Damping mechanism and moving device

Abstract

The utility model provides a damping mechanism and a moving device, and the damping mechanism comprises a connecting piece which is provided with a first end and a second end which are oppositely arranged; the first end of the connecting piece is hinged to the moving main body; the second end of the connecting piece is hinged to a main body of the driving assembly; the first stopping piece and the second stopping piece are arranged on the connecting piece in a spaced mode in the distribution direction of the first end and the second end of the connecting piece; the second stop piece is movably arranged relative to the first stop piece in the distribution direction of the first end and the second end of the connecting piece. The second stopping piece and the second end of the connecting piece are relatively fixed; the elastic piece is provided with a first end and a second end which are oppositely arranged in the telescopic direction; the elastic piece is arranged on the connecting piece in a sleeving mode, the first end of the elastic piece abuts against or is connected with the first stopping piece, and the second end of the elastic piece abuts against or is connected with the second stopping piece. The damping mechanism is used for achieving the damping effect, and therefore the vibration impact force borne by the AGV robot in the running process is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of shock absorption of mobile devices, in particular to a shock absorption mechanism and a mobile device. Background Art

[0002] With the continuous development of automation and intelligent warehousing and logistics, the application scenarios of AGV are becoming more and more extensive.

[0003] At present, there are various AGV-based robots, such as handling robots, service robots, and disinfection robots.

[0004] When the AGV robot is driving normally, the wheels of the drive module cannot receive stable power when passing through uneven roads, causing slippage, which makes the AGV unable to drive stably. Utility Model Content

[0005] The main purpose of the utility model is to provide a shock absorbing mechanism and a moving device to achieve a shock absorbing effect, thereby reducing the vibration impact force received by the AGV robot during driving.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a shock-absorbing mechanism is provided, which is applied to a mobile device, the mobile device including a mobile body, a driving assembly and a wheel; the output part of the driving assembly is connected to the wheel to drive the wheel to rotate; the shock-absorbing mechanism includes: a connecting member, having a first end and a second end arranged opposite to each other; the first end of the connecting member is used to be hinged to the mobile body; the second end of the connecting member is used to be hinged to the main body of the driving assembly; a first stop member and a second stop member are arranged on the connecting member at intervals along the distribution direction of the first end and the second end of the connecting member; the second stop member is movably arranged relative to the first stop member along the distribution direction of the first end and the second end of the connecting member; the second stop member is relatively fixed to the second end of the connecting member; an elastic member has a first end and a second end arranged opposite to each other along its extension and contraction direction; the elastic member is sleeved on the connecting member, the first end of the elastic member abuts or is connected to the first stop member, and the second end of the elastic member abuts or is connected to the second stop member.

[0007] Furthermore, the hinge axis between the first end of the connecting member and the mobile body, and the hinge axis between the second end of the connecting member and the body of the driving assembly are both parallel to the rotation axis of the wheel.

[0008] Furthermore, the shock absorbing mechanism further includes a mounting member, which is used to be fixedly connected to the main body of the driving assembly, and the second end of the connecting member is hinged to the mounting member.

[0009] Furthermore, the mounting member is rotatably arranged around a preset axis; the preset axis, the hinge axis between the first end of the connecting member and the mobile body, and the hinge axis between the second end of the connecting member and the body of the driving assembly are all parallel.

[0010] Furthermore, the shock absorbing mechanism also includes a fixed shaft, which is used to be fixedly connected to the mobile body; the fixed shaft is arranged on the mounting member, and the mounting member is rotatably arranged relative to the fixed shaft around the central axis of the fixed shaft, and the central axis of the fixed shaft forms a preset axis.

[0011] Furthermore, the mounting member has a first end and a second end that are arranged opposite to each other; the distribution direction of the first end and the second end of the mounting member is arranged at an acute angle to the distribution direction of the first end and the second end of the connecting member; the first end of the mounting member is rotatably arranged around a preset axis, and the second end of the connecting member is hinged to the second end of the mounting member.

