Bumper assembly and mobile robot

Abstract

The utility model provides a kind of bumper assembly and mobile robot, belong to mobile robot technical field.The bumper assembly is used for mobile robot, and the bumper assembly includes: mounting seat, for with the host computer of mobile robot is connected;Protective frame, with mounting seat swing joint, under the condition that protective frame is impacted by external force, it can move along the direction close to the host computer, and under the condition that external impact force is removed, it can move along the direction away from host computer;Charging head, be equipped on mounting seat, and with host computer electric connection, charging head can be placed in the hidden cavity on host computer;Charging head is also connected with protective frame, in the process that protective frame is close to host computer, charging head can be removed from hidden cavity to contact with the plug on charging seat, to charge host computer;Or, in the process that protective frame is away from host computer, charging head can be moved into hidden cavity to separate from the plug on charging seat, to disconnect the charging of host computer.

Description

Technical Field

[0001] This utility model belongs to the field of mobile robot technology, and in particular relates to a bumper assembly and a mobile robot. Background Technology

[0002] With the continuous evolution of products such as lawnmowers and cleaning robots, autonomous charging has become a basic function of these products. To achieve autonomous charging, a pair of metal electrodes is typically placed on the robot itself, and corresponding contact electrodes are placed on the charging dock. Current market solutions place these electrodes on the robot itself in an externally visible area so that they can directly contact the electrodes on the charging dock. This could be done by placing them on the front or rear of the robot, or on the bottom.

[0003] Regardless of the approach, the robot's electrodes will be exposed to the outside. In outdoor working environments, they are easily affected by rain, fog, or other environmental factors, leading to electrode corrosion and preventing normal charging. Utility Model Content

[0004] In view of the above-mentioned problems existing in the prior art, the purpose of this utility model embodiment is to provide a solution.

[0005] The technical solution adopted in this embodiment of the utility model is:

[0006] A bumper assembly for use on a mobile robot, the mobile robot including a main unit, the bumper assembly comprising:

[0007] Mounting bracket for connecting to the host unit;

[0008] The protective frame is movably connected to the mounting base. When the protective frame is subjected to an external impact force, it can move relative to the mounting base in a direction closer to the host, and when the external impact force is removed, it can move relative to the mounting base in a direction away from the host.

[0009] A charging head is mounted on the mounting base and electrically connected to the main unit. The charging head can be placed inside a hidden cavity on the main unit. The charging head is also connected to the protective frame. When the protective frame approaches the main unit, it can move the charging head out of the hidden cavity to contact the plug on the charging base, thereby charging the main unit. Alternatively, when the protective frame moves away from the main unit, it can move the charging head into the hidden cavity to separate from the plug on the charging base, thereby disconnecting the charging of the main unit.

[0010] In some embodiments, the protective frame includes:

[0011] The inner frame is slidably connected to the mounting base so that the protective frame can move relative to the mounting base;

[0012] The first elastic element elastically connects the inner frame and the mounting base, and is compressed when the protective frame moves in a direction closer to the host.

[0013] The outer frame is located on the side of the inner frame away from the mounting base and is connected to the inner frame. When the outer frame is subjected to the external impact force, it can swing relative to the inner frame in the direction surrounding the host.

[0014] The second elastic element elastically connects the inner frame and the outer frame, and is compressed during the swinging of the outer frame.

[0015] By combining the outer and inner frames, the protective frame can form a rigid-flexible combination that can smoothly transmit the impact to the elastic element for buffering and energy absorption in the event of a frontal or lateral impact.

[0016] In some embodiments, the outer frame is a cover structure, with its open end facing the inner frame, and the outer frame at least covering one end of the inner frame away from the mounting base. This structure allows the outer frame to be subjected to external impacts before the inner frame, thereby protecting the inner frame.

[0017] In some embodiments, the charging head is rotatably connected to the mounting base;

[0018] The inner frame has a first guide rod, which is slidably connected to the charging head. As the protective frame moves closer to or further away from the host, it can drive the charging head to rotate so as to move out of or into the hidden cavity.

