 2 moving relative to the base 1 is limited by the gap.

[0055] Among them, the movement of the mounting seat 2 relative to the base 1 can be understood as: the mounting seat 2 undergoes translation, rotation, inclination, etc. relative to the base 1.

[0056] It can be understood that when the base 1 generates vibration or impact, since there is a gap between the second limiting portion 21 and the first limiting portion 11, the mounting seat 2 can move relative to the base 1. At this time, the shock-absorbing member 3 connected between the mounting seat 2 and the base 1 will undergo elastic deformation and absorb the energy of vibration or impact through elastic deformation, playing a shock-absorbing role. Among them, the mounting seat 2 can move (act) in all directions relative to the base 1. To ensure the normal use of the workpiece 20, it is necessary to ensure that the amplitude of the workpiece 20 during movement is within a preset range. For example, it is necessary to ensure that the scanning surface of the radar or the shooting angle of the camera is within a preset range.

[0057] In the shock-absorbing structure 10 of the embodiment of the present application, the workpiece 20 is mounted on the mounting seat 2. When the base 1 generates vibration or impact, there is a gap between the second limiting portion 21 and the first limiting portion 11, so that the mounting seat 2 can move relative to the base 1. At the same time, the shock-absorbing member 3 absorbs the energy of vibration or impact through deformation, avoiding damage to the workpiece 20 under vibration or impact. Among them, when the vibration or impact received by the base 1 is small, the movement range of the mounting seat 2 relative to the base 1 is small, and the second limiting portion 21 and the first limiting portion 11 do not contact. When the vibration or impact received by the base 1 is large, the movement range of the mounting seat 2 relative to the base 1 is large. When the amplitude of the workpiece 20 relative to the base 1 during movement is greater than the preset range, the second limiting portion 21 and the first limiting portion 11 contact and get stuck, so that the second limiting portion 21 and the first limiting portion 11 achieve rigid connection, thereby restricting the amplitude of the mounting seat 2 relative to the base 1 during movement, making the movement range of the workpiece 20 within the preset range and ensuring the normal use of the workpiece 20.

[0058] In some specific application scenarios, taking the workpiece 20 as a radar as an example for illustration:

[0059] As Figure 2 shown, the ideal scanning direction of the radar during normal operation is the arrow a in the figure. When the base 1 generates vibration or impact, causing the radar to shake relative to the base 1, to ensure the normal use of the radar, it is required that the scanning direction of the radar is between the arrow b and the arrow c in the figure, that is, the tilting angle of the radar during shaking does not exceed α. Among them, when the shaking angle of the radar exceeds α, it may scan the ground or too high obstacles, rather than the obstacles in the a direction.

[0060] Specifically, when the tilting angle of the radar during shaking is less than α, the second limiting portion 21 and the first limiting portion 11 do not contact; when the tilting angle of the radar during shaking is equal to α, the second limiting portion 21 and the first limiting portion 11 contact and get stuck, so that the second limiting portion 21 and the first limiting portion 11 achieve rigid connection, restricting the tilting angle of the mounting seat 2 relative to the base 1 during shaking not to exceed α and ensuring the normal use of the radar.

[0061] In some examples of the embodiments of the present application, the shock absorber 3 is a shock pad, a shock spring, an oil bladder or an air bag.

[0062] For example, the shock absorber 3 is a rubber part.

[0063] By setting the shock absorber 3 as a shock pad, a shock spring, an oil bladder or an air bag, the shock absorber 3 not only has good elasticity but also has good reliability, so that the shock absorption structure 10 not only has a good shock absorption effect but also has a long service life.

[0064] In some examples of the embodiments of the present application, the shock absorber 3 is detachably connected to the base 1.

[0065] For example, the shock absorber 3 is connected to the base 1 by screws, bolts or buckles.

[0066] By detachably connecting the shock absorber 3 to the base 1, it is convenient to replace or repair the shock absorber 3 or the base 1, which is beneficial to extending the service life of the shock absorption structure 10.

[0067] In some other examples of the present application, the shock absorber 3 can also be connected to the base 1 by welding, riveting or hot melting.

[0068] In some examples of the embodiments of the present application, the shock absorber 3 is detachably connected to the mounting seat 2.