[0012] Furthermore, the connecting member includes a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion both have a first end and a second end arranged relative to each other; the first end of the first connecting portion is the first end of the connecting member, and the second end of the second connecting portion is the second end of the connecting member; the second end of the first connecting portion and the first end of the second connecting portion are telescopically connected along the distribution direction of the first end and the second end of the connecting member; the first stop member is arranged on the first connecting portion to be fixed relative to the first connecting portion; the second stop member is arranged on the second connecting portion to be fixed relative to the second connecting portion.

[0013] Furthermore, the first stop member is adjustably arranged along the distribution direction of the first end and the second end of the connecting member to adjust the initial telescopic state of the elastic member; when the position of the first stop member along the distribution direction of the first end and the second end of the connecting member is adjusted, the first stop member is relatively fixed to the first end of the connecting member.

[0014] Furthermore, the shock absorbing mechanism further includes a fixing member, which is used to be fixedly connected to the mobile body, and the first end of the connecting member is hinged to the fixing member.

[0015] Furthermore, the connecting piece is a rod-shaped structure.

[0016] Furthermore, the elastic member is a spring or an elastic sleeve.

[0017] Furthermore, the drive assembly includes a drive motor and a reducer, the output of the drive motor is connected to the input end of the reducer, and the output of the reducer is connected to the wheel to drive the wheel to rotate; the mounting piece is used to be fixedly connected to the main body of the reducer.

[0018] According to another aspect of the present invention, a mobile device is provided, which includes the above-mentioned shock absorbing mechanism.

[0019] Furthermore, the mobile device is an AGV mobile robot.

[0020] Applying the technical solution of the present invention, the shock absorbing mechanism includes a connecting member, a first stop member, a second stop member and an elastic member; the connecting member has a first end and a second end arranged relatively to each other; the first end of the connecting member is used to be hinged to the mobile body; the second end of the connecting member is used to be hinged to the main body of the driving component; the first end of the connecting member is parallel to the hinge axis of the mobile body and the second end of the connecting member is parallel to the hinge axis of the main body of the driving component, and the first end of the connecting member and the hinge axis of the mobile body, and the second end of the connecting member and the main body of the driving component are both perpendicular to the distribution direction of the first end and the second end of the connecting member.

[0021] The first stopper and the second stopper are arranged on the connecting member at intervals along the distribution direction of the first end and the second end of the connecting member; the second stopper is movably arranged relative to the first stopper along the distribution direction of the first end and the second end of the connecting member, and the second stopper is fixed relative to the second end of the connecting member.

[0022] The elastic member has a first end and a second end that are oppositely disposed along its expansion and contraction direction; the elastic member is sleeved on the connecting member, and the elastic expansion and contraction direction of the elastic member is parallel to or the same as the distribution direction of the first and second ends of the connecting member; the first end of the elastic member abuts or connects with the first stop member, and the second end of the elastic member abuts or connects with the second stop member, that is, the elastic member is disposed between the first and second stop members. When the second stop member moves relative to the first stop member along the distribution direction of the first and second ends of the connecting member, the elastic member is driven or driven to expand and contract.

[0023] During a specific implementation, during the overall movement of the mobile device, when the mobile device passes over an uneven road surface, if the wheel is subjected to an upward force from a protruding obstacle on the road surface, the wheel will drive the drive assembly and the second end of the connecting member upward together; and because the second stop member is relatively fixed to the second end of the connecting member, the second end of the connecting member drives the second stop member upward together, and at this time the second stop member moves toward the first stop member along the distribution direction of the first and second ends of the connecting member, thereby squeezing the elastic member, which then contracts after being squeezed. When the wheel passes over the protruding obstacle on the road surface, the wheel will drive the drive assembly and the second end of the connecting member downward together, and the second end of the connecting member drives the second stop member downward together, and the second stop member moves away from the first stop member along the distribution direction of the first and second ends of the connecting member, so that the elastic member that was previously squeezed and contracted is released under the action of the elastic force.