[0019] In some embodiments, the mounting base has an ear plate with guide holes;

[0020] The first guide rod passes through the guide hole;

[0021] The first elastic element is a spring, which is sleeved on the first guide rod. The first end of the first elastic element abuts against the inner frame, and the second end abuts against the ear plate. Sleeving the first elastic element onto the first guide rod buffers the movement of the mounting base; this structure is simple and easy to implement.

[0022] In some embodiments, the inner frame is a T-shaped frame, and the longitudinal portion of the inner frame is used for sliding connection with the mounting base;

[0023] The outer frame encloses the transverse portion of the inner frame, and the outer frame is rotatably connected to the middle of the transverse portion of the inner frame. This structure not only increases the overall strength of the protective frame but also facilitates the rotation of the outer frame.

[0024] In some embodiments, the outer frame is provided with second guide rods at both ends perpendicular to the moving direction of the inner frame, the first end of the second guide rod is rotatably connected to the outer frame, and the second end of the second guide rod is slidably connected to the inner frame;

[0025] The second elastic element is a spring, which is sleeved on the second guide rod. The first end of the second elastic element abuts against the outer frame, and the second end of the second elastic element abuts against the inner frame.

[0026] In some embodiments, the second end of the second guide rod is provided with a through groove, and the inner frame is provided with a fixing pin passing through the through groove, the fixing pin being movable along the through groove.

[0027] In some embodiments, the bumper assembly further includes:

[0028] A first contact switch is provided on the mounting base or the inner frame. When the inner frame moves to a first preset position in the direction close to the host, the first contact switch is triggered.

[0029] The second contact switch is disposed on the inner frame or the outer frame. When the outer frame swings to a second preset position in the direction surrounding the mounting base, the second contact switch is triggered.

[0030] The first and second contact switches are electrically connected to the host's control system. When either the first or second contact switch is triggered, the host's control system can decelerate or stop the host's movement. Through the cooperation of the first and second contact switches, the mobile robot can decelerate or stop in a timely manner after being impacted.

[0031] A mobile robot, comprising:

[0032] Host;

[0033] A bumper assembly as described in any of the above embodiments.

[0034] Compared with the prior art, the beneficial effects of the embodiments of this utility model are as follows:

[0035] In this embodiment, the protective frame in the bumper assembly can, upon external impact, move the robot's charging head out of the concealed cavity to align with the plug on the charging station. This allows the charging head to be automatically pushed out of the concealed cavity and aligned with the plug on the charging station when the robot needs charging, facilitating convenient charging. When charging is complete or the robot leaves the charging area, the protective frame resets and retracts the charging head into the concealed cavity, preventing external dust or impacts from affecting the charging head's lifespan. This structure automates the charging process and protects the charging components, improving the safety and reliability of robot use.

[0036] It should be understood that the foregoing general description and the following detailed description are exemplary and illustrative only, and are not intended to limit the present invention. Attached Figure Description

[0037] In drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The drawings generally illustrate various embodiments by way of example rather than limitation and, together with the description and claims, serve to explain embodiments of the utility model. Where appropriate, the same reference numerals are used in all drawings to refer to the same or similar parts.

[0038] Figure 1 This is a schematic diagram of the bumper assembly of this utility model;

[0039] Figure 2 This is a schematic diagram of the mounting base of this utility model;

[0040] Figure 3 This is a schematic diagram of the internal frame of this utility model;

[0041] Figure 4 This is a schematic diagram of the outer frame of this utility model;

[0042] Figure 5 This is a cross-sectional view of the bumper assembly of this utility model after being subjected to a lateral impact;

[0043] Figure 6 This is a cross-sectional view of the bumper assembly of this utility model after it has been subjected to a frontal impact;

[0044] Figure 7 This is a diagram showing the state of the bumper assembly of this utility model before it is assembled with the charging base;

[0045] Figure 8 This is a diagram showing the state of the bumper assembly of this utility model after it is assembled with the charging base.