[0069] For example, the shock absorber 3 is connected to the base 1 by screws, bolts or buckles.

[0070] By detachably connecting the shock absorber 3 to the mounting seat 2, it is convenient to replace or repair the shock absorber 3 or the mounting seat 2, which is beneficial to extending the service life of the shock absorption structure 10.

[0071] In some other examples of the present application, the shock absorber 3 can also be connected to the mounting seat 2 by welding, riveting or hot melting.

[0072] In some examples of the embodiments of the present application, as Figure 1 shown, one of the first limiting part 11 and the second limiting part 21 is a limiting hole, and the other of the first limiting part 11 and the second limiting part 21 is a limiting post, and at least a part of the limiting post is fitted in the limiting hole.

[0073] For example, as Figure 1 shown, the first limiting part 11 is a limiting hole, the second limiting part 21 is a limiting post, a part of the limiting post is inserted into the limiting hole, and there is a gap between the outer peripheral surface of the limiting post and the hole wall of the limiting hole.

[0074] By setting one of the first limiting part 11 and the second limiting part 21 as a limiting hole and the other as a limiting post, not only the structures of the first limiting part 11 and the second limiting part 21 are simple, which is convenient for processing and manufacturing, and the cost of the damping structure 10 is reduced; but also when the mounting seat 2 moves greatly relative to the base 1, all circumferential parts of the first limiting part 11 can contact the second limiting part 21, making it easier for the first limiting part 11 to contact and get stuck with the second limiting part 21, more effectively restricting the amplitude when the mounting seat 2 moves relative to the base 1 and ensuring the normal use of the workpiece 20.

[0075] In some examples of the embodiments of the present application, the width of the gap in the plane orthogonal to the axial direction of the limiting post is 0.4 mm to 1.0 mm.

[0076] Among them, the plane orthogonal to the axial direction of the limiting post means: the plane perpendicular to the axial direction of the limiting post.

[0077] It can be understood that when the width of the gap is small and the movement range of the mounting seat 2 relative to the base 1 is small, the second limiting part 21 and the first limiting part 11 do not contact, restricting the movement range of the workpiece 20 within a small range; when the width of the gap is large and the movement range of the mounting seat 2 relative to the base 1 is large, the second limiting part 21 and the first limiting part 11 contact, restricting the movement range of the workpiece 20 within a large range.

[0078] By setting the width of the gap in the plane orthogonal to the axial direction of the limiting post to be 0.4 mm to 1.0 mm, the movement range of the workpiece 20 is within a suitable range.

[0079] To make the technical solution of the present application easier to understand, the following takes the axial direction of the limiting post being consistent with the up and down direction as an example to further describe the technical solution of the present application.

[0080] For example, as Figure 1 and Figure 2 shown, both the limiting post and the limiting hole extend along the up and down direction, and the upper end of the limiting post is inserted into the limiting hole. The width of the gap in the plane perpendicular to the up and down direction is 0.4 mm to 1.0 mm.

[0081] In some examples of the embodiments of the present application, as Figure 1 and Figure 3 shown, the base 1 is provided with an avoidance channel 13 for avoiding the workpiece 20.

[0082] By providing the avoidance channel 13, a part of the workpiece 20 can occupy a part of the space of the base 1, making the layout between the workpiece 20 and the base 1 more compact and improving the layout compactness between the workpiece 20 and the damping structure 10.

[0083] In some examples of the embodiments of the present application, asFigure 3 As shown, the base 1 includes a bottom plate 101, and an avoidance channel 13 is formed on the bottom plate 101.

[0084] For example, as Figure 3 shown, the bottom plate 101 is provided with avoidance holes, and the avoidance holes form the avoidance channel 13. Of course, avoidance grooves can also be provided on the bottom plate 101, and the avoidance grooves form the avoidance channel 13.

[0085] By forming the avoidance channel 13 on the bottom plate 101, the structure of the base 1 is simple, which is convenient for the processing and manufacturing of the base 1, and reduces the manufacturing cost of the shock absorption structure 10.

