robot

Abstract

The application discloses a robot, which comprises a disc body, two first installation cavities are formed on both sides of one end of the disc body, two second installation cavities are formed on both sides of the other end of the disc body, two driving parts are arranged in the two first installation cavities respectively and used for driving the disc body to move, two passive parts are arranged in the two second installation cavities respectively, the disc body drives the passive parts to roll on the ground when the disc body moves, the driving part comprises a steering motor, a movable seat, a first damping part, a first wheel seat and a driving wheel set, the movable seat is rotationally connected with the first installation cavity, and the steering motor is arranged in the interior of the disc body.

Description

Technical Field

[0001] This application relates to the field of robotics engineering technology, and in particular to a robot. Background Technology

[0002] Automated Guided Vehicles (AGVs), as core equipment in intelligent manufacturing and smart logistics systems, have chassis structures that directly determine their motion performance, environmental adaptability, and overall operating efficiency. Currently, AGV chassis widely used in the market can be mainly divided into two types, catering to different application needs and technological levels.

[0003] Among the existing technologies, there are two types of chassis. The first type is a chassis with two active drive wheels and four omnidirectional driven wheels. Although this type of chassis is cheaper, it lacks a shock-absorbing suspension system, which makes it difficult for the robot to effectively filter ground vibrations and bumps. Therefore, in scenarios that require high-precision positioning or image acquisition through visual sensors (such as intelligent vision fusion navigation), environments with slopes or slight obstacles (such as climbing and obstacle crossing), and occasions such as transporting fragile or high-precision items, this type of chassis performs poorly and is prone to positioning deviations, cargo damage, or system failures due to vibrations. The second type of chassis is a four-wheel, four-steering, independently driven chassis. This type of chassis usually consists of four independently driven drive wheels and four independently controlled steering wheels, which have omnidirectional mobility and represent more advanced motion control technology. However, due to the need to configure multiple motors, high-precision encoders, and complex control systems, the manufacturing cost is much higher than that of traditional chassis.

[0004] In summary, existing AGV chassis technology is still in a dilemma where performance and cost are difficult to balance: traditional chassis are low in cost and highly reliable but have limited performance; high-performance chassis have excellent mobility but cannot be widely adopted due to cost and stability issues. Utility Model Content

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a robot that can solve the problem that existing chassis are low-cost but have limited performance, while high-performance chassis are high-cost.

[0006] The robot according to a first aspect of the present application includes a disk body, wherein two first mounting cavities are formed on both sides of one end of the disk body, and two second mounting cavities are formed on both sides of the other end of the disk body. The active unit, consisting of two units, is located in the two first mounting cavities and is used to drive the disc body to move. The passive part, numbered in two, is respectively disposed in the two second mounting cavities, and is used so that when the disc body moves, the disc body drives the passive part to roll with the ground; The active unit includes a steering motor, a movable seat, a first shock absorber, a first wheel seat, and a drive wheel assembly. The movable seat is rotatably connected to the first mounting cavity. The steering motor is located inside the disc body and drives the movable seat to rotate. The first shock absorber is located at the bottom of the movable seat. The first wheel seat is located on one side of the first shock absorber. The drive wheel assembly is rotatably connected to one side of the first wheel seat.

[0007] The robot according to the embodiments of this application has at least the following beneficial effects: Two active parts are respectively located in two first mounting cavities at the front end of the disk body. Each active part includes a steering motor, a movable seat, a first shock absorber, a first wheel seat, and an active wheel set. The steering motor drives the movable seat to rotate in the horizontal plane, allowing the active wheel set to independently adjust its direction. It is connected to the first shock absorber via the first wheel seat, absorbing impact energy through deformation when the active wheel set encounters bumps, preventing vibration from being directly transmitted to the disk body. Two passive parts are respectively located in two second mounting cavities at the rear end of the disk body, thus following the movement of the disk body. Through the first shock absorber, the stability of the disk body on bumpy roads is improved. Furthermore, using only two active parts and two passive parts, omnidirectional movement (such as diagonal movement and stationary rotation) and flexible steering capabilities are achieved. Compared to a four-wheel, four-steering chassis requiring four independent drives and motors, the cost is significantly reduced. The reduction in drive components facilitates production, installation, and maintenance, allowing the disk body to serve as a stable, universal platform that easily adapts to different robots and application requirements.

[0008] According to some embodiments of this application, the passive part includes a fixed seat, a second shock absorber, a second wheel seat, and a passive wheel assembly. The fixed seat is disposed in the second mounting cavity, the second shock absorber is disposed at the bottom of the fixed seat, the second wheel seat is disposed on one side of the second shock absorber, and the passive wheel assembly is rotatably connected to one side of the second wheel seat.

