Mobile robot

Abstract

The utility model relates to the technical field of robots, and provides a mobile robot which comprises a main body support, a wheel assembly and an anti-collision mechanism. The wheel assemblies are installed on the left and right sides of the body support. The anti-collision mechanism is arranged on the main body support and can move between a first position and a second position relative to the wheel assembly, when the anti-collision mechanism is located at the first position, a gap exists between the anti-collision mechanism and the wheel assembly, and when the anti-collision mechanism is subjected to external force, the anti-collision mechanism moves towards the wheel assembly to the second position, and the anti-collision mechanism abuts against the wheel assembly. By means of the mobile robot, the safety can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a mobile robot. Background Art

[0002] Currently, most mobile robots on the market use electronic sensors to detect obstacles and take avoidance measures based on the detection results. However, electronic sensors are subject to failure or signal delay. Once an electronic sensor fails or the signal is delayed, the mobile robot cannot receive the signal in time to take obstacle avoidance measures. Even when colliding with an obstacle, it will continue to move, causing damage to the mobile robot and reducing its safety. Utility Model Content

[0003] In view of this, the present application provides a mobile robot that can improve safety when the mobile robot collides with an obstacle.

[0004] An embodiment of the present application provides a mobile robot, comprising: a main frame, a wheel assembly, and an anti-collision mechanism. The wheel assembly is mounted on the left and right sides of the main frame; the anti-collision mechanism is mounted on the main frame and is movable relative to the wheel assembly between a first position and a second position. In the first position, a gap exists between the anti-collision mechanism and the wheel assembly. When an external force is applied to the anti-collision mechanism, the anti-collision mechanism moves toward the wheel assembly to the second position, where the anti-collision mechanism abuts the wheel assembly.

[0005] In some embodiments of the present application, by arranging the anti-collision mechanism in front of the main body support of the mobile robot, when the mobile robot collides, the anti-collision mechanism will be subjected to external force and move to a second position in the direction close to the wheel assembly and abut against the wheel assembly, so that the wheel assembly is in a locked state, avoiding the problem of the mobile robot still moving when it collides with an obstacle, reducing the damage rate of the mobile robot, and improving the safety of the mobile robot.

[0006] In some embodiments of the present application, the anti-collision mechanism includes an anti-collision bracket and an anti-collision member. The anti-collision member is installed on the anti-collision bracket and is located between the anti-collision bracket and the wheel assembly. When in the second position, the anti-collision member abuts against the wheel assembly.

[0007] In some embodiments of the present application, the anti-collision member abuts against the wheel assembly, thereby further ensuring the blocking force between the anti-collision mechanism and the wheel assembly when the mobile robot collides.

[0008] In some embodiments of the present application, the wheel assembly is provided with a clamping portion, and when in the second position, the clamping portion abuts against the anti-collision component.

[0009] In some embodiments of the present application, the engaging portion can engage with the wheel assembly when the mobile robot collides, which is conducive to quickly stopping the wheel assembly.

[0010] In some embodiments of the present application, the anti-collision component is provided with a groove adapted to the clamping portion.

[0011] In some embodiments of the present application, the groove can abut against the clamping portion when the mobile robot collides, thereby enhancing the blocking force that prevents the mobile robot from continuing to move, avoiding the problem of the mobile robot continuing to move when it collides with an obstacle, reducing the damage rate of the mobile robot, and improving the safety of the mobile robot.

[0012] In some embodiments of the present application, the anti-collision member is a wedge-shaped block.

[0013] In some embodiments of the present application, the wedge-shaped block can enable the clamping portion to be clamped into the groove more quickly, thereby improving the convenience of the clamping portion being clamped into the groove.

[0014] In some embodiments of the present application, the mobile robot further includes a deflection mechanism, the anti-collision mechanism is connected to the main body support via the deflection mechanism, and the anti-collision mechanism deflects relative to the deflection mechanism.

[0015] In some embodiments of the present application, when one side of the anti-collision mechanism is hit, the anti-collision mechanism deflects relative to the deflection mechanism, so that the anti-collision member abuts against the wheel assembly close to the hit side, thereby avoiding the problem that the anti-collision mechanism cannot block the wheel assembly in time due to uneven force, thereby improving the safety of the mobile robot.

