Mobile robot

Abstract

The utility model discloses a mobile robot. The mobile robot comprises a main body structure, a plurality of walking mechanisms and a plurality of connecting mechanisms; the multiple walking mechanisms are arranged around the peripheral side of the main body structure at intervals. Each walking mechanism comprises a mounting frame and a walking wheel rotationally connected with the mounting frame. The multiple connecting mechanisms are arranged around the peripheral side of the main body structure at intervals, the multiple connecting mechanisms are all connected with the main body structure, one connecting mechanism corresponds to one walking mechanism, and the connecting mechanisms are movably connected with the mounting frames of the corresponding walking mechanisms; the walking wheels of the multiple walking mechanisms can move in the direction away from and close to the main body structure so as to adjust the height of the main body structure. The height of the main body structure and the overall width of the mobile robot can be adjusted, the height of the main body structure can be adjusted according to the specific conditions of the ground, the movement requirements of the ground with different heights are met, and the mobile robot can better walk in the complex environment.

Description

Technical Field

[0001] This application relates to the technical field of mobile devices, and particularly to a mobile robot. Background Art

[0002] Mobile robots are widely used in scenarios such as shooting, video recording, exploration, and construction. In related technologies, a mobile robot generally includes a chassis and a walking wheel mechanism disposed below the chassis, and devices such as a control mechanism can be installed on the chassis.

[0003] However, in related technologies, the height of the chassis cannot be adjusted, resulting in the chassis of the mobile robot being prone to rubbing or colliding with obstacles when moving on uneven ground. Summary of the Utility Model

[0004] This application provides a mobile robot that can adjust the height of the main body structure according to the specific conditions of the ground, adapt to the movement requirements of different height grounds, and prevent the mobile robot from rubbing or colliding with obstacles when moving on uneven ground.

[0005] Specifically, a mobile robot includes: a main body structure; a plurality of walking mechanisms, the plurality of walking mechanisms are spaced apart around the circumference of the main body structure, and each walking mechanism includes a mounting bracket and a walking wheel rotatably connected to the mounting bracket; and a plurality of connecting mechanisms, the plurality of connecting mechanisms are spaced apart around the circumference of the main body structure, the plurality of connecting mechanisms are all connected to the main body structure, and one connecting mechanism corresponds to one walking mechanism, and the connecting mechanism is movably connected to the mounting bracket of the corresponding walking mechanism; wherein, the walking wheels of the plurality of walking mechanisms can all move in directions away from and towards the main body structure to adjust the height of the main body structure.

[0006] The beneficial effects of this application are as follows: The walking wheel can move relative to the connecting mechanism. When the walking wheel moves in a direction away from or towards the main body structure, it will change the height of the connection point between the connecting mechanism and the main body structure, and thus can adjust the height of the main body structure, enabling the mobile robot to adjust the height of the main body structure according to the specific conditions of the ground when moving on uneven ground, adapt to the movement requirements of different height grounds, and prevent the main body structure from rubbing or colliding with obstacles; in addition, when the walking wheel moves relative to the main body structure, the distance between the walking wheel and the main body structure changes, which will also change the overall width of the walking robot, enabling the mobile robot to walk better in a complex environment. Description of the Drawings

[0007] To more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings required for use in the description of the embodiments or the related art. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0008] Figure 1 It is a schematic structural diagram of a mobile robot in an unfolded state in an embodiment of the present application;

[0009] Figure 2 It is a schematic structural diagram of a mobile robot in a contracted state in an embodiment of the present application;

[0010] Figure 3 It is a schematic structural diagram of a connection mechanism and a traveling mechanism in an embodiment of the present application;

[0011] Figure 4 It is a schematic structural diagram of a shock absorption assembly and a traveling mechanism in an embodiment of the present application.

[0012] Reference numerals:

[0013] 10, main body structure; 11, control component; 111, support frame; 112, controller; 113, industrial personal computer; 114, inertial sensor; 115, detection sensor; 12, pan-tilt head; 13, installation part; 20, traveling mechanism; 21, mounting bracket; 22, traveling wheel; 23, mounting seat; 24, first driving member; 25, second driving member; 30, connection mechanism; 31, connecting frame; 32, connection component; 321, first connecting rod; 322, second connecting rod; 40, shock absorption assembly; 41, third connecting rod; 42, elastic member. Detailed implementation manners

[0014] In order to make the purpose, technical solutions and advantages of the present application clearer, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0015] The present application provides a mobile robot to solve the problem that in the related art, the height of the chassis cannot be adjusted, resulting in the chassis of the mobile robot being prone to rubbing or collision with obstacles when moving on uneven ground.