[0009] According to some embodiments of this application, the active wheel assembly includes an active wheel body and a drive motor. The active wheel body has a transmission cavity inside, and a transmission connection hole is provided on one side of the active wheel body. The transmission connection hole communicates with the transmission cavity. The drive motor is located inside the transmission cavity, and the shaft of the drive motor passes through the transmission connection hole, so that the shaft of the drive motor is connected to the first wheel seat.

[0010] According to some embodiments of this application, the drive wheel assembly includes a drive wheel tire, which is fitted over the outside of the drive wheel body, and the outside of the drive wheel tire is formed with anti-slip texture.

[0011] According to some embodiments of this application, the passive wheel assembly includes a passive inner hub, a mounting plate, a first lateral wheel, and a second lateral wheel. The passive inner hub is rotatably connected to one side of the second wheel seat. There are multiple mounting plates, which are arranged in a ring around the outer edge of the passive inner hub. Adjacent mounting plates are separated by a movable interval. There are multiple first lateral wheels and multiple second lateral wheels. The multiple first lateral wheels are rotatably connected to one side of the multiple mounting plates, and the multiple second lateral wheels are rotatably connected to the other side of the multiple mounting plates, such that the first lateral wheels and the second lateral wheels are located in adjacent movable intervals. The outer diameter of the first lateral wheel is larger than the outer diameter of the second lateral wheel. According to some embodiments of this application, the first shock-absorbing part includes a first movable cylinder, a first connecting cylinder, a first shock-absorbing spring, a first movable rod, a first connecting plate, and a first limiting block. The first connecting cylinder is disposed at the bottom of the movable seat. A first sliding inner cavity is formed inside the first movable cylinder. One end of the first connecting cylinder passes through the first sliding inner cavity, so that one end of the first connecting cylinder slides in cooperation with the first sliding inner cavity. The first wheel seat is disposed on one side of the first movable cylinder. A first shock-absorbing inner cavity is formed inside the first connecting cylinder. The first shock-absorbing spring is disposed inside the first shock-absorbing inner cavity. The first limiting block slides in cooperation with the first shock-absorbing inner cavity. The first limiting block is located below the first shock-absorbing spring, so that the first limiting block abuts against one end of the first shock-absorbing spring. The first movable rod is disposed at one end of the first limiting block. A first connecting groove is formed at the bottom of the first connecting cylinder. The first connecting groove communicates with the first shock-absorbing inner cavity. One end of the first movable rod passes through the first connecting groove, so that the first movable rod slides in cooperation with the first connecting groove. The first connecting plate is disposed at one end of the first movable rod and at the bottom of the first sliding inner cavity.

[0012] According to some embodiments of this application, the first shock-absorbing part includes a first limiting outer cylinder and a first limiting top ring. The first limiting outer cylinder is sleeved on the outside of the first connecting cylinder. The outer diameter of the first limiting outer cylinder matches the inner diameter of the first sliding inner cavity. The first limiting outer cylinder and the first sliding inner cavity are in sliding engagement. The first limiting top ring is disposed on the top of the first movable cylinder. The outer diameter of the first connecting cylinder matches the inner diameter of the first limiting top ring. The first connecting cylinder and the first limiting top ring are in sliding engagement. According to some embodiments of this application, the first damping part includes a first adjusting bolt and a first movable block. The movable seat has a first mounting groove inside. The other end of the first connecting cylinder is located inside the first mounting groove. The first movable block is slidably engaged with the first damping inner cavity. The first movable block is located above the first damping spring, so that the first movable block abuts against the other end of the first damping spring. The other end of the first connecting cylinder has a first adjusting opening. The first adjusting opening communicates with the first damping inner cavity. The first adjusting bolt is threadedly engaged with the inside of the first adjusting opening. The insertion end of the first adjusting bolt abuts against the first movable block.

[0013] According to some embodiments of this application, the second shock absorber includes a second movable cylinder, a second connecting cylinder, a second shock absorber spring, a second movable rod, a second connecting plate, and a second limiting block. The second connecting cylinder is disposed at the bottom of the fixed base. A second sliding inner cavity is formed inside the second movable cylinder. One end of the second connecting cylinder passes through the second sliding inner cavity, so that one end of the second connecting cylinder slides in cooperation with the second sliding inner cavity. The second wheel seat is disposed on one side of the second movable cylinder. A second shock absorber inner cavity is formed inside the second connecting cylinder. The second shock absorber spring is disposed inside the second shock absorber inner cavity. The second limiting block slides in cooperation with the second shock absorber inner cavity. The second limiting block is located below the second shock absorber spring, so that the second limiting block abuts against one end of the second shock absorber spring. The second movable rod is disposed at one end of the second limiting block. A second connecting groove is formed at the bottom of the second connecting cylinder. The second connecting groove communicates with the second shock absorber inner cavity. One end of the second movable rod passes through the second connecting groove, so that the second movable rod slides in cooperation with the second connecting groove. The second connecting plate is disposed at one end of the second movable rod and at the bottom of the second sliding inner cavity.