[0086] In some examples of the embodiments of the present application, the base 1 and the mounting seat 2 are arranged at intervals in the vertical direction, and the shock absorber 3 is arranged between the base 1 and the mounting seat 2 in the vertical direction.

[0087] For example, as Figure 1 and Figure 2 shown, the base 1 is arranged on the lower side of the mounting seat 2, the shock absorber 3 is arranged on the upper side of the base 1 and on the lower side of the mounting seat 2, the lower end of the shock absorber 3 is connected to the base 1, and the upper end of the shock absorber 3 is connected to the mounting seat 2.

[0088] It can be understood that when the shock absorber 3 deforms in the vertical direction, it has a first limit length and a second limit length. Among them, the first limit length is the limit length when the shock absorber 3 is stretched in the vertical direction, and the second limit length is the limit length when the shock absorber 3 is compressed in the vertical direction. When the mounting seat 2 moves relative to the base 1 in the vertical direction, the length of the shock absorber 3 in the vertical direction is between the first limit length and the second limit length. Since the shock absorber 3 is arranged between the base 1 and the mounting seat 2 in the vertical direction, the distance between the base 1 and the mounting seat 2 in the vertical direction is between the first limit length and the second limit length.

[0089] By arranging the shock absorber 3 between the base 1 and the mounting seat 2 in the vertical direction, when the mounting seat 2 moves relative to the base 1 in the vertical direction, the movement range of the mounting seat 2 relative to the base 1 in the vertical direction is restricted. Thus, the movement range of the workpiece 20 can be restricted in the vertical direction, and the reliability of the workpiece 20 is improved.

[0090] In some examples of the embodiments of the present application, as Figure 1 and Figure 2 shown, the number of the shock absorbers 3 is multiple, and the multiple shock absorbers 3 are arranged at intervals around the circumference of the base 1.

[0091] For example, as Figure 1 shown, the number of the shock absorbers 3 is six, and three shock absorbers 3 are arranged on each side in the lateral direction of the base 1.

[0092] By providing a plurality of shock absorbers 3, the shock absorption effect of the shock absorption structure 10 can be improved, and the reliability of the workpiece 20 can be enhanced.

[0093] In some examples of the embodiments of the present application, such as Figure 1 As shown, the number of the first limiting portions 11 and the second limiting portions 21 is plural. The plurality of first limiting portions 11 are arranged at intervals in the circumferential direction around the base 1, and the second limiting portions 21 correspond to the first limiting portions 11 one by one.

[0094] For example, as Figure 1 As shown, the number of the first limiting portions 11 and the second limiting portions 21 is two. One first limiting portion 11 and one second limiting portion 21 are respectively arranged on both sides of the base 1 in the transverse direction.

[0095] By providing a plurality of first limiting portions 11 and a plurality of second limiting portions 21, the amplitude of the movement of the mounting seat 2 relative to the base 1 can be more effectively restricted, and the movement range of the workpiece 20 can be more effectively restricted within a preset range, thereby enhancing the reliability of the workpiece 20.

[0096] In some examples of the embodiments of the present application, at least two first limiting portions 11 are arranged at intervals in the transverse direction of the base 1, and at least two first limiting portions 11 are arranged at intervals in the longitudinal direction of the base 1.

[0097] It can be understood that for two first limiting portions 11 arranged side by side in the transverse direction, when the workpiece 20 is tilted relative to the base 1 in the transverse direction, the two first limiting portions 11 come into contact with the corresponding second limiting portions 21 simultaneously, that is, the limiting effects of the two first limiting portions 11 are the same; while for two first limiting portions arranged at intervals in the transverse direction, when the workpiece 20 is tilted relative to the base 1 in the transverse direction, one of the two first limiting portions 11 will come into contact with the corresponding second limiting portion 21 first, that is, the limiting effects of the two first limiting portions 11 are different. Correspondingly, for two first limiting portions 11 arranged side by side in the longitudinal direction, when the workpiece 20 is tilted relative to the base 1 in the longitudinal direction, the two first limiting portions 11 come into contact with the corresponding second limiting portions 21 simultaneously, that is, the limiting effects of the two first limiting portions 11 are the same; while for two first limiting portions 11 arranged at intervals in the longitudinal direction, when the workpiece 20 is tilted relative to the base 1 in the longitudinal direction, one of the two first limiting portions 11 comes into contact with the corresponding second limiting portion 21 first, that is, the limiting effects of the two first limiting portions 11 are different.