[0016] Specifically, as Figure 1 and Figure 2As shown in the figure, the mobile robot includes a main body structure 10, a plurality of traveling mechanisms 20, and a plurality of connecting mechanisms 30. The plurality of traveling mechanisms 20 are arranged at intervals around the circumferential side of the main body structure 10. The traveling mechanism 20 includes a mounting frame 21 and a traveling wheel 22 rotatably connected to the mounting frame 21. The plurality of connecting mechanisms 30 are arranged at intervals around the circumferential side of the main body structure 10. The plurality of connecting mechanisms 30 are all connected to the main body structure 10, and one connecting mechanism 30 corresponds to one traveling mechanism 20. The connecting mechanism 30 is movably connected to the mounting frame 21 of the corresponding traveling mechanism 20.

[0017] Among them, the traveling wheels 22 of the plurality of traveling mechanisms 20 can all move in directions away from and towards the main body structure 10 to adjust the height of the connecting mechanism 30, and further adjust the height of the main body structure 10. It can be understood that the traveling wheels 22 can be flat rollers, spherical rollers or rollers of other shapes. The traveling wheels 22 are used to contact the ground. When the traveling wheels 22 roll on the ground, the main body structure 10 is driven to move through the connecting mechanism 30, so that the mobile robot can move on the ground. At the same time, the connecting mechanism 30 provides support for the main body structure 10.

[0018] It should also be noted that the traveling wheels 22 can also move relative to the connecting mechanism 30. When the traveling wheels 22 move in directions away from or towards the main body structure 10, the height of the connection point between the connecting mechanism 30 and the main body structure 10 will change, and further the height of the main body structure 10 can be adjusted. When the mobile robot moves on uneven ground, the height of the main body structure 10 can be adjusted according to the specific situation of the ground to meet the movement requirements of different height grounds and prevent the main body structure 10 from rubbing or colliding with obstacles. In addition, when the traveling wheels 22 move relative to the main body structure 10, the distance between the traveling wheels 22 and the main body structure 10 changes, which will also change the overall width of the walking robot, so that the mobile robot can walk better in a complex environment. For example, Figure 1 As shown in the figure, the mobile robot is in an unfolded state. When there is a small convex slope with a relatively low height and a small area in front of the traveling path of the mobile robot, the traveling wheels 22 can move in a direction away from the main body structure 10, so that the distance between the traveling wheels 22 becomes larger, and the overall width of the walking robot becomes larger, so that the traveling wheels 22 can avoid the small convex slope when the mobile robot crosses the small convex slope; Figure 2 As shown in the figure, the mobile robot is in a contracted state. When there is a relatively narrow area in front of the traveling path of the mobile robot, when the traveling wheels 22 move in a direction towards the main body structure 10, the distance between the traveling wheels 22 becomes smaller, and the overall width of the walking robot becomes smaller, so that it can pass through the narrow area better.

[0019] In some embodiments of the present application, the main body structure 10 includes at least one of a control component 11 and a pan-tilt 12. The main body structure 10 may only include the control component 11 or the pan-tilt 12, or may include both the control component 11 and the pan-tilt 12 at the same time.

[0020] Among them, the control component 11 is connected to the connecting mechanism 30. The control component 11 can be used to control the operation of electronic devices in the mobile robot. Of course, the control component 11 can also be equipped with various sensors or mounting functional components to carry functional devices such as detection devices and shooting devices, so that the mobile robot can be used for shooting, video recording, exploration and other work; the pan-tilt 12 is connected to the connecting mechanism 30. The pan-tilt 12 can have a mounting portion 13 for mounting functional devices, and the pan-tilt 12 can be used to carry functional devices such as detection devices and shooting devices, so that the mobile robot can be used for shooting, video recording, exploration and other work. Of course, a control module can also be integrated in the pan-tilt 12 to control the operation of electronic devices in the mobile robot.