[0014] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0015] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of the robot described in this application; Figure 2 for Figure 1 A schematic diagram of the structure of the active wheel tire; Figure 3 for Figure 1 A schematic diagram of the structure of the driving wheel in the middle; Figure 4 for Figure 1A schematic diagram of the structure of the first movable cylinder in the middle; Figure 5 for Figure 1 A schematic diagram of the installation of the first shock-absorbing spring in the middle; Figure 6 for Figure 1 A schematic diagram of the structure of the first adjusting bolt in the middle; Figure 7 for Figure 1 A schematic diagram of the passive wheel assembly in the diagram; Figure 8 for Figure 1 A schematic diagram of the structure of the first and second transverse wheels; Figure 9 for Figure 1 A schematic diagram of the connection of the second movable cylinder in the middle; Figure 10 for Figure 1 A schematic diagram of the connection of the second active block in the diagram; Figure 11 for Figure 1 A schematic diagram of the connection of the second damping spring.

[0016] Figure label: Disk body 100, first mounting cavity 110, second mounting cavity 120; Active part 200, steering motor 210, movable seat 220, first mounting groove 221, first shock absorber 230, first movable cylinder 231, first sliding inner cavity 232, first limiting top ring 233, first connecting cylinder 234, first limiting outer cylinder 2341, first shock absorber inner cavity 2342, first shock absorber spring 2343, first movable block 2344, first adjusting bolt 2345, first limiting block 2346, first adjusting opening 2347, first movable rod 235, first connecting groove 236, first connecting plate 237, first wheel seat 240, active wheel set 250, active wheel body 251, active wheel outer tire 252, anti-slip texture 253, transmission inner cavity 254, drive motor 255, transmission connecting hole 256; Passive part 300, fixed seat 310, second mounting groove 311, second shock absorber 320, second movable cylinder 321, second sliding inner cavity 322, second limiting top ring 323, second connecting cylinder 324, second limiting outer cylinder 3241, second shock absorber inner cavity 3242, second shock absorber spring 3243, second movable block 3244, second adjusting bolt 3245, second limiting block 3246, second adjusting opening 3247, second movable rod 325, second connecting groove 326, second connecting plate 327, second wheel seat 330, passive wheel set 340, passive inner wheel hub 341, mounting plate 342, movable interval 343, first transverse wheel 344, second transverse wheel 345. Detailed Implementation

[0017] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0018] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0019] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0020] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0021] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0022] Reference Figures 1 to 11 The robot of the embodiment of this application includes a disk body 100, with two first mounting cavities 110 formed on both sides of one end of the disk body 100, and two second mounting cavities 120 formed on both sides of the other end of the disk body 100. Two active units 200 are respectively located in two first mounting cavities 110 and are used to drive the disc body 100 to move. There are two passive units 300, which are respectively located in two second mounting cavities 120. When the disc body 100 moves, the passive unit 300 is driven to roll on the ground. The active unit 200 includes a steering motor 210, a movable seat 220, a first shock absorber 230, a first wheel seat 240, and an active wheel set 250. The movable seat 220 is rotatably connected to the first mounting cavity 110. The steering motor 210 is located inside the disc body 100 and drives the movable seat 220 to rotate. The first shock absorber 230 is located at the bottom of the movable seat 220. The first wheel seat 240 is located on one side of the first shock absorber 230. The active wheel set 250 is rotatably connected to one side of the first wheel seat 240.

[0023] It is understood that the two active parts 200 are respectively located in the two first mounting cavities 110 at the front end of the disc body 100. Each active part 200 includes a steering motor 210, a movable seat 220, a first shock absorber 230, a first wheel seat 240, and an active wheel set 250. The steering motor 210 drives the movable seat 220 to rotate in the horizontal plane, allowing the active wheel set 250 to adjust its direction independently. It is connected to the first shock absorber 230 through the first wheel seat 240. When the active wheel set 250 encounters bumps, it absorbs the impact energy through deformation, preventing the vibration from being directly transmitted to the disc body 100. The two passive parts 300 are respectively located in the two second mounting cavities 120 at the rear end of the disc body 100. The movement trend of the disc body 100 will be transmitted... The passive part 300 rolls with the ground, and the first shock absorber 230 dampes the ground, thereby improving the stability of the disc 100 on bumpy roads. Moreover, using only two driving parts 200 and two passive parts 300, it achieves omnidirectional movement (such as diagonal movement and rotation in place) and flexible steering capability. Compared with a four-wheel, four-steering chassis that requires four independent drives and motors, the cost is greatly reduced. Furthermore, the reduction of driving components facilitates production, installation and maintenance, making the disc 100 a stable and universal platform that can be easily adapted to different robots and application requirements.