[0046] In the picture:

[0047] 1. Mounting base; 11. Ear plate; 12. Fixing pin; 13. Connecting pin; 14. Guide hole; 15. Guide groove;

[0048] 2. Protective frame; 21. Outer frame; 211. Second guide rod; 212. Through slot; 213. Hinge joint; 22. Inner frame; 221. Horizontal part; 222. Longitudinal part; 223. First guide rod; 224. Middle part; 225. Connecting pin;

[0049] 3. Charging head; 31. Charging swing arm; 32. Charging iron plate;

[0050] 4. First elastic element;

[0051] 5. Second elastic element;

[0052] 6. First contact switch;

[0053] 7. Second contact switch;

[0054] 8. Charging base; 81. Plug; 82. Fixing part. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0056] Unless otherwise defined, the technical or scientific terms used in this utility model shall have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar terms used in this utility model do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0057] To keep the following description of the embodiments of this utility model clear and concise, detailed descriptions of known functions and known components are omitted.

[0058] This utility model provides a bumper assembly for use on a mobile robot. The mobile robot can be a sweeping robot, an inspection robot, or other products requiring a mobile chassis. These robots may all include a movable main unit, and the bumper assembly can be located on the outer periphery of the main unit to protect it when the robot collides with an object.

[0059] like Figures 1 to 4 As shown, the bumper assembly mainly includes a mounting base 1, a protective frame 2, and a charging head 3.

[0060] Mounting base 1 is used to connect to the host unit. Protective frame 2 is movably connected to mounting base 1. Protective frame 2 can be located on the outer periphery of the host unit. When the protective frame 2 is subjected to external impact, it can move relative to mounting base 1 in the direction closer to the host unit to buffer the external impact.

[0061] At the same time, when the external impact force is removed, the protective frame 2 can move back to the initial position relative to the mounting base 1 in a direction away from the host.

[0062] The charging head 3 is mounted on the mounting base 1 and is electrically connected to the battery on the main unit. Connecting the charging head 3 to a power source allows the main unit's battery to be charged.

[0063] The charging head 3 can be placed inside a hidden cavity on the main unit. The hidden cavity on the main unit is not limited. For example, it can be a recessed area of ​​the main unit or a clearance area that can accommodate the charging head 3.

[0064] The charging head 3 is also connected to the protective frame 2. When the protective frame 2 approaches the main unit, the protective frame 2 can drive the charging head 3 to move relative to the mounting base 1, so as to move out of the hidden cavity on the main unit and contact the plug 81 on the charging base 8, thereby charging the battery of the main unit.

[0065] As the protective frame 2 moves away from the main unit, it can drive the charging head 3 to move relative to the mounting base 1, so as to move into the hidden cavity on the main unit and separate from the plug 81 on the charging base 8 to charge the main unit's battery.

[0066] In this embodiment, the protective frame 2 in the bumper assembly can, upon external impact, move the robot's charging head 3 out of the concealed cavity to align with the plug 81 on the charging station. This allows the robot to automatically connect to the plug 81 on the charging station by impacting the protective frame 2 when charging is needed, facilitating convenient charging. When charging is complete or the robot leaves the charging area, the protective frame 2 resets and retracts the charging head 3 back into the concealed cavity, preventing external dust or impacts from affecting the lifespan of the charging head 3. This structure automates the charging process and protects the charging components, improving the safety and reliability of robot use.

[0067] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the structure of the protective frame 2 may include an inner frame 22, an outer frame 21, and an elastic component assembly.

[0068] The inner frame 22 can be slidably connected to the mounting base 1, so that the protective frame 2 can move relative to the mounting base 1 in a direction closer to or farther from the host. Figure 5 The direction indicated by the middle arrow is the direction of movement of the protective frame 2.