[0021] In one embodiment, the main body structure 10 includes a control component 11 and a pan-tilt 12. The pan-tilt 12 is located above the control component 11 and is spaced apart from the control component 11. It can be understood that the control component 11 and the pan-tilt 12 are two separate parts, so that the arrangement of the devices in the control component 11 and the arrangement of the functional devices on the pan-tilt 12 can not interfere with each other, and the connecting mechanism 30 provides support for the control component 11 and the pan-tilt 12 respectively, which can prevent the connection point between the connecting mechanism 30 and the main body structure 10 from being disconnected due to the excessive overall weight of the main body structure 10, thereby improving the stability and safety of the mobile robot. In addition, since the pan-tilt 12 is located at a high position, components such as functional devices on the pan-tilt 12 can be prevented from being blocked by the control component 11, so that the functional devices have a wider field of view. In other embodiments, the control component 11 and the pan-tilt 12 can also be arranged side by side at the same height.

[0022] Among them, the control component 11 includes a support frame 111. The control component 11 further includes a controller 112 and an industrial computer 113 disposed on the support frame 111. The controller 112 can control the operation of the electronic devices in the mobile robot, and the industrial computer 113 can realize the remote communication between the mobile robot and electronic devices such as a remote control handle and a mobile phone, so that the remote control and remote monitoring of the mobile robot can be realized through the electronic devices. In one embodiment, the control component 11 may further include auxiliary devices such as an inertial sensor 114 and a detection sensor 115 to assist the mobile robot to move more stably. The detection sensor is used to detect the surrounding environment to help the mobile robot build a map, plan a path, avoid obstacles, etc. The detection sensor 115 may be a device such as a lidar or a vision sensor. In one embodiment, the installation part 13 may include a jack disposed on the top of the pan-tilt 12, and the functional device is inserted into the jack. The functional device is connected to the pan-tilt 12 by plugging, and different types of functional devices can be replaced more conveniently.

[0023] As Figures 1 to 3 shown, in some embodiments of the present application, the connection mechanism 30 includes a connection frame 31 and a connection component 32. The connection frame 31 is movably connected to the traveling mechanism 20; the connection component 32 is located between the connection frame 31 and the main body structure 10, and the connection component 32 connects the connection frame 31 and the main body structure 10. It can be understood that the connection frame 31 is used as a transfer point between the main body structure 10 and the connection component 32, making the connection between the connection component 32 and the mounting frame 21 more convenient, so that the connection between the main body structure 10 and the traveling mechanism 20 is more convenient, and the connection component 32 can increase the distance between the main body structure 10 and the traveling mechanism 20, making the movable range of the traveling wheels 22 larger, so that the height adjustment range of the main body structure 10 and the overall width adjustment range of the mobile robot are larger.

[0024] In one embodiment, the first end of the connection component 32 is movably connected to the connection frame 31, and the second end of the connection component 32 is movably connected to the main body structure 10, so that the connection component 32 can move relative to the connection frame 31 and the main body structure 10 during the walking process of the traveling wheels 22, so that the main body structure 10 can have a larger height adjustment range, and can effectively relieve the impact force transmitted from the traveling mechanism 20 to the main body structure 10 during the walking process of the mobile robot, playing an effective buffering and shock-absorbing role, and can enhance the overall shock-absorbing performance of the mobile robot and reduce the vibration impact when the mobile robot moves to the ground at different heights.

[0025] In one embodiment, the connecting component 32 includes a first connecting rod 321. The first end of the first connecting rod 321 is connected to the control component 11, and the second end of the first connecting rod 321 is connected to the connecting frame 31. In one embodiment, the connecting component 32 includes a second connecting rod 322. The first end of the second connecting rod 322 is connected to the pan-tilt 12, and the second end of the second connecting rod 322 is connected to the connecting frame 31. It can be understood that the control component 11 and the pan-tilt 12 are respectively connected to the connecting frame 31 through the first connecting rod 321 and the second connecting rod 322, so that the connections between the control component 11 and the pan-tilt 12 and the connecting frame 31 do not interfere with each other. At the same time, the connecting frame 31 can provide supporting forces for the control component 11 and the pan-tilt 12 respectively, which can prevent the connection points between the connecting mechanism 30 and the main body structure 10 from disconnecting due to the excessive overall weight of the main body structure 10, thereby improving the stability and safety of the mobile robot.

[0026] Specifically, the rotation axis line of the first end of the first connecting rod 321 and the rotation axis line of the second end of the first connecting rod 321 are parallel and both parallel to the horizontal plane; the rotation axis line of the first end of the second connecting rod 322 and the rotation axis line of the second end of the second connecting rod 322 are parallel and both parallel to the horizontal plane.