[0024] Reference Figures 1 to 11 According to some embodiments of this application, the passive part 300 includes a fixed seat 310, a second shock absorber 320, a second wheel seat 330, and a passive wheel assembly 340. The fixed seat 310 is disposed in the second mounting cavity 120, the second shock absorber 320 is disposed at the bottom of the fixed seat 310, the second wheel seat 330 is disposed on one side of the second shock absorber 320, and the passive wheel assembly 340 is rotatably connected to one side of the second wheel seat 330.

[0025] Understandably, the two passive parts 300 are located in the two second mounting cavities 120 at the rear end of the disc body 100, respectively. Each passive part 300 consists of a fixed seat 310, a second shock absorber 320, a second wheel seat 330, and a passive wheel assembly 340. The passive wheel assembly 340 has no driving capability. When the active part 200 rotates and provides driving force to move the entire disc body 100, the movement tendency of the disc body 100 is transmitted to the passive wheel assembly 340 through the fixed seat 310 and the second wheel seat 330, causing the passive wheel assembly 340 to roll with the ground and rotate passively, thus following the movement of the disc body 100. This allows the passive wheel assembly 340 to support the weight of the rear of the disc body 100 and roll freely. When the passive wheel assembly 340 passes over uneven ground, it will rise and fall independently. The second shock absorber 320 passively adapts to the terrain changes through deformation, filtering out the vibration transmitted to the disc body 100 again, thereby further improving the stability of the disc body 100 on bumpy roads.

[0026] Reference Figures 2 to 3 According to some embodiments of this application, the drive wheel assembly 250 includes a drive wheel body 251 and a drive motor 255. The drive wheel body 251 has a transmission cavity 254 inside, and a transmission connection hole 256 is provided on one side of the drive wheel body 251. The transmission connection hole 256 communicates with the transmission cavity 254. The drive motor 255 is located inside the transmission cavity 254, and the shaft of the drive motor 255 passes through the transmission connection hole 256, so that the shaft of the drive motor 255 is connected to the first wheel seat 240.

[0027] Understandably, the drive motor 255 is directly built into the transmission cavity 254 of the drive wheel 251. The shaft of the drive motor 255 extends through the transmission connection hole 256 and forms a fixed connection with the first wheel seat 240. When the drive motor 255 is started, the drive motor 255 is fixed to the drive wheel 251 and rotates with it, while the shaft of the drive motor 255 remains stationary. This greatly saves installation space and makes the structure of the entire drive unit 200 very compact, avoiding complex external transmission mechanisms.

[0028] Reference Figures 2 to 3 According to some embodiments of this application, the drive wheel assembly 250 includes a drive wheel tire 252, which is fitted on the outside of the drive wheel body 251, and the outside of the drive wheel tire 252 is formed with anti-slip texture 253.

[0029] Understandably, the active wheel tire 252 is fitted over the active wheel body 251. As a component that directly contacts the ground, its external anti-slip texture 253 generates microscopic engagement and friction with the ground, converting the rotational torque generated by the drive motor 255 into an effective traction force for the drive disc 100. This effectively prevents the active wheel assembly 250 from slipping or spinning during acceleration, deceleration, climbing, or on wet or slippery surfaces (such as water stains on epoxy flooring). It ensures that the power output by the drive motor 255 is efficiently converted into forward thrust, guaranteeing the accuracy and stability of the movement and avoiding positioning errors caused by slippage.