[0069] The connection method between the inner frame 22 and the mounting base 1 is not specifically limited. For example, one of the sliding grooves of the inner frame 22 and the mounting base 1 can be provided, and the other can be a slider that cooperates with the sliding groove. The sliding cooperation between the slider and the sliding groove can realize the sliding cooperation between the inner frame 22 and the mounting base 1.

[0070] The first elastic element 4 elastically connects the inner frame 22 and the mounting base 1, and is compressed when the inner frame 22 moves towards the main unit. After being compressed, it applies a force to the inner frame 22 to move it away from the main unit. When the external impact force is removed from the protective frame 2, the protective frame 2 can move away from the main unit under the force of the first elastic element 4. The first elastic element 4 can play a role in buffering and absorbing energy.

[0071] The outer frame 21 is located on the side of the inner frame 22 opposite to the mounting base 1 and is connected to the inner frame 22. When subjected to external impact, the outer frame 21 can swing relative to the inner frame 22 in a direction surrounding the main unit. Figure 6 The direction indicated by the middle arrow is the swing direction of the outer frame 21.

[0072] The second elastic element 5 elastically connects the inner frame 22 and the outer frame 21, and is compressed during the swinging of the inner frame 22. When the outer frame 21 swings clockwise or counterclockwise, the second elastic element 5 is compressed. After being compressed, a force is applied to the outer frame 21 to cause it to rotate in the opposite direction.

[0073] The structure of the first elastic element 4 and the second elastic element 5 is not specifically limited, and can be a spring or a gas spring, etc.

[0074] like Figure 5 As shown, in this embodiment, when the bumper assembly is impacted from the front, the protective frame 2 can move backward as a whole, and then the force is buffered by the first elastic element 4; as Figure 6 As shown, in this embodiment, when the bumper assembly is subjected to a lateral impact, the outer frame 21 can swing as a whole in a clockwise or counterclockwise direction, and then the force is buffered by the second elastic element 5.

[0075] The combination of the outer frame 21 and the inner frame 22 allows the protective frame 2 to form a rigid-flexible assembly, ensuring structural rigidity while also providing sufficient flexibility. In the event of a frontal or lateral impact, it can smoothly transmit the impact to the elastic element for buffering and energy absorption.

[0076] In some embodiments, the structure of the outer frame 21 can be a frame structure or a cover structure, etc., without specific limitations, and it is mainly used to receive external impacts before the inner frame 22.

[0077] For example, such as Figure 3 As shown, the outer frame 21 can be an integral cover structure. The open end of the cover of the outer frame 21 can face the inner frame 22, and the outer frame 21 at least covers the end of the inner frame 22 that is away from the mounting base 1, so that the outer frame 21 is subjected to external impact before the inner frame 22, thereby protecting the inner frame 22.

[0078] like Figure 4 As shown, in some embodiments, the inner frame 22 of the protective frame 2 may include two parts: a horizontal part 221 and a vertical part 222. The inner frame 22 may form a T-shaped frame, and the structure of the inner frame 22 may increase the strength of the entire protective frame 2.

[0079] The longitudinal portion 222 of the inner frame 22 can extend in the same direction as the moving direction of the protective frame 2, and the longitudinal portion 222 can be used to slide with the mounting base 1.

[0080] The outer frame 21 of the protective frame 2 can be located on one side of the transverse portion 221 of the inner frame 22 and wrap around the entire transverse portion 221 of the inner frame 22.

[0081] A gap can be reserved between the outer frame 21 and the inner frame 22. The outer frame 21 can be rotatably connected to the middle part 224 of the transverse portion 221 of the inner frame 22 via a connecting pin 225, so that the outer frame 21 can rotate about the connecting pin 225 as the axis of rotation. Furthermore, when the outer frame 21 is subjected to external impact force, the outer frame 21 can push the inner frame 22 to move via the connecting pin 225.