[0016] In some embodiments of the present application, the mobile robot further includes a telescopic mechanism, the anti-collision mechanism is connected to the main body support through the telescopic mechanism, and the telescopic mechanism is used to drive the anti-collision mechanism to move between a first position and a second position relative to the wheel assembly.

[0017] In some embodiments of the present application, the anti-collision mechanism and the main body bracket are connected by the telescopic mechanism. When the anti-collision mechanism moves between the first position and the second position relative to the wheel assembly, the wheel assemblies on both sides of the main body bracket are stopped, further avoiding the problem of the mobile robot still moving when colliding with an obstacle.

[0018] In some embodiments of the present application, the clamping portion includes a first clamping portion and a second clamping portion, the wheel assembly includes an omnidirectional wheel, the omnidirectional wheel includes a first wheel group and a second wheel group connected to the first wheel group, the first wheel group and the second wheel group are coaxially arranged; the first wheel group includes an inner wheel and a plurality of first rollers, the plurality of first rollers are arranged at intervals along the circumference of the inner wheel, and the interval between the relative end faces of any two adjacent first rollers forms the first clamping portion; the second wheel group includes an outer wheel and a plurality of second rollers, the plurality of second rollers are arranged at intervals along the circumference of the outer wheel, and the interval between the relative end faces of any two adjacent second rollers forms the second clamping portion; the anti-collision parts include a plurality of parts, at least one of the anti-collision parts is located in front of the first wheel group, and when in the second position, the first clamping portion abuts against the corresponding anti-collision part; and / or, at least one of the anti-collision parts is located in front of the second wheel group, and when in the second position, the second clamping portion abuts against the corresponding anti-collision part.

[0019] In some embodiments of the present application, when the mobile robot collides, any one of the first clamping portion and / or the second clamping portion abuts against the corresponding anti-collision block, thereby preventing the mobile robot from continuing to move after the collision, thereby further improving the safety of the mobile robot.

[0020] In some embodiments of the present application, the clamping portion includes a third clamping portion, the wheel assembly includes a driving wheel, a plurality of ridges are provided on the tread of the driving wheel, and the interval between the relative end faces of any two adjacent ridges forms the third clamping portion. When in the second position, the third clamping portion abuts against the anti-collision component.

[0021] In some embodiments of the present application, any one of the third clamping portions abuts against the corresponding anti-collision block, thereby preventing the mobile robot from continuing to move after a collision occurs, thereby further improving the safety of the mobile robot.

[0022] In some embodiments of the present application, the wheel assembly includes a front wheel and a rear wheel, and multiple anti-collision mechanisms are provided, at least one of the anti-collision mechanisms is installed in front of the front wheel, and / or at least one of the anti-collision mechanisms is installed behind the rear wheel.

[0023] In some embodiments of the present application, by installing anti-collision mechanisms on both the front wheels and the rear wheels, the problem of rear-end collisions causing damage to the mobile robot can be avoided, further improving the safety of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a three-dimensional diagram of a mobile robot in one embodiment of the present application.

[0025] Figure 2This is a three-dimensional diagram of a mobile robot in another embodiment of the present application.

[0026] Figure 3 This is a top view of a mobile robot in another embodiment of the present application.

[0027] Figure 4 This is a top view of a mobile robot in another embodiment of the present application.

[0028] Figure 5 This is a partial cross-sectional view of a mobile robot in one embodiment of the present application.

[0029] Figure 6 This is a three-dimensional diagram of a mobile robot in another embodiment of the present application.

[0030] Description of main component symbols

[0031] 100-mobile robot; 11-main frame; 12-wheel assembly; 120-clamping part; 1201-first clamping part; 1202-second clamping part; 1203-third clamping part; 121-omnidirectional wheel; 1211-first wheel group; 12111-inner wheel; 12112-first roller; 1212-second wheel group; 12121-outer wheel; 12122-second roller; 122-driving wheel; 1221-convex strip; 123-front wheel; 124-rear wheel; 13-anti-collision mechanism; 130-anti-collision bracket; 1301-first support arm; 1302-second support arm; 131-anti-collision member; 1311-groove; 14-deflection mechanism; 140-first elastic member; 15-telescopic mechanism; 150-second elastic member; 151-connecting rod. DETAILED DESCRIPTION

[0032] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings.