[0027] In one embodiment, the first end of the first connecting rod 321 is rotatably connected to the control component 11, and the second end of the first connecting rod 321 is rotatably connected to the connecting frame 31, so that the first connecting rod 321 can rotate relative to the control component 11 and the connecting member 31, which can effectively relieve the impact force transmitted from the traveling mechanism 20 to the main body structure 10 during the walking process of the mobile robot and play an effective buffering and shock-absorbing role; the first end of the second connecting rod 322 is rotatably connected to the pan-tilt 12, and the second end of the second connecting rod 322 is rotatably connected to the connecting frame 31, so that the second connecting rod 322 can rotate relative to the pan-tilt 12 and the connecting member 31, which can effectively relieve the impact force transmitted from the traveling mechanism 20 to the main body structure 10 during the walking process of the mobile robot and play an effective buffering and shock-absorbing role.

[0028] In one embodiment, at least two first connecting rods 321 are provided. The at least two first connecting rods 321 are arranged oppositely and form a parallelogram structure with the control component 11 and the connecting frame 31. It can be understood that the weight of the control component 11 is relatively large. By providing support for the control component 11 through the two first connecting rods 321, a more stable supporting force can be provided for the control component 11. In addition, the two first connecting rods 321 are parallel to each other and have the same length. The two first connecting rods 321 respectively have two connection points with the control component 11, and the two first connecting rods 321 respectively have two connection points with the connecting frame 31. The line connecting the two connection points of the two first connecting rods 321 with the control component 11 is parallel and has the same length as the line connecting the two connection points of the two first connecting rods 321 with the connecting frame 31. The movement of the parallelogram structure is simple, with only one degree of freedom, and the parallelogram structure is statically and dynamically balanced, can symmetrically support and transmit loads. The movements of the two first connecting rods 321 are synchronous, the possibility of movement interference is small, and it is less affected by the horizontal and vertical bending of the first connecting rods 321, with high reliability, making the lifting of the control component 11 more stable when the walking wheels 22 move in the directions close to and away from the control component 11.

[0029] In one embodiment, the mobile robot is a three-wheeled robot. The mobile robot has three walking mechanisms 20. At this time, three sets of connecting components 32 can also be provided. One set of connecting components 32 corresponds to and is connected to one walking mechanism 20. The three walking mechanisms 20 can form a triangular support structure, making the mobile robot more stable when moving. Moreover, the number of the walking mechanisms 20 and the connecting mechanism 30 is small, which can reduce the weight and production cost of the mobile robot.

[0030] As Figure 3 and Figure 4 shown, in some embodiments of the present application, the mobile robot further includes multiple sets of shock absorption components 40. Each shock absorption component 40 is connected between the walking mechanism 20 and the connecting mechanism 30. The shock absorption component 40 can effectively relieve the impact force transmitted by the walking mechanism 20 to the main body structure 10 during the walking process of the mobile robot, play an effective buffering and shock absorption role, can enhance the overall shock absorption performance of the mobile robot, and further reduce the vibration influence received by the mobile robot when moving on the ground at different heights. Specifically, the shock absorption component 40 is located between the mounting frame 21 and the connecting frame 31. The shock absorption component 40 is movably connected to the mounting frame 21 and is movably connected to the connecting frame 31 to further improve the shock absorption performance of the shock absorption component 40.

[0031] In one embodiment, the shock absorption assembly 40 may include a third connecting rod 41 and an elastic member 42. The first end of the third connecting rod 41 is rotatably connected to the mounting bracket 21, and the second end of the third connecting rod 41 is rotatably connected to the connecting mechanism 30. The elastic member 42 is disposed between the mounting bracket 21 and the connecting mechanism 30, and the elastic member 42 can provide shock absorption elastic force between the mounting bracket 21 and the connecting bracket 31. It can be understood that the third connecting rod 41 is used to connect the mounting bracket 21 and the connecting bracket 31, so as to provide a supporting force for the connecting bracket 31 through the mounting bracket 21. The elastic member 42 can effectively relieve the impact force transmitted from the traveling mechanism 20 to the main body structure 10 during the movement of the mobile robot, and play an effective buffering and shock absorption role. Among them, the elastic member 42 can be a spring.