[0082] In some embodiments, the charging head 3 can be rotatably connected to the mounting base 1, and the inner frame 22 can have a first guide rod 223, which can be slidably connected to the charging head 3. As the protective frame 2 moves closer to or away from the mobile robot host, it can drive the charging head 3 to rotate. For example, the charging head 3 can have a guide groove 15, and the end of the first guide rod 223 can have a connecting pin 13 embedded in the guide groove 15. As the protective frame 2 moves closer to or away from the mobile robot host, the connecting pin 13 can move within the guide groove 15 and push the charging head 3 to rotate.

[0083] In this embodiment, the charging head 3 can be located in the hidden area of ​​the main unit when the robot is walking and working normally to avoid the influence of the environment such as rain and fog. It will only automatically extend when it returns to the charging base 8 for charging and connect to the plug 81 on the charging base 8 to start the charging process.

[0084] For example, such as Figure 7 and Figure 8 As shown, a fixing part 82 can be set at the charging base 8. When the mobile robot moves to the charging base 8, the fixing part 82 can hit the protective frame 2 of the safety bar assembly to move it, thereby driving the charging head 3 to connect with the plug 81 at the charging station to charge the mobile robot. When the mobile robot leaves the charging station, under the action of the first elastic member 4, the charging head 3 rotates in the opposite direction, thereby separating from the plug 81 of the charging station to disconnect the charging of the mobile robot.

[0085] The charging head 3 may include a charging swing rod 31 and a charging iron plate 32. The middle part of the charging swing rod 31 is rotatably connected to the mounting base 1. One end of the charging swing rod 31 is provided with a guide groove 15, and the other end is connected to the charging iron plate 32. The first guide rod 223 can be connected to the charging swing rod 31 through the connecting rod 13. After the charging swing rod 31 swings, the charging iron plate 32 can be connected to the plug 81 at the charging station.

[0086] like Figure 1 and Figure 2 As shown, in some embodiments, the mounting base 1 of the bumper assembly may have an ear plate 11, the ear plate 11 may have a guide hole 14, and the first guide rod 223 on the inner frame 22 may pass through the guide hole 14.

[0087] The first guide rod 223 is inserted into the guide hole 14. During the movement of the protective frame 2, the first guide rod 223 can move along the axial direction of the guide hole 14.

[0088] The first elastic element 4 can be a spring, and it is sleeved on the first guide rod 223. The first end of the first elastic element 4 can abut against the inner frame 22, and the second end of the first elastic element 4 can abut against the ear plate 11. When the protective frame 2 moves closer to the main unit, the first elastic element 4 is compressed; when the protective frame 2 moves away from the main unit, the first elastic element 4 returns to its original state.

[0089] The first elastic element 4 is fitted onto the first guide rod 223 to buffer the movement of the mounting base 1. This structure is simple and easy to implement.

[0090] The number of first guide rods 223 on the mounting base 1 can be one or more, for example, two or three. The number of ear plates 11 can be equal to the number of first guide rods 223.

[0091] like Figure 1 As shown, in some embodiments, the outer frame 21 is provided with second guide rods 211 at both ends along the direction of movement perpendicular to the inner frame 22.

[0092] The first end of the second guide rod 211 can be rotatably connected to the hinge joint 213 on the outer frame 21, and the second end of the second guide rod 211 can be slidably connected to the inner frame 22. When the outer frame 21 rotates relative to the inner frame 22, the second guide rod 211 can rotate relative to the outer frame 21 and move relative to the inner frame 22. Through the coordinated movement of the second guide rod 211 with the inner and outer frames 21 respectively, the stability of the rotation of the outer frame 21 can be ensured.

[0093] The second elastic element 5 can be a spring. The second elastic element 5 can be sleeved on the second guide rod 211. The first end of the second elastic element 5 can abut against the outer frame 21, and the second end of the second elastic element 5 can abut against the inner frame 22. Setting the second spring on the second guide rod 211 can improve the compactness of the structure.