[0030] Reference Figures 7 to 8 According to some embodiments of this application, the passive wheel assembly 340 includes a passive inner hub 341, a mounting plate 342, a first transverse wheel 344, and a second transverse wheel 345. The passive inner hub 341 is rotatably connected to one side of the second wheel seat 330. There are multiple mounting plates 342, which are arranged in a ring around the outer edge of the passive inner hub 341. Adjacent mounting plates 342 are separated by a movable interval 343. There are multiple first transverse wheels 344 and second transverse wheels 345. The multiple first transverse wheels 344 are rotatably connected to one side of the multiple mounting plates 342, and the multiple second transverse wheels 345 are rotatably connected to the other side of the multiple mounting plates 342, so that the first transverse wheels 344 and the second transverse wheels 345 are located in adjacent movable intervals 343. The outer diameter of the first transverse wheel 344 is larger than the outer diameter of the second transverse wheel 345. Understandably, when the disc 100 needs to move laterally, the steering motor 210 will drive the two drive wheel sets 250 to rotate to a position perpendicular to the length direction of the disc 100. Since multiple mounting plates 342 are arranged in a ring around the outer edge of the passive inner hub 341, forming independent mounting points, each mounting plate 342 is equipped with a first lateral wheel 344 (large outer diameter) and a second lateral wheel 345 (small outer diameter). They appear in pairs and are located in the movable interval 343. When the drive wheel sets 250 rotate to the lateral direction and provide lateral driving force, the disc 100 begins to move laterally. Since the fixed seat 310 is fixed, the passive inner hub 341 moves in a different direction than the drive wheel sets 250. Therefore, the passive inner hub... 341 will not be able to roll due to the disc body 100. At this time, multiple first transverse rollers 344 and multiple second transverse rollers 345 form a composite rolling body. During the transverse movement, the rotation plane of some first transverse rollers 344 is closer to or even parallel to the transverse movement direction. The first transverse rollers 344 at the better angle will roll first. Since the outer diameter of the second transverse rollers 345 is smaller than that of the first transverse rollers 344, the first transverse rollers 344 bear the main load and provide rolling, while the second transverse rollers 345 play an auxiliary support and transition role, thereby greatly reducing sliding friction. This allows the entire passive roller group 340 to move laterally with the disc body 100 easily and smoothly, avoiding jamming.

[0031] Reference Figures 4 to 6According to some embodiments of this application, the first damping part 230 includes a first movable cylinder 231, a first connecting cylinder 234, a first damping spring 2343, a first movable rod 235, a first connecting plate 237, and a first limiting block 2346. The first connecting cylinder 234 is disposed at the bottom of the movable seat 220. A first sliding inner cavity 232 is formed inside the first movable cylinder 231. One end of the first connecting cylinder 234 passes through the first sliding inner cavity 232, so that one end of the first connecting cylinder 234 slides in cooperation with the first sliding inner cavity 232. A first wheel seat 240 is disposed on one side of the first movable cylinder 231. A first damping inner cavity 2342 is formed inside the first connecting cylinder 234. The first damping spring 2343 is disposed in the first damping inner cavity 2346. Inside 42, the first limiting block 2346 slides with the first damping cavity 2342. The first limiting block 2346 is located below the first damping spring 2343, so that the first limiting block 2346 abuts against one end of the first damping spring 2343. The first movable rod 235 is located at one end of the first limiting block 2346. The bottom of the first connecting cylinder 234 is provided with a first connecting groove 236, which communicates with the first damping cavity 2342. One end of the first movable rod 235 passes through the first connecting groove 236, so that the first movable rod 235 slides with the first connecting groove 236. The first connecting plate 237 is located at one end of the first movable rod 235 and at the bottom of the first sliding cavity 232.

[0032] Understandably, when the drive wheel assembly 250 is lifted upwards (such as when it passes an obstacle or encounters a protrusion), it will push the first wheel seat 240 and the first movable cylinder 231 connected to it to move upwards. This causes the first sliding inner cavity 232 of the first movable cylinder 231 to slide upwards along the outer wall of the first connecting cylinder 234. Since the first connecting plate 237 is located at the bottom of the first sliding inner cavity 232, when the first movable cylinder 231 moves, it will drive the first limiting block 2346 to squeeze the first shock absorber spring 2343 through the first movable rod 235. The compression process of the first shock absorber spring 2343 absorbs the impact energy from the ground, thereby preventing this huge impact force from being directly transmitted to the upper disc 100, thus protecting the disc 100.

[0033] Reference Figures 4 to 6 According to some embodiments of this application, the first shock absorber 230 includes a first limiting outer cylinder 2341 and a first limiting top ring 233. The first limiting outer cylinder 2341 is sleeved on the outside of the first connecting cylinder 234. The outer diameter of the first limiting outer cylinder 2341 matches the inner diameter of the first sliding inner cavity 232. The first limiting outer cylinder 2341 and the first sliding inner cavity 232 are in sliding engagement. The first limiting top ring 233 is disposed on the top of the first movable cylinder 231. The outer diameter of the first connecting cylinder 234 matches the inner diameter of the first limiting top ring 233. The first connecting cylinder 234 and the first limiting top ring 233 are in sliding engagement. Understandably, when the first damping spring 2343 resets (i.e., the first damping spring 2343 extends), the first damping spring 2343 will drive the first limiting block 2346 downward, causing the first sliding inner cavity 232 of the first movable cylinder 231 to slide downward along the outer wall of the first connecting cylinder 234. Since the first limiting top ring 233 is located at the top of the first movable cylinder 231, when the first movable cylinder 231 moves downward, the first limiting top ring 233 will limit the maximum movement position of the first movable cylinder 231, preventing the first connecting cylinder 234 from disengaging from the first sliding inner cavity 232.