[0033] The technical solution of the present application will be described below in conjunction with the drawings in the implementation mode of the present application. Obviously, the described implementation mode is only a part of the implementation mode of the present application, rather than all the implementation modes.

[0034] It should be noted that when a component is referred to as being "disposed on" another component, it may be directly on the other component or there may be a component in the middle. The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0036] Currently, most mobile robots on the market use electronic sensors to detect obstacles and take avoidance measures based on the detection results. However, electronic sensors are subject to failure or signal delay. Once an electronic sensor fails or the signal is delayed, the mobile robot cannot receive the signal in time to take obstacle avoidance measures. Even when a collision occurs, the mobile robot will continue to move, repeatedly colliding with obstacles and causing damage to the mobile robot.

[0037] Therefore, to address the problem that existing mobile robots continue to move even when a collision occurs, resulting in damage to the mobile robot, a mobile robot is needed. The mobile robot includes a main frame, a wheel assembly, and an anti-collision mechanism. The anti-collision mechanism can abut against the wheel assembly of the mobile robot to prevent the mobile robot from moving when a collision occurs.

[0038] The following is combined with Figures 1 to 6 , some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

[0039] like Figures 1 to 6 As shown, in one embodiment of the present application, a mobile robot 100 is provided. The mobile robot 100 includes a main frame 11, a wheel assembly 12, and an anti-collision mechanism 13. The wheel assembly 12 is mounted on the left and right sides of the main frame 11. The anti-collision mechanism 13 is mounted on the main frame 11 and is movable between a first position and a second position relative to the wheel assembly 12. In the first position, a gap exists between the anti-collision mechanism 13 and the wheel assembly 12. When an external force is applied to the anti-collision mechanism 13, the anti-collision mechanism 13 moves toward the wheel assembly 12 to the second position, where the anti-collision mechanism abuts against the wheel assembly 12.

[0040] In some embodiments of the present application, an anti-collision mechanism 13 is provided in front of the main frame 11 of the mobile robot 100. When the mobile robot 100 collides with an obstacle, the anti-collision mechanism 13 moves in a direction closer to the wheel assembly 12 under the action of an external force. When the anti-collision mechanism 13 moves to the second position, the anti-collision mechanism 13 abuts against the wheel assembly 12 and provides resistance to the wheel assembly 12, causing the wheel assembly 12 to enter a locked state. The anti-collision mechanism 13 converts the rolling friction between the wheel assembly 13 and the ground into sliding friction, reducing the diving speed of the mobile robot 100. This avoids the problem of the mobile robot 100 continuing to move after colliding with an obstacle, reduces the damage rate of the mobile robot 100, and improves the safety of the mobile robot 100.

[0041] In some embodiments of the present application, the anti-collision mechanism 13 is detachably mounted on the main frame, enabling quick installation and removal of the anti-collision mechanism 13, facilitating the maintenance and upkeep of the anti-collision mechanism 13. Furthermore, if the anti-collision mechanism 13 is damaged, a new anti-collision mechanism 13 can be promptly replaced, thereby shortening the maintenance time and reducing the maintenance cost of the mobile robot 100.

[0042] In some embodiments of the present application, the anti-collision mechanism 13 includes an anti-collision bracket 130 and an anti-collision member 131. The anti-collision member 131 is mounted on the anti-collision bracket 130 and is located between the anti-collision bracket 130 and the wheel assembly 12. In the second position, the anti-collision member 131 abuts against the wheel assembly 12.

[0043] In some embodiments of the present application, the anti-collision member 131 is detachably mounted on the anti-collision bracket 130, so that the anti-collision member 131 can be quickly installed and disassembled. At the same time, if the specifications of the wheel assembly change, it is only necessary to replace the anti-collision member of the anti-collision mechanism with an anti-collision member that is compatible with the specifications of the wheel assembly, without replacing the anti-collision bracket 130, thereby improving the replacement efficiency of the anti-collision mechanism and reducing the cost of the anti-collision mechanism.