[0094] The second end of the second guide rod 211 can be slidably connected to the inner frame 22 in various ways. For example, such as... Figure 1 As shown, the second end of the second guide rod 211 may have a through groove 212, and the inner frame 22 may be provided with a fixing pin 12 inserted into the through groove 212. Through the cooperation of the fixing pin 12 and the through groove 212, it can be ensured that the second guide rod 211 can move relative to the inner frame 22 during rotation.

[0095] like Figure 1 As shown, in some embodiments, the bumper assembly may also include a contact switch assembly.

[0096] The contact switch assembly may include a first contact switch 6 and a second contact switch 7. The first contact switch 6 and the second contact switch 7 are respectively connected to the control system of the host machine. When the first contact switch 6 or the second contact switch 7 is triggered, it can send a deceleration signal or a stop signal to the host machine.

[0097] The first contact switch 6 can be used to monitor the movement of the inner frame 22. When the inner frame 22 moves to a first preset position in the direction closer to the host, the first contact switch 6 is triggered, thereby sending a signal to the host to stop the host from moving. The first preset position can be understood as the limit position of the movement of the inner frame 22.

[0098] The location of the first contact switch 6 is not specifically limited. For example, such as... Figure 1 As shown, the first contact switch 6 can be mounted on the mounting base 1 and can be positioned close to the host. When the inner frame 22 moves to the first preset position, the inner frame 22 can trigger the first contact switch 6.

[0099] Alternatively, in some embodiments, the first contact switch 6 may also be disposed on the inner frame 22, and when the inner frame 22 moves to the first preset position, the mounting base 1 may trigger the first contact switch 6.

[0100] The second contact switch 7 is used to detect the rotation of the outer frame 21. When the outer frame 21 swings around the mounting base 1 to the second preset position, the second contact switch 7 is triggered, thereby transmitting a signal to the main unit to stop the main unit from moving.

[0101] The location of the second contact switch 7 is not specifically limited. For example, as shown in the figure, there can be two second contact switches 7. The two second contact switches 7 can be set at both ends of the horizontal part 221 of the inner frame 22. When the outer frame 21 rotates to the left or right to the second preset position, the outer frame 21 triggers the corresponding second contact switch 7, thereby transmitting a signal to the host to stop the host from moving.

[0102] Alternatively, in some embodiments, two second contact switches 7 may also be disposed on the outer frame 21. When the outer frame 21 rotates to the left or right to the second preset position, the inner frame 22 triggers the corresponding second contact switch 7.

[0103] In this embodiment, the first contact switch 6 and the second contact switch 7 can be mechanical switches, such as lever-type limit switches and roller-type limit switches; or they can be electronic switches, such as proximity switches and photoelectric switches.

[0104] This utility model embodiment also provides a mobile robot, wherein the mobile robot can be a sweeping robot, an inspection robot, or other products that require a mobile chassis. The mobile robot may include a main unit and a bumper assembly as described in any of the above embodiments.

[0105] The above description is intended to be illustrative and not restrictive. Those skilled in the art can make variations, modifications, substitutions, and alterations to the above embodiments within the scope of this disclosure. Moreover, the above examples (or one or more of them) can be used in combination with each other, and these embodiments can be combined with each other in various combinations or arrangements.

Claims

1. A bumper assembly for use on a mobile robot, the mobile robot comprising a main unit, characterized in that, The bumper assembly includes: Mounting base (1) for connecting to the host; The protective frame (2) is movably connected to the mounting base (1). When the protective frame (2) is subjected to external impact force, it can move relative to the mounting base (1) in a direction closer to the host, and when the external impact force is removed, it can move relative to the mounting base (1) in a direction away from the host. A charging head (3) is mounted on the mounting base (1) and electrically connected to the host. The charging head (3) can be placed in a hidden cavity on the host. The charging head (3) is also connected to the protective frame (2). When the protective frame (2) moves closer to the host, it can move the charging head (3) out of the hidden cavity to contact the plug (81) on the charging base (8) to charge the host. Alternatively, when the protective frame (2) moves away from the host, it can move the charging head (3) into the hidden cavity to separate from the plug (81) on the charging base (8) to disconnect the charging of the host.