[0098] At least two first limiting portions 11 are arranged at intervals in the transverse direction of the base 1, and at least two first limiting portions 11 are arranged at intervals in the longitudinal direction of the base 1, so that a more perfect limiting effect can be achieved with a smaller number of the first limiting portions 11 and the second limiting portions 21. Thus, the reliability of the workpiece 20 can be enhanced with a simple structure of the shock absorption structure 10.

[0099] To make the technical solution of this application easier to understand, the following takes the case where the lateral direction of the base 1 is consistent with the left - right direction and the longitudinal direction of the base 1 is consistent with the front - back direction as an example to further describe the technical solution of this application. Among them, the left - right direction is as shown in Figure 1 and Figure 3 shown, and the front - back direction is as shown in Figures 1 to 3 shown.

[0100] For example, as shown in Figure 1 and Figure 3 shown, the number of the first limiting portion 11 and the second limiting portion 21 is two each. One first limiting portion 11 is arranged on each side of the base 1 in the left - right direction, and the first limiting portion 11 arranged on the left side is located in front of the first limiting portion 11 arranged on the right side.

[0101] In some examples of the embodiments of this application, as shown in Figure 1 and Figure 2 shown, the mounting base 2 includes a base body 201 and a mounting body 202 connected to the base body 201. The shock - absorbing member 3 is connected to the base body 201, and the second limiting portion 21 is arranged on the base body 201. The mounting body 202 protrudes relative to the base body 201 in a direction away from the base 1, and the mounting body 202 is used to mount the workpiece 20.

[0102] By setting the mounting base 2 to include the base body 201 and the mounting body 202, the shock - absorbing member 3 is connected to the base body 201, the second limiting portion 21 is arranged on the base body 201, and the mounting body 202 is used to mount the workpiece 20, it is convenient to design the structure of the mounting base 2 according to the different functions of each part of the mounting base 2, which is convenient for the design and manufacture of the mounting base 2. In addition, it can effectively avoid the interference between the shock - absorbing member 3 and the workpiece 20 and improve the reliability of the workpiece 20.

[0103] In some examples of the embodiments of this application, as shown in Figure 1 shown, the base body 201 includes a first base body 2011 and a second base body 2012 arranged at intervals in the lateral direction of the base 1. Both the first base body 2011 and the second base body 2012 are connected to the base 1 through the shock - absorbing member 3. The mounting body 202 is connected to the first base body 2011 and the second base body 2012 at both ends in the lateral direction.

[0104] For example, as shown in Figure 1 shown, the first base body 2011 is arranged on the left side of the second base body 2012. The left end of the mounting body 202 is connected to the first base body 2011, and the right end of the mounting body 202 is connected to the second base body 2012.

[0105] By setting the base body 201 to the above - mentioned structure, it is beneficial to save the material amount of the base body 201 and reduce the cost of the shock - absorbing structure 10.

[0106] In some examples of the embodiments of the present application, both the first seat body 2011 and the second seat body 2012 are provided with a second limiting portion 21.

[0107] By providing the second limiting portion 21 on both the first seat body 2011 and the second seat body 2012, when the amplitude of the workpiece 20 moving relative to the base 1 is greater than a preset range, between the first seat body 2011 and the base 1, a rigid connection is achieved through the second limiting portion 21 provided on the first seat body 2011 and the first limiting portion 11 of the base 1. Between the second seat body 2012 and the base 1, a rigid connection is achieved through the second limiting portion 21 provided on the second seat body 2012 and the first limiting portion 11 of the base 1.

[0108] Thus, when the amplitude of the workpiece 20 moving relative to the base 1 is greater than a preset range, there are mutual acting forces between both the first seat body 2011 and the second seat body 2012 and the base 1, improving the force-bearing stability of the mounting seat 2 and enhancing the reliability of the shock-absorbing structure 10.

[0109] In other examples of the embodiments of the present application, the second limiting portion 21 may also be provided only on the first seat body 2011 or only on the second seat body 2012.