[0044] In some embodiments of the present application, if the mobile robot 100 collides with an obstacle, the anti-collision bracket 130 drives the anti-collision member 131 to move toward the direction close to the wheel assembly 12, so that the anti-collision member 131 abuts against the wheel assembly 12, and no forward collision force is generated, thereby enhancing the blocking force between the anti-collision mechanism 13 and the wheel assembly 12, avoiding the problem of the mobile robot 100 still moving when colliding with an obstacle, reducing the damage rate of the mobile robot 100, and improving the safety of the mobile robot 100.

[0045] In some embodiments of the present application, the wheel assembly 12 is provided with a clamping portion 120. When in the second position, the clamping portion 120 abuts against the anti-collision member 131. The clamping portion 120 can clamp with the wheel assembly 12 when the mobile robot 100 collides, which facilitates rapid stopping of the wheel assembly 12.

[0046] In some embodiments of the present application, the shape of the clamping portion 120 can be adapted to the shape of the contact portion between the anti-collision component 131 and the wheel assembly 12 to facilitate better clamping and provide greater blocking force for the wheel assembly 12 .

[0047] In some embodiments of the present application, a groove 1311 adapted to the clamping portion 120 is provided on the anti-collision member 131. The groove 1311 can abut against the clamping portion 120 when the mobile robot 100 collides, thereby enhancing the blocking force to prevent the mobile robot 100 from continuing to move, avoiding the problem of the mobile robot 100 continuing to move when colliding with an obstacle, and reducing the damage rate of the mobile robot 100.

[0048] In some embodiments of the present application, the anti-collision member 131 may be a wedge-shaped block. The inclined surface of the wedge-shaped block can make the clamping portion 120 snap into the groove 1311 more quickly, thereby improving the convenience of the clamping portion 120 snapping into the groove 1311.

[0049] In some embodiments of the present application, a protrusion (not shown in the figure) is provided on the surface of the anti-collision member 131 that abuts against the clamping portion 120. When the clamping portion 120 abuts against the groove 1311, the protrusion enhances the clamping force between the clamping portion 120 and the groove 1311, further preventing the wheel assembly 12 from rotating when the mobile robot 100 collides.

[0050] In some embodiments of the present application, a clamping slope (not shown in the figure) is provided on the protrusion, which facilitates the fastening portion 120 to quickly snap into the groove 1311 when the mobile robot 100 collides, thereby promptly preventing the mobile robot 100 from continuing to move.

[0051] In some embodiments of the present application, see Figure 3 As shown, the mobile robot 100 further includes a deflection mechanism 14. The anti-collision mechanism 13 is connected to the main frame 11 via the deflection mechanism 14. The anti-collision mechanism 13 deflects relative to the deflection mechanism 14.

[0052] In some embodiments of the present application, the anti-collision mechanism 13 and the main frame 11 are connected by a deflection mechanism 14. When one side of the anti-collision mechanism 13 is subjected to external force, the anti-collision mechanism 13 deflects relative to the deflection mechanism 14 toward the wheel assembly 12 close to the side subjected to the external force, so that the deflection mechanism 14 abuts against the wheel assembly 12 close to the side subjected to the external force.

[0053] In some embodiments of the present application, when one side of the anti-collision mechanism is hit, the anti-collision mechanism 13 deflects relative to the deflection mechanism 14, so that the anti-collision member 131 abuts against the wheel assembly 12 close to the hit side, thereby avoiding the problem that the anti-collision mechanism cannot block the wheel assembly in time due to uneven force, thereby improving the safety of the mobile robot.

[0054] In some embodiments of the present application, the deflection mechanism 14 includes a first elastic member 140 , and the first elastic member 140 is used to reset the anti-collision mechanism 13 after deflection.

[0055] Specifically, the anti-collision bracket 130 includes a first arm 1301 and a second arm 1302. The first arm 1301 represents the right arm, and the second arm 1302 represents the left arm. When the area of ​​the first arm 1301 corresponding to the anti-collision bracket 130 encounters an obstacle, the first arm 1301 is impacted and moves toward the main frame 11, while the second arm 1302 moves away from the main frame 11. The anti-collision bracket 130 as a whole deflects counterclockwise relative to the deflection mechanism 14. When the area of ​​the second arm 1301 corresponding to the anti-collision bracket 130 encounters an obstacle, the second arm 1301 is impacted and moves toward the main frame 11. The first arm 1302 moves away from the main frame 11, and the anti-collision bracket 130 as a whole deflects clockwise relative to the deflection mechanism 14. If there is a gap between the obstacle and the collision mechanism 13, the deflected collision mechanism 13 returns to its original position due to the deformation recovery of the first elastic member 140.