[0024] If the wheel encounters a depression in the road surface, the wheel will drive the drive assembly and the second end of the connector downward. The second end of the connector will then drive the second stop downward, and the second stop will move away from the first stop along the distribution direction of the first and second ends of the connector, causing the elastic member to be stretched or extended. After the wheel passes over the depression in the road surface, the wheel will drive the drive assembly and the second end of the connector upward. The second end of the connector will then drive the second stop upward, and the second stop will move toward the first stop along the distribution direction of the first and second ends of the connector. The previously stretched elastic member will then contract under the action of the elastic force, or the elastic member will be squeezed and contracted. This can act as a buffer, reducing the vibration experienced by the entire mobile device, thereby achieving a shock-absorbing effect. By reducing the vibration impact force experienced by the entire mobile device, the mobile device is protected from large impact forces, allowing the mobile device to move stably even on surfaces with complex road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 A structural schematic diagram of a shock absorbing mechanism according to the present utility model from one perspective is shown;

[0027] Figure 2 A structural schematic diagram showing another perspective of the shock absorbing mechanism according to the present utility model is shown;

[0028] Figure 3 A structural schematic diagram of the shock absorbing mechanism according to the present utility model is shown from a third viewing angle.

[0029] The above drawings include the following reference numerals:

[0030] 10. Connecting member; 101. First connecting portion; 102. Second connecting portion; 11. Fixing member; 12. First shaft; 13. Second shaft; 20. Elastic member; 31. First stopper; 32. Second stopper; 40. Mounting member; 41. Fixed shaft; 411. Shaft end cap; 42. First sleeve; 421. First support; 43. Second support;

[0031] 200, wheel; 210, drive motor; 220, reducer. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0034] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0035] This utility model provides a shock absorbing mechanism, please refer to Figures 1 to 3 , shock absorbing mechanisms are used in mobile devices.

[0036] The mobile device includes a mobile body, a driving assembly and wheels 200; the output portion of the driving assembly is connected to the wheels 200 to drive the wheels 200 to rotate, thereby moving the mobile device as a whole.

[0037] The shock absorbing mechanism includes a connecting member 10, a first stop member 31, a second stop member 32 and an elastic member 20; the connecting member 10 has a first end and a second end arranged opposite to each other; the first end of the connecting member 10 is used to be hinged to the mobile body; the second end of the connecting member 10 is used to be hinged to the main body of the driving component; the first end of the connecting member 10 is parallel to the hinge axis of the mobile body and the second end of the connecting member 10 is parallel to the hinge axis of the main body of the driving component, and the first end of the connecting member 10 is perpendicular to the hinge axis of the mobile body and the second end of the connecting member 10 is perpendicular to the distribution direction of the first end and the second end of the connecting member 10.

[0038] The first stopper 31 and the second stopper 32 are spaced apart on the connecting member 10 along the direction in which the first and second ends of the connecting member 10 are distributed. The second stopper 32 is movably disposed relative to the first stopper 31 along the direction in which the first and second ends of the connecting member 10 are distributed. The second stopper 32 is fixed relative to the second end of the connecting member 10.

[0039] The elastic member 20 has a first end and a second end that are oppositely disposed along its expansion and contraction direction. The elastic member 20 is sleeved onto the connector 10, and the expansion and contraction direction of the elastic member 20 is parallel to or the same as the distribution direction of the first and second ends of the connector 10. The first end of the elastic member 20 abuts or connects with the first stopper 31, and the second end of the elastic member 20 abuts or connects with the second stopper 32, i.e., the elastic member 20 is disposed between the first and second stoppers 31, 32. When the second stopper 32 moves relative to the first stopper 31 along the distribution direction of the first and second ends of the connector 10, it drives or causes the elastic member 20 to expand and contract.

[0040] During specific implementation, when the mobile device is moving as a whole, if the wheel 200 is subjected to an upward force from a protruding obstacle on the road surface, the wheel 200 will drive the drive assembly and the second end of the connecting member 10 upward. Furthermore, since the second stopper 32 is relatively fixed to the second end of the connecting member 10, the second end of the connecting member 10 drives the second stopper 32 upward. At this time, the second stopper 32 moves toward the first stopper 31 along the direction of the first and second ends of the connecting member 10, thereby squeezing the elastic member 20 and causing it to contract. After the wheel 200 passes the protruding obstacle on the road surface, the wheel 200 drives the drive assembly and the second end of the connecting member 10 downward. The second end of the connecting member 10 drives the second stopper 32 downward. The second stopper 32 moves away from the first stopper 31 along the direction of the first and second ends of the connecting member 10, releasing the previously squeezed and contracted elastic member 20 under the action of the elastic force.