[0032] Specifically, the rotation axis line of the first end of the third connecting rod 41 and the rotation axis line of the second end of the third connecting rod 41 are parallel, and both are parallel to the horizontal plane. The elastic member 42 can be connected to at least one of the third connecting rod 41, the mounting bracket 21, and the connecting bracket 31.

[0033] In one embodiment, there are two third connecting rods 41. The two third connecting rods 41 are arranged oppositely and form a parallelogram structure with the mounting bracket 21 and the connecting bracket 31. Among them, the elastic member 42 is located between the two third connecting rods 41. The first end of the elastic member 42 is connected to one third connecting rod 41, and the second end of the elastic member 42 is connected to the other third connecting rod 41. It can be understood that the two third connecting rods 41 are parallel to each other and have the same length. The two third connecting rods 41 respectively have two connection points with the mounting bracket 21, and the two third connecting rods 41 respectively have two connection points with the connecting bracket 31. The line connecting the two connection points where the two second connecting rods 322 are connected to the mounting bracket 21 is parallel and has the same length as the line connecting the two connection points where the two second connecting rods 322 are connected to the connecting bracket 31. The parallelogram structure formed by the two third connecting rods 41 and the mounting bracket 21 and the connecting bracket 31 has higher movement reliability, so that when the traveling wheel 22 moves in the direction of approaching and moving away from the control assembly 11, the lifting of the control assembly 11 is more stable. In addition, the elastic member 42 is hidden between the two third connecting rods 41, which can prevent the elastic member 42 from colliding with obstacles during the movement of the mobile robot. When the two third connecting rods 41 move relative to each other, the elastic member 42 is stretched and compressed, so as to play an effective buffering and shock absorption role, and when the third connecting rod 41 is loaded and unloaded, the elastic member 42 can be loaded and unloaded on the mobile robot, making the loading and unloading of the shock absorption assembly 40 more convenient.

[0034] In one embodiment, the rotational axis lines at both ends of the first connecting rod 321, the rotational axis lines at both ends of the second connecting rod 322, and the rotational axis lines at both ends of the third connecting rod 41 are all parallel, so that when the traveling wheel 22 moves, the first connecting rod 321, the second connecting rod 322, and the third connecting rod 41 rotate in the same direction, preventing the first connecting rod 321, the second connecting rod 322, and the third connecting rod 41 from jamming due to motion interference.

[0035] In some embodiments, the traveling mechanism 20 further includes a mounting seat 23, a first driving member 24, and a second driving member 25. The mounting seat 23 is connected to the mounting frame 21, and the traveling wheel 22 is rotatably connected to the mounting seat 23; the first driving member 24 is mounted on the mounting seat 23, the first driving member 24 is in transmission connection with the traveling wheel 22, and the first driving member 24 is used to drive the traveling wheel 22 to rotate around the axis of the traveling wheel 22; the second driving member 25 is mounted on the mounting frame 21, the second driving member 25 is in transmission connection with the mounting seat 23, and the second driving member 25 is used to drive the mounting seat 23 to rotate so as to change the orientation of the traveling wheel 22. It can be understood that the first driving member 24 is used to drive the traveling wheel 22 to rotate, so that the traveling wheel 22 can move on the ground, and the second driving member 25 is used to drive the mounting seat 23 to rotate, so as to drive the traveling wheel 22 and the first driving member 24 to rotate, and the traveling direction of the traveling wheel 22 can be adjusted, so that the mobile robot can move in all directions. Wherein, the first driving member 24 and the second driving member 25 can be motors, motors or other driving members, and the first driving member 24 and the second driving member 25 can be communicatively connected to the control component 11, and the operation of the first driving member 24 and the second driving member 25 is controlled through the control component 11, so as to control the moving direction of the mobile robot. Specifically, the traveling wheel 22 can rotate relative to the mounting seat 23 around the axis of the traveling wheel 22, and the rotation center line of the mounting seat 23 extends vertically.