[0056] In some embodiments of the present application, the number of the first elastic members 140 may be 1, 2, or a number greater than 2. This embodiment does not impose any limitation thereto.

[0057] In some embodiments of the present application, the deflection mechanism 14 is configured as two first elastic members 140 to enhance the elastic reset capability of the anti-collision mechanism 13, so that the collision mechanism 13 can better unload the collision force received by the anti-collision bracket 130, thereby reducing the probability of damage to the collision mechanism 13 when it contacts an obstacle.

[0058] In some embodiments of the present application, by installing one of the first elastic members 140 on a side close to the first arm 1301 and the other first elastic member 140 on a side close to the second arm 1302, the two first elastic members 140 are symmetrically arranged relative to the rotation axis of the deflection mechanism. When the collision mechanism 13 is deflected, under the action of the elastic force of the two symmetrical first elastic members 140, no matter whether the first arm 1301 and / or the second arm 1302 is collided, the collision mechanism will not be damaged due to uneven force and will not be able to block the wheel assembly 12 in time. Therefore, the two first elastic members 140 have better anti-collision ability and reset ability after collision under the joint action, thereby improving the safety of the mobile robot 100, reducing the probability of damage to the anti-collision mechanism 13, ensuring the service life of the anti-collision mechanism 13, and thereby reducing the damage rate of the mobile robot 100.

[0059] In some embodiments of the present application, Figure 4 As shown, the mobile robot 100 further includes a telescopic mechanism 15. The anti-collision mechanism 13 is connected to the main frame 11 via the telescopic mechanism 15. The telescopic mechanism 15 is used to drive the anti-collision mechanism 13 to move relative to the wheel assembly 12 between a first position and a second position.

[0060] In some embodiments of the present application, the telescopic mechanism 15 includes a second elastic member 150 , and the second elastic member 150 is used to reset the anti-collision mechanism 13 after being impacted.

[0061] In some embodiments of the present application, the number of the first elastic members 150 may be 1, 2, or a number greater than 2. This embodiment does not impose any limitation thereto.

[0062] In some embodiments of the present application, the telescopic mechanism 15 also includes a connecting rod 151, which is used to guide the extension direction of the elastic deformation of the second elastic member 150, thereby avoiding adverse bending of the second elastic member 150 and reducing the probability of damage when the collision mechanism 13 contacts an obstacle.

[0063] In some embodiments of the present application, the telescopic mechanism 15 is configured as two second elastic members 150 to enhance the elastic reset capability of the anti-collision mechanism 13, so that the collision mechanism 13 can better unload the collision force received by the anti-collision bracket 130, thereby reducing the probability of damage to the collision mechanism 13 when it contacts an obstacle.

[0064] In some embodiments of the present application, the anti-collision mechanism 13 and the main frame 11 are connected by a telescopic mechanism 15. When the anti-collision mechanism 13 is impacted, the anti-collision frame 130 is pushed to compress the second elastic member 150 and drive the first arm 1301 and the second arm 1302 to move simultaneously toward the main frame 13. The anti-collision frame 130 moves from the first position to the second position relative to the wheel assembly 12. The wheel assemblies 12 on both sides of the main frame 11 are stopped, thereby increasing the resistance of the wheel assemblies 12, preventing the mobile robot 100 from continuing to move after colliding with an obstacle, reducing the damage rate of the mobile robot 100, and improving the safety of the mobile robot 100. At the same time, because the second elastic member 150 provides a buffering force for the anti-collision mechanism 13, the anti-collision mechanism 13 is prevented from being damaged during a collision, ensuring the service life of the anti-collision mechanism 13 and further reducing the damage rate of the mobile robot 100.

[0065] In some embodiments of the present application, during the process of the anti-collision bracket 130 compressing the second elastic member 150, the elastic force provided by the second elastic member 150 can reduce at least part of the collision force exerted on the anti-collision mechanism 13, avoid damage to the anti-collision mechanism 13, and improve the safety of the anti-collision mechanism 13.