[0041] If the wheel 200 encounters a depression in the road surface, the wheel 200 pulls the drive assembly and the second end of the connector 10 downward. The second end of the connector 10 pulls the second stopper 32 downward, and the second stopper 32 moves away from the first stopper 31 along the direction of the first and second ends of the connector 10, stretching or expanding the elastic member 20. After the wheel 200 passes over the depression, the wheel 200 pulls the drive assembly and the second end of the connector 10 upward. The second end of the connector 10 pulls the second stopper 32 upward, and the second stopper 32 moves toward the first stopper 31 along the direction of the first and second ends of the connector 10. The previously stretched elastic member 20 contracts under the action of the elastic force, or the elastic member 20 is squeezed and contracted. This acts as a buffer, reducing vibrations experienced by the entire mobile device, thereby achieving a shock-absorbing effect. By reducing the vibration impact force experienced by the entire mobile device, the mobile device is protected from large impacts, allowing the mobile device to move stably even on complex surfaces.

[0042] Optionally, the connecting member 10 is a rod-shaped structure.

[0043] Optionally, the elastic member 20 is a spring or an elastic sleeve.

[0044] In this embodiment, the hinge axis between the first end of the connecting member 10 and the mobile body, and the hinge axis between the second end of the connecting member 10 and the body of the driving assembly are both parallel to the rotation axis of the wheel 200 .

[0045] In this embodiment, the shock absorbing mechanism also includes a mounting member 40, which is used to be fixedly connected to the main body of the driving assembly, that is, the mounting member 40 is fixedly arranged on the main body of the driving assembly; the second end of the connecting member 10 is hinged to the mounting member 40, so that the main body of the driving assembly is hinged to the second end of the connecting member 10 through the mounting member 40.

[0046] Specifically, the mounting member 40 is rotatably arranged around a preset axis; the preset axis, the hinge axis between the first end of the connecting member 10 and the mobile body, and the hinge axis between the second end of the connecting member 10 and the body of the driving assembly are all parallel.

[0047] During specific implementation, if the wheel 200 is subjected to an upward force from a protruding obstacle on the road, the wheel 200 will drive the drive assembly and the mounting member 40 upward. At this time, the mounting member 40 can rotate upward about a predetermined axis, and the mounting member 40 will drive the second end of the connecting member 10 and the second stop member 32 to rotate upward. At this time, the second stop member 32 will move toward the first stop member 31 along the distribution direction of the first and second ends of the connecting member 10, thereby squeezing the elastic member 20, which will then contract. When the wheel 200 passes the protruding obstacle on the road, the wheel 200 will drive the drive assembly and the mounting member 40 downward. At this time, the mounting member 40 can rotate downward about a predetermined axis, and the mounting member 40 will drive the second end of the connecting member 10 and the second stop member 32 to rotate downward. At this time, the second stop member 32 will move away from the first stop member 31 along the distribution direction of the first and second ends of the connecting member 10, thereby releasing the previously squeezed and contracted elastic member 20 under the action of the elastic force.

[0048] If the wheel 200 encounters a depression on the road surface, the wheel 200 drives the drive assembly and the mounting member 40 downward. The mounting member 40 can then rotate downward about a predetermined axis, thereby driving the second end of the connector 10 and the second stopper 32 to rotate downward. The second stopper 32 then moves away from the first stopper 31 along the direction of the first and second ends of the connector 10, stretching or expanding the elastic member 20. After the wheel 200 passes over the depression on the road surface, the wheel 200 drives the drive assembly and the mounting member 40 upward. The mounting member 40 can then rotate upward about a predetermined axis, thereby driving the second end of the connector 10 and the second stopper 32 to rotate upward. The second stopper 32 then moves toward the first stopper 31 along the direction of the first and second ends of the connector 10, stretching or expanding the elastic member 20. The previously stretched elastic member 20 contracts under the action of the elastic force, or is squeezed and contracted.

