CN216886086U

CN216886086U - Mobile robot

Info

Publication number: CN216886086U
Application number: CN202123071298.XU
Authority: CN
Inventors: 韩馨宇
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2022-07-05
Anticipated expiration: 2031-12-07

Abstract

The embodiment of the utility model discloses a mobile robot, which comprises a main body and a travelling mechanism arranged at the bottom of the main body; the walking mechanism comprises a moving part, a damping member and a walking wheel, and the walking wheel is movably connected with the main body through the moving part so as to enable the walking wheel to move in the vertical direction; the damping member is approximately horizontally arranged, one end of the damping member is hinged with the movable member, and the other end of the damping member is hinged with the bottom of the main body; the damping component is provided with an elastic piece. When the walking wheels move in the vertical direction to cause the deformation of the elastic piece, the damping component can generate resistance which hinders the deformation of the elastic piece so as to reduce the reaction speed of the elastic piece, and thus, the acting force exerted on the main body by the elastic piece can be slowly released, so that the probability that the main body inclines upwards greatly is reduced, the risk of misjudgment of a cliff sensor or a drop sensor and the like is reduced, and the reliability of the operation of the mobile robot is improved.

Description

Mobile robot

Technical Field

The utility model relates to the field of self-moving equipment, in particular to a mobile robot.

Background

The mobile robot is a device integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. With the continuous improvement of the performance of the robot, the mobile robot is widely applied to various industries.

As shown in fig. 1, the conventional mobile robot apparatus includes a main body 10 and a traveling wheel 141 disposed at the bottom of the main body 10, and the traveling wheel 141 is movably connected to the mobile robot to adapt to traveling roads in various environments. An elastic member 143 is further disposed between the traveling wheel 141 and the main body 10, and the elastic member 143 is used for applying a downward acting force to the traveling wheel 141, so that the traveling wheel 141 is tightly attached to a traveling road surface, and the suspension of the traveling wheel 141 is avoided. However, when the mobile robot climbs over a high obstacle such as a threshold or a door stone, the traveling wheels 141 compress the elastic members 143, and then the elastic members 143 are largely deformed in a short time, and a large force due to the deformation is applied to the main body 10, which tends to increase the upward inclination width of the main body 10, and thus may cause erroneous judgment of the cliff sensor or the fall sensor, thereby affecting the normal operation of the mobile robot.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present invention is not intended to define key features or essential features of the claimed solution, nor is it intended to be used to limit the scope of the claimed solution.

The embodiment of the utility model provides a mobile robot, which comprises a main body and a travelling mechanism arranged at the bottom of the main body;

the walking mechanism comprises a moving part, a damping component and a walking wheel, and the walking wheel is movably connected with the main body through the moving part so as to enable the walking wheel to move in the vertical direction;

the damping member is approximately horizontally arranged, one end of the damping member is hinged with the movable member, and the other end of the damping member is hinged with the bottom of the main body; the damping member is provided with an elastic part and used for generating resistance which hinders the deformation of the elastic part when the walking wheel moves in the vertical direction to cause the deformation of the elastic part.

Optionally, the damping member comprises a sleeve and a telescopic member; the telescopic part is characterized in that a vent hole is formed in the peripheral wall of the sleeve, the first end of the telescopic part extends into the sleeve, the telescopic part can perform telescopic motion relative to the sleeve, and the telescopic part can seal the vent hole in the process of performing retraction motion on the telescopic part.

Optionally, the number of the vent holes is at least two, and the at least two vent holes are arranged on the sleeve along the telescopic movement direction of the telescopic member.

Optionally, the elastic member is disposed inside the sleeve, one end of the elastic member is connected to the first end of the expansion member, and the other end of the elastic member is connected to the inner end surface of the sleeve.

Optionally, a first connecting piece is arranged at the second end of the telescopic piece, and a second connecting piece is arranged at one end of the sleeve pipe, which is far away from the telescopic piece, wherein the second end of the telescopic piece is the end opposite to the first end of the telescopic piece;

one end of the elastic piece is connected with the first connecting piece, and the other end of the elastic piece is connected with the second connecting piece.

Optionally, the elastic member is sleeved on the pipe sleeve and the telescopic member.

Optionally, the elastic member is located on one side of the sleeve and the telescopic member.

Optionally, the movable member comprises a connecting plate; the connecting plate is approximately horizontally arranged, one end of the connecting plate is rotatably connected with a rotating shaft of the travelling wheel, the lower portion of the other end of the connecting plate is rotatably connected with the host, and the upper portion of the other end of the connecting plate is hinged with the damping member.

Optionally, the resilient member is a spring.

Optionally, the mobile robot is a sweeping robot, a mopping robot, a ground polishing robot or a weeding robot.