[0110] In some examples of the embodiments of the present application, both the first seat body 2011 and the second seat body 2012 are in the shape of plates extending along the longitudinal direction of the base 1.

[0111] For example, as Figure 1 and Figure 2 shown, the first seat body 2011 is a rectangular plate extending in the front-rear direction, and the second seat body 2012 is a rectangular plate extending in the front-rear direction.

[0112] The structures of the first seat body 2011 and the second seat body 2012 are simple, convenient for processing and manufacturing, and reducing the cost of the shock-absorbing structure 10.

[0113] The shock-absorbing structure 10 of the embodiments of the present application has both rigidity and flexibility, which can ensure that on the basis of shock absorption, to a certain extent, the movement range of the workpiece 20 is restricted, ensuring the normal use of the workpiece 20.

[0114] The embodiments of the present application also provide a mobile robot 100. Referring to Figures 1 to 4 shown, the mobile robot 100 includes a main body 30, a workpiece 20, and a shock-absorbing structure 10. The shock-absorbing structure 10 may be the shock-absorbing structure 10 described in any of the above embodiments. The base 1 is installed on the main body 30, and the workpiece 20 is installed on the mounting seat 2.

[0115] For example, as Figure 1As shown, a fixing part 12 is provided on the base 1, and a mounting part 22 is provided on the mounting base 2. The fixing part 12 is connected to the main body 30 to mount the base 1 on the main body 30, and the workpiece 20 is connected to the mounting part 22 to mount the workpiece 20 on the mounting base 2. Among them, the main body 30 may include a chassis, and the base 1 is mounted on the chassis.

[0116] The workpiece 20 of the mobile robot 100 is connected to the main body 30 through a shock absorption structure 10, so that when the mobile robot 100 vibrates or is impacted during movement, the movement range of the workpiece 20 can be within a preset range, ensuring the normal use of the workpiece 20 and improving the reliability of the mobile robot 100.

[0117] In some examples of the embodiments of the present application, the workpiece 20 includes a radar and / or a camera.

[0118] When the workpiece 20 is a radar, the scanning surface of the radar can be ensured to be within a preset range. When the workpiece 20 is a camera, the shooting angle of the camera can be ensured to be within a preset range, improving the reliability of the mobile robot 100.

[0119] In some examples of the embodiments of the present application, the mobile robot 100 is an automated guided vehicle.

[0120] Setting the mobile robot 100 as an automated guided vehicle can improve the reliability of the mobile robot 100.

[0121] In some examples of the embodiments of the present application, as Figure 4 shown, the main body 30 is provided with a mounting groove 301, the workpiece 20 is installed in the mounting groove 301, and the notch of the mounting groove 301 is used to avoid the workpiece 20.

[0122] For example, as Figure 4 shown, the notch of the mounting groove 301 faces forward. When the workpiece 20 is a radar, the scanning surface of the radar faces forward, and the notch of the mounting groove 301 is used to avoid the scanning surface of the radar.

[0123] The embodiments of the present application also provide a warehousing system. The warehousing system includes the mobile robot 100 described in any of the above embodiments. Among them, the mobile robot 100 can be used for handling goods in the warehousing system.

[0124] In some specific application scenarios, taking the example of goods warehousing for illustration: The mobile robot 100 transports the goods to a set position on the shelf, and then places the goods at the target position on the shelf through equipment such as a shuttle car.

[0125] It can be understood that the process of goods out of the warehouse is similar to the above embodiments. For example, the goods are taken out from the shelves by devices such as shuttle cars and moved to the set positions of the shelves, and the mobile robot 100 moves the goods away from the set positions.

[0126] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Changes, modifications, substitutions, and variations made by those of ordinary skill in the art to the above embodiments are all within the protection scope of the present application.

Claims

1. A shock-absorbing structure (10), characterized in that, Comprising: A base (1), the base (1) being provided with a first limiting portion (11); A mounting base (2), the mounting base (2) being used for mounting a workpiece (20) and being provided with a second limiting portion (21); A shock-absorbing member (3), the mounting base (2) being connected to the base (1) through the shock-absorbing member (3); Wherein, one of the second limiting portion (21) and the first limiting portion (11) is fitted inside the other, and there is a gap between the second limiting portion (21) and the first limiting portion (11), so that the mounting base (2) is movable relative to the base (1) and the amplitude of the mounting base (2) moving relative to the base (1) is restricted by the gap.