[0049] Optionally, the mounting member 40 is a plate-shaped structure.

[0050] In this embodiment, the shock absorbing mechanism also includes a fixed shaft 41, which is used to be fixedly connected to the mobile body; the fixed shaft 41 is arranged on the mounting member 40, and the mounting member 40 is rotatably arranged relative to the fixed shaft 41 around the center axis of the fixed shaft 41, and the center axis of the fixed shaft 41 forms a preset axis.

[0051] In this embodiment, the mounting member 40 has a first end and a second end that are positioned opposite each other. The first and second ends of the mounting member 40 are arranged at an acute angle to the first and second ends of the connecting member 10. The hinge axis between the first end of the connecting member 10 and the mobile body, and the hinge axis between the second end of the connecting member 10 and the main body of the drive assembly, are both perpendicular to the first and second ends of the mounting member 40. The first end of the mounting member 40 is rotatable about a predetermined axis, and the second end of the connecting member 10 is hingedly connected to the second end of the mounting member 40.

[0052] Specifically, the fixing shaft 41 is disposed at a first end of the mounting member 40 .

[0053] In this embodiment, a first through hole is provided on the mounting member 40 for the fixed shaft 41 to pass through; a first sleeve 42 is provided between the fixed shaft 41 and the hole wall of the first through hole, so that the mounting member 40 can be rotatably arranged relative to the fixed shaft 41 around the central axis of the fixed shaft 41.

[0054] Specifically, a first support 421 is fixedly provided on the mounting member 40 , and the first through hole is provided on the first support 421 ; that is, the first support 421 is provided at the first end of the mounting member 40 .

[0055] Optionally, a shaft end cover 411 is provided at one end of the fixed shaft 41 .

[0056] In this embodiment, the shock absorbing mechanism further includes a fixing member 11, which is used to be fixedly connected to the mobile body. The first end of the connecting member 10 is hinged to the fixing member 11, so that the mobile body is hinged to the first end of the connecting member 10 through the fixing member 11.

[0057] Optionally, the fixing member 11 is a plate-shaped structure.

[0058] Specifically, the shock absorbing mechanism also includes a first shaft 12, which passes through the first end of the connecting member 10 and the fixing member 11; the first end of the connecting member 10 and / or the fixing member 11 are rotatably arranged around the first shaft 12; the central axis of the first shaft 12 is the hinge axis between the first end of the connecting member 10 and the movable body.

[0059] Optionally, the first shaft 12 is a pin.

[0060] In this embodiment, the shock absorbing mechanism also includes a second shaft 13; the second shaft 13 is passed through the second end of the connecting member 10 and the mounting member 40, that is, the second shaft 13 is passed through the second end of the connecting member 10 and the second end of the mounting member 40; the second end of the connecting member 10 and / or the mounting member 40 are rotatably arranged around the second shaft 13; the central axis of the second shaft 13 is the hinge axis of the second end of the connecting member 10 and the main body of the driving assembly.

[0061] Optionally, the second shaft 13 is a pin.

[0062] Optionally, a second through hole for the second shaft 13 to pass through is provided on the mounting member 40 ; a second sleeve is provided between the second shaft 13 and the hole wall of the second through hole, so that the mounting member 40 is rotatably provided around the second shaft 13 .

[0063] Optionally, a second support 43 is fixedly provided on the mounting member 40 , and the second through hole is provided on the second support 43 ; that is, the second support 43 is provided at the second end of the mounting member 40 .

[0064] In this embodiment, the drive assembly includes a drive motor 210 and a reducer 220; the output part of the drive motor 210 is connected to the input end of the reducer 220, and the output part of the reducer 220 is connected to the wheel 200 to drive the wheel 200 to rotate; the mounting member 40 is used to be fixedly connected to the main body of the reducer 220, that is, the mounting member 40 is fixedly set on the main body of the reducer 220.

[0065] Specifically, the output portion of the speed reducer 220 and the wheel 200 are fastened by screws.