[0066] In some embodiments of the present application, the clamping portion 120 includes a first clamping portion 1201 and a second clamping portion 1202. The wheel assembly 12 includes an omnidirectional wheel 121. The omnidirectional wheel 121 includes a first wheel set 1211 and a second wheel set 1212 connected to the first wheel set 1211.

[0067] In some embodiments of the present application, see Figure 5 As shown, the wheel assembly 12 may include an omnidirectional wheel 121. Since the omnidirectional wheel 121 includes two wheel groups, when the mobile robot 100 collides, any one of the wheel groups abuts against the anti-collision mechanism 13, which can prevent the mobile robot 100 from continuing to move after the collision, further reducing the damage rate of the mobile robot 100.

[0068] In some embodiments of the present application, a first wheel assembly 1211 and a second wheel assembly 1212 are coaxially arranged. The first wheel assembly 1211 includes an inner wheel 12111 and a plurality of first rollers 12112. The plurality of first rollers 12112 are spaced apart along the circumference of the inner wheel 12111. The space between the opposing end surfaces of any two adjacent first rollers 12112 forms a first clamping portion 1201. The second wheel assembly 1212 includes an outer wheel 12121 and a plurality of second rollers 12122. The plurality of second rollers 12122 are spaced apart along the circumference of the outer wheel 12121. The space between the opposing end surfaces of any two adjacent second rollers 12122 forms a second clamping portion 1202.

[0069] In some embodiments of the present application, the anti-collision member 131 includes multiple members. At least one anti-collision member 131 is located in front of the first wheel set 1211, and when in the second position, the first clamping portion 1201 abuts against the corresponding anti-collision member 131; and / or at least one anti-collision member 131 is located in front of the second wheel set 1212, and when in the second position, the second clamping portion 1202 abuts against the corresponding anti-collision member 131.

[0070] In some embodiments of the present application, since the first wheel group 1211 includes multiple first rollers 12112 to form multiple first clamping parts 1201, and the second wheel group 1212 includes multiple second rollers 12122 to form multiple second clamping parts 1202, when the mobile robot 100 collides, any one of the first clamping parts 1201 and / or the second clamping part 1202 abuts against the corresponding anti-collision block, which can prevent the mobile robot 100 from continuing to move after the collision, thereby further improving the safety of the mobile robot 100.

[0071] In some embodiments of the present application, see Figure 6 As shown, if the two wheel sets are in a staggered state, there is a height difference between the first clamping portion 1201 and the second clamping portion 1202. Then, according to the height difference between the first clamping portion 1201 and the second clamping portion 1202, anti-collision parts 131 of different sizes are set, so that when the anti-collision mechanism 13 is hit, the two anti-collision parts 131 can be respectively clamped with the first clamping portion 1201 and the second clamping portion 1202. By clamping the two wheel sets at the same time by the two anti-collision parts 131, the blocking force of the anti-collision mechanism 13 on the wheel assembly 12 is further increased, thereby preventing the mobile robot 100 from continuing to move after a collision, and further improving the safety of the mobile robot 100.

[0072] In some embodiments of the present application, the engaging portion 120 includes a third engaging portion 1203. The wheel assembly 12 includes a drive wheel 122. The tread of the drive wheel 122 is provided with a plurality of ridges 1221. The space between the opposing end surfaces of any two adjacent ridges 1221 forms the third engaging portion 1203. In the second position, the third engaging portion 1203 abuts against the anti-collision member 131.

[0073] In some embodiments of the present application, since there are multiple third clamping parts 1203 on the driving wheel, any third clamping part 1203 abutting against the corresponding anti-collision block can prevent the mobile robot 100 from continuing to move after a collision, thereby further improving the safety of the mobile robot 100.

[0074] In some embodiments of the present application, the wheel assembly 12 may include an omnidirectional wheel 121 and a drive wheel 122. For example, the front wheel of the mobile robot 100 may be an omnidirectional wheel 121, and the rear wheel may be a drive wheel 122. When the mobile robot 100 collides, it is convenient to provide greater friction to prevent the mobile robot 100 from continuing to move after the collision, thereby further improving the safety of the mobile robot 100.