[0036] It can be understood that, as Figure 1 and Figure 2As shown, when the walking wheel 22 needs to move away from the main body structure 10, after the second driving member 25 drives the mounting seat 23 to rotate to adjust the traveling direction of the walking wheel 22, the first driving member 24 drives the walking wheel 22 to rotate and move away from the main body structure 10. The first connecting rod 321, the second connecting rod 322, and the third connecting rod 41 rotate around their respective rotation axis lines and expand away from the main body structure 10, causing the heights of the connection points of the first connecting rod 321, the second connecting rod 322, and the third connecting rod 41 with the connecting frame 31 to decrease. As a result, the heights of the control assembly 11 and the pan-tilt 12 decrease, and at the same time, the overall width of the mobile robot increases. When the walking wheel 22 needs to move closer to the main body structure 10, after the second driving member 25 drives the mounting seat 23 to rotate to adjust the traveling direction of the walking wheel 22, the first driving member 24 drives the walking wheel 22 to rotate and move closer to the main body structure 10. The first connecting rod 321, the second connecting rod 322, and the third connecting rod 41 rotate around their respective rotation axis lines and contract towards the main body structure 10, causing the heights of the connection points of the first connecting rod 321, the second connecting rod 322, and the third connecting rod 41 with the connecting frame 31 to increase. As a result, the heights of the control assembly 11 and the pan-tilt 12 increase, and at the same time, the overall width of the mobile robot decreases.

[0037] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A mobile robot, characterized in that, Comprising: Main body structure; A plurality of traveling mechanisms, the plurality of traveling mechanisms are arranged at intervals around the circumferential side of the main body structure, and each traveling mechanism includes a mounting frame and a traveling wheel rotatably connected to the mounting frame; And, A plurality of connecting mechanisms, the plurality of connecting mechanisms are arranged at intervals around the circumferential side of the main body structure, the plurality of connecting mechanisms are all connected to the main body structure, and one connecting mechanism corresponds to one traveling mechanism, and the connecting mechanism is movably connected to the mounting frame of the corresponding traveling mechanism; Wherein, the traveling wheels of the plurality of traveling mechanisms can all move in directions away from and close to the main body structure to adjust the height of the main body structure.

2. The mobile robot according to claim 1, characterized in that, The main body structure includes: A control component, connected to the connecting mechanism; and / or, A pan-tilt, the pan-tilt is connected to the connecting mechanism, and the pan-tilt is used for mounting functional devices.

3. The mobile robot according to claim 2, wherein, The main body structure includes the control component and the pan-tilt, and the pan-tilt is located above the control component and is spaced apart from the control component.

4. The mobile robot according to claim 1, characterized in that, The traveling mechanism further includes: A mounting seat, connected to the mounting frame, and the traveling wheel is rotatably connected to the mounting seat; A first driving member, mounted on the mounting seat, the first driving member is in transmission connection with the traveling wheel, and the first driving member is used for driving the traveling wheel to rotate around the axis of the traveling wheel; and, A second driving member, mounted on the mounting frame, the second driving member is in transmission connection with the mounting seat, and the second driving member is used for driving the mounting seat to rotate to change the orientation of the traveling wheel.

5. The mobile robot according to claim 1, characterized in that, The connecting mechanism includes: A connecting frame, movably connected to the traveling mechanism; and, A connecting component, located between the connecting frame and the main body structure, and the connecting component connects the connecting frame and the main body structure.

6. The mobile robot according to claim 4, wherein The main body structure includes: A control component, the connecting component includes a first connecting rod, a first end of the first connecting rod is connected to the control component, and a second end of the first connecting rod is connected to the connecting frame; and / or, A pan-tilt, the connecting component includes a second connecting rod, a first end of the second connecting rod is connected to the pan-tilt, and a second end of the second connecting rod is connected to the connecting frame.

7. The mobile robot according to claim 6, characterized in that, The first end of the first connecting rod is rotatably connected to the control component, and the second end of the first connecting rod is rotatably connected to the connecting frame; The first end of the second connecting rod is rotatably connected to the pan-tilt, and the second end of the second connecting rod is rotatably connected to the connecting frame.

8. The mobile robot according to claim 1, characterized in that, The mobile robot is a three-wheeled robot, and the mobile robot has three of the traveling mechanisms.

9. The mobile robot according to any one of claims 1 to 8, characterized in that, The mobile robot further includes: Multiple sets of shock-absorbing components, and each shock-absorbing component is connected between the traveling mechanism and the connecting mechanism.

10. The mobile robot according to claim 9, wherein The shock-absorbing component includes: A third connecting rod, a first end of the third connecting rod is rotatably connected to the mounting frame, and a second end of the third connecting rod is rotatably connected to the connecting mechanism; and, An elastic member, arranged between the mounting frame and the connecting mechanism.

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