[0034] Reference Figures 4 to 6 According to some embodiments of this application, the first damping part 230 includes a first adjusting bolt 2345 and a first movable block 2344. The movable seat 220 has a first mounting groove 221 inside. The other end of the first connecting cylinder 234 is located inside the first mounting groove 221. The first movable block 2344 is slidably engaged with the first damping inner cavity 2342. The first movable block 2344 is located above the first damping spring 2343, so that the first movable block 2344 abuts against the other end of the first damping spring 2343. The other end of the first connecting cylinder 234 has a first adjusting opening 2347. The first adjusting opening 2347 communicates with the first damping inner cavity 2342. The first adjusting bolt 2345 is threadedly engaged with the inside of the first adjusting opening 2347. The insertion end of the first adjusting bolt 2345 abuts against the first movable block 2344.

[0035] Understandably, when the first adjusting bolt 2345 is tightened, it pushes inward, causing the first movable block 2344 to move downward, thereby compressing the first damping spring 2343 and increasing its preload. This means the first damping spring 2343 requires more force to compress. This allows the disc 100 to maintain a higher ground clearance when unloaded or lightly loaded. When the first adjusting bolt 2345 is loosened, the preload of the first damping spring 2343 pushes the first movable block 2344 upward, extending the first damping spring 2343 and reducing its preload. Under the same weight, it is easier to compress, allowing the disc 100 to effectively trigger the damping stroke even under heavy load, preventing the first damping spring 2343 from being too stiff to absorb vibrations.

[0036] Reference Figures 9 to 11According to some embodiments of this application, the second damping part 320 includes a second movable cylinder 321, a second connecting cylinder 324, a second damping spring 3243, a second movable rod 325, a second connecting plate 327, and a second limiting block 3246. The second connecting cylinder 324 is disposed at the bottom of the fixed base 310. A second sliding inner cavity 322 is formed inside the second movable cylinder 321. One end of the second connecting cylinder 324 passes through the second sliding inner cavity 322, so that one end of the second connecting cylinder 324 slides in cooperation with the second sliding inner cavity 322. A second wheel seat 330 is disposed on one side of the second movable cylinder 321. A second damping inner cavity 3242 is formed inside the second connecting cylinder 324. The second damping spring 3243 is disposed in the second damping inner cavity 3246. Inside 42, the second limiting block 3246 slides with the second damping inner cavity 3242. The second limiting block 3246 is located below the second damping spring 3243, so that the second limiting block 3246 and one end of the second damping spring 3243 abut against each other. The second movable rod 325 is located at one end of the second limiting block 3246. The bottom of the second connecting cylinder 324 is provided with a second connecting groove 326, which communicates with the second damping inner cavity 3242. One end of the second movable rod 325 passes through the second connecting groove 326, so that the second movable rod 325 slides with the second connecting groove 326. The second connecting plate 327 is located at one end of the second movable rod 325 and at the bottom of the second sliding inner cavity 322.

[0037] Understandably, when the passive wheel assembly 340 is lifted upwards (such as when it passes an obstacle or encounters a protrusion), it will push the second wheel seat 330 and the second movable cylinder 321 connected to it to move upwards. This causes the second sliding inner cavity 322 of the second movable cylinder 321 to slide upwards along the outer wall of the second connecting cylinder 324. Since the second connecting plate 327 is located at the bottom of the second sliding inner cavity 322, when the second movable cylinder 321 moves, it will drive the second limiting block 3246 to squeeze the second shock-absorbing spring 3243 through the second movable rod 325. The second shock-absorbing compression process absorbs the impact energy from the ground, thereby preventing this huge impact force from being directly transmitted to the upper disc 100, thus protecting the disc 100.