[0075] In some embodiments of the present application, the wheel assembly includes a front wheel 123 and a rear wheel 124, and multiple anti-collision mechanisms 13 are provided, at least one anti-collision mechanism 13 is installed in front of the front wheel 123, and / or at least one anti-collision mechanism 13 is installed behind the rear wheel 124.

[0076] In some embodiments of the present application, by installing anti-collision mechanisms 13 on the front wheels and rear wheels, the problem of rear-end collisions causing damage to the mobile robot 100 can be avoided, further improving the safety of the mobile robot 100.

[0077] Those skilled in the art should recognize that the above embodiments are merely intended to illustrate the present application and are not intended to limit the present application. As long as they are within the spirit of the present application, appropriate changes and modifications to the above embodiments fall within the scope disclosed in the present application.

Claims

1. A mobile robot, characterized in that: The mobile robot comprises: Main frame; Wheel assemblies, the wheel assemblies being mounted on the left and right sides of the main frame; An anti-collision mechanism is installed on the main body bracket and can move between a first position and a second position relative to the wheel assembly. When in the first position, there is a gap between the anti-collision mechanism and the wheel assembly. When the anti-collision mechanism is subjected to an external force, the anti-collision mechanism moves toward the wheel assembly to the second position, and the anti-collision mechanism abuts against the wheel assembly.

2. The mobile robot according to claim 1, wherein: The anti-collision mechanism includes an anti-collision bracket and an anti-collision member. The anti-collision member is installed on the anti-collision bracket and is located between the anti-collision bracket and the wheel assembly. When in the second position, the anti-collision member abuts against the wheel assembly.

3. The mobile robot according to claim 2, wherein: The wheel assembly is provided with a clamping portion, and when in the second position, the clamping portion abuts against the anti-collision component.

4. The mobile robot according to claim 3, wherein: The anti-collision component is provided with a groove which is matched with the clamping portion.

5. The mobile robot according to claim 2, wherein: The anti-collision piece is a wedge-shaped block.

6. The mobile robot according to claim 1, wherein: The mobile robot further includes a deflection mechanism, the anti-collision mechanism is connected to the main body bracket via the deflection mechanism, and the anti-collision mechanism deflects relative to the deflection mechanism.

7. The mobile robot according to claim 1, wherein: The mobile robot further includes a telescopic mechanism, through which the anti-collision mechanism is connected to the main body bracket, and the telescopic mechanism is used to drive the anti-collision mechanism to move between a first position and a second position relative to the wheel assembly.

8. The mobile robot according to claim 3, wherein: The clamping portion includes a first clamping portion and a second clamping portion, the wheel assembly includes an omnidirectional wheel, the omnidirectional wheel includes a first wheel group and a second wheel group connected to the first wheel group, and the first wheel group and the second wheel group are coaxially arranged; The first wheel assembly includes an inner wheel and a plurality of first rollers, wherein the plurality of first rollers are spaced apart along the circumference of the inner wheel, and the interval between the opposite end surfaces of any two adjacent first rollers forms the first clamping portion; The second wheel set includes an outer wheel and a plurality of second rollers, wherein the plurality of second rollers are arranged at intervals along the circumference of the outer wheel, and the interval between the opposite end surfaces of any two adjacent second rollers forms the second clamping portion; The anti-collision parts include multiple ones, at least one of which is located in front of the first wheel group, and when in the second position, the first clamping part abuts against the corresponding anti-collision part; and / or at least one of which is located in front of the second wheel group, and when in the second position, the second clamping part abuts against the corresponding anti-collision part.

9. The mobile robot according to claim 3, wherein: The clamping portion includes a third clamping portion, the wheel assembly includes a driving wheel, and a plurality of ridges are provided on the tread of the driving wheel. The interval between the relative end faces of any two adjacent ridges forms the third clamping portion. When in the second position, the third clamping portion abuts against the anti-collision component.

10. The mobile robot according to any one of claims 1 to 9, wherein: The wheel assembly includes a front wheel and a rear wheel, and a plurality of anti-collision mechanisms are provided, at least one of which is installed in front of the front wheel, and / or at least one of which is installed behind the rear wheel.

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