[0066] Specifically, the mounting member 40 and the main body of the reducer 220 are positioned by pins; and / or, the mounting member 40 and the main body of the reducer 220 are fixedly connected by screws.

[0067] In this embodiment, the connecting member 10 includes a first connecting portion 101 and a second connecting portion 102, and the first connecting portion 101 and the second connecting portion 102 each have a first end and a second end that are arranged opposite to each other; the first end of the first connecting portion 101 is the first end of the connecting member 10, and the second end of the second connecting portion 102 is the second end of the connecting member 10; the second end of the first connecting portion 101 and the first end of the second connecting portion 102 are telescopically connected along the distribution direction of the first end and the second end of the connecting member 10, so that the second connecting portion 102 is connected along the first end and the second end of the connecting member 10. The distribution directions of the two ends are movably arranged relative to the first connecting part 101; the first stop member 31 is arranged on the first connecting part 101, so that the first stop member 31 is relatively fixed to the first connecting part 101; the second stop member 32 is arranged on the second connecting part 102, so that the second stop member 32 is relatively fixed to the second connecting part 102, and then the second stop member 32 is relatively fixed to the second end of the connecting member 10; in this way, the second stop member 32 can be movably arranged relative to the first stop member 31 along the distribution direction of the first end and the second end of the connecting member 10.

[0068] Specifically, the elastic member 20 is sleeved on the first connecting portion 101 and the second connecting portion 102 .

[0069] Optionally, the first end of the second connecting portion 102 is movably disposed through the second end of the first connecting portion 101 along the distribution direction of the first end and the second end of the connecting member 10 .

[0070] Optionally, the first connecting portion 101 and the second connecting portion 102 are both rod-shaped structures.

[0071] Optionally, the connecting member 10 is a telescopic rod structure.

[0072] In this embodiment, the first stopper 31 is adjustable along the direction of distribution between the first and second ends of the connector 10 to adjust the initial expansion and contraction state of the elastic member 20, thereby ensuring that the elastic member 20 reaches a suitable operating range. After the first stopper 31 is properly adjusted along the direction of distribution between the first and second ends of the connector 10, the first stopper 31 is fixed relative to the first end of the connector 10, that is, the first stopper 31 is fixed relative to the first connecting portion 101.

[0073] Specifically, the first stopper 31 is threadedly connected to the connector 10 so that the first stopper 31 is adjustably arranged along the distribution direction of the first end and the second end of the connector 10 .

[0074] Optionally, the first stopper 31 includes a nut, and the connecting member 10 is provided with an external thread so that the first stopper 31 is threadedly connected to the connecting member 10 .

[0075] Optionally, at least one of the first stopper 31 and the second stopper 32 is a ring structure disposed around the connecting member 10 .

[0076] Optionally, the initial telescopic state of the elastic member 20 is a compressed state.

[0077] For example, Figures 1 to 3 As shown, the first stop member 31 is an annular structure arranged around the connecting member 10, the first stop member 31 is threadedly connected to the connecting member 10, and the first stop member 31 is adjustably arranged along the distribution direction of the first end and the second end of the connecting member 10; the second stop member 32 is fixedly connected to the second end of the connecting member 10, and the second end of the connecting member 10 is hinged to the mounting member 40 through the second stop member 32; the second shaft 13 is passed through the second stop member 32, and the second stop member 32 and / or the mounting member 40 are rotatably arranged around the second shaft 13.

[0078] Specifically, the shock absorbing mechanism includes a shock absorber, and the shock absorber includes a connecting member 10 , a first stopper 31 , a second stopper 32 and an elastic member 20 .

[0079] The present invention also provides a mobile device, which includes a mobile body, a driving assembly, wheels 200 and the above-mentioned shock absorbing mechanism.

[0080] Optionally, the mobile device is an AGV mobile robot; and the mobile body is a vehicle body.