[0038] Reference Figures 9 to 11According to some embodiments of this application, the second damping part 320 includes a second limiting outer cylinder 3241 and a second limiting top ring 323. The second limiting outer cylinder 3241 is sleeved on the outside of the second connecting cylinder 324, and the outer diameter of the second limiting outer cylinder 3241 matches the inner diameter of the second sliding inner cavity 322. The second limiting outer cylinder 3241 and the second sliding inner cavity 322 are in sliding engagement. The second limiting top ring 323 is disposed on the top of the second movable cylinder 321, and the outer diameter of the second connecting cylinder 324 matches the inner diameter of the second limiting top ring 323. The second connecting cylinder 324 and the second limiting top ring 323 are in sliding engagement. The second damping part 320 includes a second adjusting bolt 3245 and a second movable block 3244. The fixed base 310 has a second mounting groove 311 inside. The other end of the second connecting cylinder 324 is located inside the second mounting groove 311. The second movable block 3244 slides with the second damping inner cavity 3242. The second movable block 3244 is located above the second damping spring 3243, so that the second movable block 3244 abuts against the other end of the second damping spring 3243. The other end of the second connecting cylinder 324 has a second adjustment opening 3247. The second adjustment opening 3247 communicates with the second damping inner cavity 3242. The second adjusting bolt 3245 is threaded with the inside of the second adjustment opening 3247. The insertion end of the second adjusting bolt 3245 abuts against the second movable block 3244. It is understandable that when the second damping spring 3243 resets, it will drive the second limiting block 3246 downward, causing the second sliding inner cavity 322 of the second movable cylinder 321 to slide downward along the outer wall of the second connecting cylinder 324. Since the second limiting top ring 323 is located at the top of the second movable cylinder 321, when the second movable cylinder 321 moves downward, the second limiting top ring 323 will limit the maximum movement position of the second movable cylinder 321, preventing the second connecting cylinder 324 from disengaging from the second sliding inner cavity 322.

[0039] Furthermore, when the second adjusting bolt 3245 is tightened, it pushes inward, causing the second movable block 3244 to move downward, thereby compressing the second damping spring 3243 and increasing its preload. This makes the second damping spring 3243 require more force to be compressed, which allows the disc 100 to maintain a higher ground clearance when unloaded or lightly loaded. When the second adjusting bolt 3245 is loosened, the preload of the second damping spring 3243 pushes the second movable block 3244 upward, thereby extending the second damping spring 3243 and reducing its preload. This makes it easier to compress under the same weight, which allows the disc 100 to effectively trigger the damping stroke even under heavy load, preventing the second damping spring 3243 from being too stiff to absorb vibrations.

[0040] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A robot, characterized in that, Includes a disk body, wherein two first mounting cavities are formed on both sides of one end of the disk body, and two second mounting cavities are formed on both sides of the other end of the disk body; The active unit, consisting of two units, is located in the two first mounting cavities and is used to drive the disc body to move. Two passive components are respectively disposed in the two second mounting cavities, and are used so that when the disc body moves, the disc body drives the passive components to roll with the ground. The active unit includes a steering motor, a movable seat, a first shock absorber, a first wheel seat, and a drive wheel assembly. The movable seat is rotatably connected to the first mounting cavity. The steering motor is located inside the disc body and drives the movable seat to rotate. The first shock absorber is located at the bottom of the movable seat. The first wheel seat is located on one side of the first shock absorber. The drive wheel assembly is rotatably connected to one side of the first wheel seat.

2. The robot of claim 1, wherein, The passive part includes a fixed base, a second shock absorber, a second wheel seat, and a passive wheel assembly. The fixed base is disposed in the second mounting cavity, the second shock absorber is disposed at the bottom of the fixed base, the second wheel seat is disposed on one side of the second shock absorber, and the passive wheel assembly is rotatably connected to one side of the second wheel seat.

3. The robot of claim 1, wherein, The active wheel assembly includes an active wheel body and a drive motor. The active wheel body has a transmission cavity inside and a transmission connection hole on one side, which communicates with the transmission cavity. The drive motor is located inside the transmission cavity, and the drive motor shaft passes through the transmission connection hole, connecting the drive motor shaft to the first wheel seat.

4. The robot of claim 3, wherein, The drive wheel assembly includes a drive wheel tire, which is fitted over the outside of the drive wheel body, and the outside of the drive wheel tire is formed with anti-slip texture.

5. The robot of claim 2, wherein, The passive wheel assembly includes a passive inner hub, a mounting plate, a first lateral wheel, and a second lateral wheel. The passive inner hub is rotatably connected to one side of the second wheel seat. There are multiple mounting plates, which are arranged in a ring around the outer edge of the passive inner hub. Adjacent mounting plates are separated by a movable interval. There are multiple first lateral wheels and multiple second lateral wheels. The multiple first lateral wheels are rotatably connected to one side of the multiple mounting plates, and the multiple second lateral wheels are rotatably connected to the other side of the multiple mounting plates, so that the first lateral wheels and the second lateral wheels are located in adjacent movable intervals. The outer diameter of the first lateral wheel is larger than the outer diameter of the second lateral wheel.