2. The shock-absorbing structure (10) according to claim 1, characterized in that, One of the first limiting portion (11) and the second limiting portion (21) is a limiting hole, and the other of the first limiting portion (11) and the second limiting portion (21) is a limiting post, and at least a part of the limiting post is fitted inside the limiting hole.

3. The shock absorption structure (10) according to claim 2, characterized in that, The width of the gap in a plane orthogonal to the axial direction of the limiting post is 0.4 mm to 1.0 mm.

4. The shock-absorbing structure (10) according to claim 1, characterized in that, The base (1) and the mounting base (2) are arranged at intervals in the vertical direction, and the shock-absorbing member (3) is arranged in the vertical direction between the base (1) and the mounting base (2).

5. The shock-absorbing structure (10) according to claim 4, characterized in that, The base (1) is provided with an avoidance channel (13) for avoiding the workpiece (20).

6. The shock absorption structure (10) according to claim 5, characterized in that, The base (1) includes a bottom plate (101), and the avoidance channel (13) is formed on the bottom plate (101).

7. The shock absorption structure (10) according to claim 1, characterized in that, The number of the shock-absorbing members (3) is multiple, and the multiple shock-absorbing members (3) are arranged at intervals around the circumference of the base (1).

8. The shock-absorbing structure (10) according to claim 1, characterized in that, The number of both the first limiting portion (11) and the second limiting portion (21) is multiple, the multiple first limiting portions (11) are arranged at intervals around the circumference of the base (1), and the second limiting portion (21) corresponds to the first limiting portion (11) one by one.

9. The shock-absorbing structure (10) according to claim 8, wherein, At least two of the first limiting portions (11) are arranged at intervals in the transverse direction of the base (1), and at least two of the first limiting portions (11) are arranged at intervals in the longitudinal direction of the base (1).

10. The shock-absorbing structure (10) according to claim 1, characterized in that, The mounting base (2) includes a base body (201) and a mounting body (202) connected to the base body (201), the shock-absorbing member (3) is connected to the base body (201), the second limiting portion (21) is arranged on the base body (201), the mounting body (202) protrudes relative to the base body (201) in a direction away from the base (1), and the mounting body (202) is used for mounting the workpiece (20).

11. The shock absorption structure (10) according to claim 10, characterized in that, The base body (201) includes a first base body (2011) and a second base body (2012) arranged at intervals in the transverse direction of the base (1), and both the first base body (2011) and the second base body (2012) are connected to the base (1) through the shock-absorbing member (3); Both ends of the mounting body (202) in the transverse direction are respectively connected to the first base body (2011) and the second base body (2012).

12. The shock-absorbing structure (10) according to claim 11, characterized in that, Both the first base body (2011) and the second base body (2012) are provided with the second limiting portion (21).

13. The shock-absorbing structure (10) according to claim 11, characterized in that, Both the first base body (2011) and the second base body (2012) are in the shape of plates extending along the longitudinal direction of the base (1).

14. The shock-absorbing structure (10) according to any one of claims 1-13, characterized in that, The shock absorber (3) is a shock pad, a shock spring, an oil bladder or an air bladder.

15. The shock absorption structure (10) according to any one of claims 1-13, characterized in that, The shock absorber (3) is detachably connected to the base (1); and / or The shock absorber (3) is detachably connected to the mounting base (2).

16. A mobile robot (100), characterized in that, Comprising: A main body (30); A working member (20); A shock absorption structure (10), the shock absorption structure (10) being the shock absorption structure (10) described in any one of claims 1-15, the base (1) being mounted on the main body (30), and the working member (20) being mounted on the mounting base (2).

17. The mobile robot (100) according to claim 16, characterized in that, The working member (20) includes a radar and / or a camera.

18. The mobile robot (100) according to claim 16, wherein, The mobile robot (100) is an automated guided vehicle.

19. A warehousing system, characterized in that, Comprising the mobile robot (100) described in any one of claims 16-18.

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