[0081] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0082] In the shock-absorbing mechanism provided by the present invention, the shock-absorbing mechanism includes a connecting member 10, a first stop member 31, a second stop member 32 and an elastic member 20; the connecting member 10 has a first end and a second end arranged relatively to each other; the first end of the connecting member 10 is used to be hinged to the mobile body; the second end of the connecting member 10 is used to be hinged to the main body of the driving component; the first end of the connecting member 10 is parallel to the hinge axis of the mobile body and the second end of the connecting member 10 is parallel to the hinge axis of the main body of the driving component, and the first end of the connecting member 10 and the hinge axis of the mobile body, and the second end of the connecting member 10 and the main body of the driving component are both perpendicular to the distribution direction of the first end and the second end of the connecting member 10.

[0083] The first stopper 31 and the second stopper 32 are spaced apart on the connecting member 10 along the direction in which the first and second ends of the connecting member 10 are distributed. The second stopper 32 is movably disposed relative to the first stopper 31 along the direction in which the first and second ends of the connecting member 10 are distributed. The second stopper 32 is fixed relative to the second end of the connecting member 10.

[0084] The elastic member 20 has a first end and a second end that are oppositely disposed along its expansion and contraction direction. The elastic member 20 is sleeved onto the connector 10, and the expansion and contraction direction of the elastic member 20 is parallel to or the same as the distribution direction of the first and second ends of the connector 10. The first end of the elastic member 20 abuts or connects with the first stopper 31, and the second end of the elastic member 20 abuts or connects with the second stopper 32, i.e., the elastic member 20 is disposed between the first and second stoppers 31, 32. When the second stopper 32 moves relative to the first stopper 31 along the distribution direction of the first and second ends of the connector 10, it drives or causes the elastic member 20 to expand and contract.

[0085] During specific implementation, when the mobile device is moving as a whole, if the wheel 200 is subjected to an upward force from a protruding obstacle on the road surface, the wheel 200 will drive the drive assembly and the second end of the connecting member 10 upward. Furthermore, since the second stopper 32 is relatively fixed to the second end of the connecting member 10, the second end of the connecting member 10 drives the second stopper 32 upward. At this time, the second stopper 32 moves toward the first stopper 31 along the direction of the first and second ends of the connecting member 10, thereby squeezing the elastic member 20 and causing it to contract. After the wheel 200 passes the protruding obstacle on the road surface, the wheel 200 drives the drive assembly and the second end of the connecting member 10 downward. The second end of the connecting member 10 drives the second stopper 32 downward. The second stopper 32 moves away from the first stopper 31 along the direction of the first and second ends of the connecting member 10, releasing the previously squeezed and contracted elastic member 20 under the action of the elastic force.

[0086] If the wheel 200 encounters a depression in the road surface, the wheel 200 pulls the drive assembly and the second end of the connector 10 downward. The second end of the connector 10 pulls the second stopper 32 downward, and the second stopper 32 moves away from the first stopper 31 along the direction of the first and second ends of the connector 10, stretching or expanding the elastic member 20. After the wheel 200 passes over the depression, the wheel 200 pulls the drive assembly and the second end of the connector 10 upward. The second end of the connector 10 pulls the second stopper 32 upward, and the second stopper 32 moves toward the first stopper 31 along the direction of the first and second ends of the connector 10. The previously stretched elastic member 20 contracts under the action of the elastic force, or the elastic member 20 is squeezed and contracted. This acts as a buffer, reducing vibrations experienced by the entire mobile device, thereby achieving a shock-absorbing effect. By reducing the vibration impact force experienced by the entire mobile device, the mobile device is protected from large impacts, allowing the mobile device to move stably even on complex surfaces.

[0087] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0088] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0089] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A shock absorbing mechanism, applied to a mobile device, the mobile device comprising a mobile body, a drive assembly and a wheel (200); an output portion of the drive assembly is connected to the wheel (200) to drive the wheel (200) to rotate; characterized in that: The shock absorbing mechanism comprises: A connecting member (10) having a first end and a second end arranged opposite to each other; the first end of the connecting member (10) is used for hinged connection with the mobile body; the second end of the connecting member (10) is used for hinged connection with the body of the driving assembly; A first stopper (31) and a second stopper (32) are arranged on the connecting member (10) at intervals along a distribution direction of the first end and the second end of the connecting member (10); the second stopper (32) is movably arranged relative to the first stopper (31) along a distribution direction of the first end and the second end of the connecting member (10); the second stopper (32) is fixed relative to the second end of the connecting member (10); The elastic member (20) has a first end and a second end that are arranged opposite to each other along its extension and contraction direction; the elastic member (20) is sleeved on the connecting member (10), the first end of the elastic member (20) abuts or connects with the first stop member (31), and the second end of the elastic member (20) abuts or connects with the second stop member (32).