6. The robot according to claim 1, characterized in that, The first shock absorber includes a first movable cylinder, a first connecting cylinder, a first shock absorber spring, a first movable rod, a first connecting plate, and a first limiting block. The first connecting cylinder is located at the bottom of the movable seat. A first sliding inner cavity is formed inside the first movable cylinder. One end of the first connecting cylinder passes through the first sliding inner cavity, so that one end of the first connecting cylinder slides in cooperation with the first sliding inner cavity. The first wheel seat is located on one side of the first movable cylinder. A first shock absorber inner cavity is formed inside the first connecting cylinder. The first shock absorber spring is located inside the first shock absorber inner cavity. The first limiting block slides in cooperation with the first shock absorber inner cavity and is located below the first shock absorber spring, so that the first limiting block abuts against one end of the first shock absorber spring. The first movable rod is located at one end of the first limiting block. A first connecting groove is formed at the bottom of the first connecting cylinder. The first connecting groove communicates with the first shock absorber inner cavity. One end of the first movable rod passes through the first connecting groove, so that the first movable rod slides in cooperation with the first connecting groove. The first connecting plate is located at one end of the first movable rod and at the bottom of the first sliding inner cavity.

7. The robot of claim 6, wherein, The first shock absorber includes a first limiting outer cylinder and a first limiting top ring. The first limiting outer cylinder is sleeved on the outside of the first connecting cylinder. The outer diameter of the first limiting outer cylinder matches the inner diameter of the first sliding inner cavity. The first limiting outer cylinder and the first sliding inner cavity are in sliding engagement. The first limiting top ring is located at the top of the first movable cylinder. The outer diameter of the first connecting cylinder matches the inner diameter of the first limiting top ring. The first connecting cylinder and the first limiting top ring are in sliding engagement.

8. The robot of claim 7, wherein, The first damping part includes a first adjusting bolt and a first movable block. The movable seat has a first mounting groove inside. The other end of the first connecting cylinder is located inside the first mounting groove. The first movable block is slidably engaged with the first damping inner cavity. The first movable block is located above the first damping spring, so that the first movable block abuts against the other end of the first damping spring. The other end of the first connecting cylinder has a first adjusting opening. The first adjusting opening communicates with the first damping inner cavity. The first adjusting bolt is threadedly engaged with the inside of the first adjusting opening. The insertion end of the first adjusting bolt abuts against the first movable block.

9. The robot of claim 5, wherein, The second shock absorber includes a second movable cylinder, a second connecting cylinder, a second shock absorber spring, a second movable rod, a second connecting plate, and a second limiting block. The second connecting cylinder is located at the bottom of the fixed base. A second sliding inner cavity is formed inside the second movable cylinder. One end of the second connecting cylinder passes through the second sliding inner cavity, so that one end of the second connecting cylinder slides in cooperation with the second sliding inner cavity. The second wheel seat is located on one side of the second movable cylinder. A second shock absorber inner cavity is formed inside the second connecting cylinder. The second shock absorber spring is located inside the second shock absorber inner cavity. The second limiting block slides in cooperation with the second shock absorber inner cavity and is located below the second shock absorber spring, so that the second limiting block abuts against one end of the second shock absorber spring. The second movable rod is located at one end of the second limiting block. A second connecting groove is formed at the bottom of the second connecting cylinder, and the second connecting groove communicates with the second shock absorber inner cavity. One end of the second movable rod passes through the second connecting groove, so that the second movable rod slides in cooperation with the second connecting groove. The second connecting plate is located at one end of the second movable rod and at the bottom of the second sliding inner cavity.

10. The robot of claim 9, wherein, The second damping part includes a second limiting outer cylinder and a second limiting top ring. The second limiting outer cylinder is sleeved on the outside of the second connecting cylinder. The outer diameter of the second limiting outer cylinder matches the inner diameter of the second sliding inner cavity. The second limiting outer cylinder and the second sliding inner cavity are in sliding engagement. The second limiting top ring is located at the top of the second movable cylinder. The outer diameter of the second connecting cylinder matches the inner diameter of the second limiting top ring. The second connecting cylinder and the second limiting top ring are in sliding engagement. The second damping part includes a second adjusting bolt and a second movable block. The fixed seat has a second mounting groove inside. The other end of the second connecting cylinder is located inside the second mounting groove. The second movable block is in sliding engagement with the second damping inner cavity. The second movable block is located above the second damping spring, so that the second movable block abuts against the other end of the second damping spring. The other end of the second connecting cylinder has a second adjusting opening. The second adjusting opening communicates with the second damping inner cavity. The second adjusting bolt is threaded into the second adjusting opening. The insertion end of the second adjusting bolt abuts against the second movable block.

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