2. A bumper assembly as described in claim 1, characterized in that, The protective frame (2) includes: The inner frame (22) is slidably connected to the mounting base (1) so that the protective frame (2) can move relative to the mounting base (1); The first elastic element (4) elastically connects the inner frame (22) and the mounting base (1) and is compressed when the protective frame (2) moves in a direction closer to the host. The outer frame (21) is located on the side of the inner frame (22) away from the mounting base (1) and is connected to the inner frame (22). When the outer frame (21) is subjected to the external impact force, it can swing relative to the inner frame (22) in the direction surrounding the host. The second elastic element (5) elastically connects the inner frame (22) and the outer frame (21) and is compressed during the swinging process of the outer frame (21).

3. A bumper assembly as described in claim 2, characterized in that, The outer frame (21) is a cover structure, with the open end of the outer frame (21) facing the inner frame (22), and the outer frame (21) at least covers the end of the inner frame (22) that is away from the mounting base (1).

4. A bumper assembly as described in claim 2, characterized in that, The charging head (3) is rotatably connected to the mounting base (1); The inner frame (22) has a first guide rod (223), which is slidably connected to the charging head (3). As the protective frame (2) moves closer to or further away from the host, it can drive the charging head (3) to rotate so as to move out of or into the hidden cavity.

5. A bumper assembly as described in claim 4, characterized in that, The mounting base (1) has an ear plate (11) and a guide hole (14) on the ear plate (11); The first guide rod (223) passes through the guide hole (14); The first elastic element (4) is a spring. The first elastic element (4) is sleeved on the first guide rod (223). The first end of the first elastic element (4) abuts against the inner frame (22), and the second end of the first elastic element (4) abuts against the ear plate (11).

6. A bumper assembly as described in claim 3, characterized in that, The inner frame (22) is a T-shaped frame, and the longitudinal portion (222) of the inner frame (22) is used to slide with the mounting base (1); The outer frame (21) wraps around the transverse portion (221) of the inner frame (22), and the outer frame (21) is rotatably connected to the middle portion (224) of the transverse portion (221) of the inner frame (22).

7. A bumper assembly as described in claim 3, characterized in that, The outer frame (21) is provided with second guide rods (211) at both ends along the direction of movement perpendicular to the inner frame (22). The first end of the second guide rod (211) is rotatably connected to the outer frame (21), and the second end of the second guide rod (211) is slidably connected to the inner frame (22). The second elastic element (5) is a spring. The second elastic element (5) is sleeved on the second guide rod (211). The first end of the second elastic element (5) abuts against the outer frame (21), and the second end of the second elastic element (5) abuts against the inner frame (22).

8. A bumper assembly as described in claim 7, characterized in that, The second end of the second guide rod (211) is provided with a through groove (212), and the inner frame (22) is provided with a fixing pin (12) passing through the through groove (212), and the fixing pin (12) can move along the through groove (212).

9. A bumper assembly as described in claim 2, characterized in that, The bumper assembly also includes: The first contact switch (6) is provided on the mounting base (1) or the inner frame (22). When the inner frame (22) moves to a first preset position in the direction close to the host, the first contact switch (6) is triggered. The second contact switch (7) is provided on the inner frame (22) or the outer frame (21). When the outer frame (21) swings to the second preset position in the direction surrounding the mounting base (1), the second contact switch (7) is triggered. The first contact switch (6) and the second contact switch (7) are electrically connected to the control system of the host respectively. When the first contact switch (6) or the second contact switch (7) is triggered, the control system of the host can decelerate or stop the host from moving.

10. A mobile robot, characterized in that, include: Host; A bumper assembly as described in any one of claims 1-9.

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