2. The shock absorbing mechanism according to claim 1, characterized in that: The hinge axis between the first end of the connecting member (10) and the mobile body, and the hinge axis between the second end of the connecting member (10) and the body of the driving assembly are both parallel to the rotation axis of the wheel (200).

3. The shock absorbing mechanism according to claim 1, characterized in that: The shock absorbing mechanism further comprises a mounting member (40), wherein the mounting member (40) is used for being fixedly connected to the main body of the driving assembly, and the second end of the connecting member (10) is hinged to the mounting member (40).

4. The shock absorbing mechanism according to claim 3, characterized in that: The mounting member (40) is rotatably arranged around a preset axis; the preset axis, the hinge axis between the first end of the connecting member (10) and the movable body, and the hinge axis between the second end of the connecting member (10) and the body of the driving assembly are all parallel.

5. The shock absorbing mechanism according to claim 4, characterized in that: The shock absorbing mechanism further comprises a fixed shaft (41), the fixed shaft (41) being used for being fixedly connected to the mobile body; the fixed shaft (41) being arranged on the mounting member (40), the mounting member (40) being rotatably arranged relative to the fixed shaft (41) around a central axis of the fixed shaft (41), the central axis of the fixed shaft (41) forming the preset axis; and / or The mounting member (40) has a first end and a second end that are arranged opposite to each other; the distribution direction of the first end and the second end of the mounting member (40) is arranged at an acute angle to the distribution direction of the first end and the second end of the connecting member (10); the first end of the mounting member (40) is rotatably arranged around the preset axis, and the second end of the connecting member (10) is hinged to the second end of the mounting member (40).

6. The shock absorbing mechanism according to claim 1, characterized in that: The connecting member (10) comprises a first connecting portion (101) and a second connecting portion (102), wherein the first connecting portion (101) and the second connecting portion (102) each have a first end and a second end that are arranged opposite to each other; the first end of the first connecting portion (101) is the first end of the connecting member (10), and the second end of the second connecting portion (102) is the second end of the connecting member (10); the second end of the first connecting portion (101) and the first end of the second connecting portion (102) are telescopically connected along a distribution direction of the first end and the second end of the connecting member (10); The first stopper (31) is provided on the first connecting portion (101) to be fixed relative to the first connecting portion (101); and the second stopper (32) is provided on the second connecting portion (102) to be fixed relative to the second connecting portion (102).

7. The shock absorbing mechanism according to claim 1, characterized in that: The first stopper (31) is adjustably arranged along the distribution direction of the first end and the second end of the connecting member (10) to adjust the initial telescopic state of the elastic member (20); when the position of the first stopper (31) along the distribution direction of the first end and the second end of the connecting member (10) is adjusted, the first stopper (31) is fixed relative to the first end of the connecting member (10); and / or The shock absorbing mechanism further comprises a fixing member (11), the fixing member (11) being used for fixed connection with the mobile body, the first end of the connecting member (10) being hinged to the fixing member (11); and / or The connecting member (10) is a rod-shaped structure; and / or The elastic member (20) is a spring or an elastic sleeve.

8. The shock absorbing mechanism according to claim 3, characterized in that: The drive assembly comprises a drive motor (210) and a reducer (220), wherein the output portion of the drive motor (210) is connected to the input end of the reducer (220), and the output portion of the reducer (220) is connected to the wheel (200) to drive the wheel (200) to rotate; and the mounting member (40) is used for fixed connection with the main body of the reducer (220).

9. A mobile device, characterized in that: The invention comprises the shock absorbing mechanism according to any one of claims 1 to 8.

10. The mobile device according to claim 9, wherein: The mobile device is an AGV mobile robot.

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