According to the mobile robot provided by the embodiment of the utility model, when the walking wheels move in the vertical direction to cause the deformation of the elastic part, the damping component can generate resistance for blocking the deformation of the elastic part so as to reduce the reaction speed of the elastic part, so that the acting force exerted on the main body by the elastic part can be slowly released, the probability of the main body inclining upwards greatly is reduced, the risk of misjudgment of a cliff sensor or a drop sensor and the like is reduced, and the operation reliability of the mobile robot is improved.

Drawings

The following drawings of the utility model are included to provide a further understanding of the utility model as a part of the examples. The drawings illustrate embodiments of the utility model and, together with the description, serve to explain the principles of the utility model.

In the drawings:

FIG. 1 is a block diagram of a prior art running gear;

FIG. 2 is a block diagram of a cleaning robot in accordance with an alternative embodiment of the present invention;

FIG. 3 is a bottom view of a cleaning robot in accordance with an alternative embodiment of the present invention;

FIG. 4 is a block diagram of a damping member according to an alternative embodiment of the present invention;

FIG. 5 is a schematic diagram of a walking mechanism according to an alternative embodiment of the present invention;

FIG. 6 is a schematic structural view of a damping member and an elastic member according to an alternative embodiment of the present invention;

FIG. 7 is a schematic structural view of a damping member and an elastic member according to another alternative embodiment of the present invention;

FIG. 8 is a schematic structural view of a damping member and an elastic member according to yet another alternative embodiment of the present invention.

Description of reference numerals:

10-a cleaning robot; 110-a body; 111-a forward portion; 112-a rearward portion; 120-a perception system; 121-position determination means; 122-a buffer; 130-a control module; 140-a running gear; 141-road wheels; 142-a connecting plate; 143-an elastic member; 144-a damping member; 1441-a telescoping member; 1442-a sleeve; 1443-a vent; 145 — a first connector; 146-a second connector; 150-a cleaning system; 151-dry cleaning system; 152-side brush; 153-wet cleaning system; 160-an energy system; 170-human interaction system.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the utility model.

It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

As shown in fig. 3, 5, 6, 7 and 8, an embodiment of the present invention provides a mobile robot, including a main body 110 and a traveling mechanism 140 disposed at the bottom of the main body 110; the traveling mechanism 140 includes a movable member, a damping member 144, and a traveling wheel 141, and the traveling wheel 141 is movably connected to the main body 110 through the movable member, so that the traveling wheel 141 can move in the vertical direction; the damping member 144 is approximately horizontally arranged, one end of the damping member 144 is hinged with the movable member, and the other end of the damping member 144 is hinged with the bottom of the main body 110; the damping member 144 is provided with an elastic member 143, and the damping member 144 is configured to generate a resistance force for blocking the deformation of the elastic member 143 when the elastic member 143 is deformed due to the vertical movement of the traveling wheel 141.

In the disclosed embodiment, the mobile robot may be a cleaning robot 10, such as a sweeping robot, a mopping robot, a floor polishing robot, a weeding robot, or the like. In addition, the mobile robot may be an automatic food delivery machine, a storage robot, or the like. As shown in fig. 2 and 3, the embodiment of the present disclosure takes the cleaning robot 10 as an example to describe the technical solution related to the present disclosure. The cleaning robot 10 in the embodiment of the present disclosure may include a main body 110, a sensing system 120, a control module 130, a driving system, a cleaning system 150, an energy system 160, and a human-machine interaction system 170. It is understood that the cleaning robot 10 may be a self-moving cleaning robot 10 or other cleaning robot 10 that meets the requirements. The self-moving cleaning robot 10 is a device that automatically performs a cleaning operation in a certain area to be cleaned without a user's operation.

As shown in fig. 2, the main body 110 includes a front portion 111 and a rear portion 112, and has an approximately circular shape (circular shape at the front and rear), and may have other shapes including, but not limited to, an approximately D-shaped shape with a front and rear circle, and a rectangular or square shape with a front and a rear.

As shown in fig. 3, the sensing system 120 includes a position determining device 121 provided on the body 110, a collision sensor, a proximity sensor, a cliff sensor, and a fall sensor provided on a bumper 122 of the forward portion 111 of the body 110, and a magnetometer, an accelerometer, a gyroscope, an odometer, and the like provided inside the body 110 to provide various position information and motion state information of the machine to the control module 130. The position determining device 121 includes, but is not limited to, a camera, a Laser Distance Sensor (LDS).

As shown in fig. 2 and 3, the forward portion 111 of the main body 110 may carry a bumper 122, the bumper 122 detects one or more events in a travel path of the cleaning robot 10 via a sensor system provided thereon when the driving wheel module propels the cleaning robot 10 to walk on the floor during cleaning, and the cleaning robot 10 may control the driving wheel module to make the cleaning robot 10 respond to the events, such as moving away from an obstacle or crossing an obstacle, by the events detected by the bumper 122, such as an obstacle, a wall.

As shown in fig. 3, the control module 130 is disposed on a circuit board in the main body 110, And includes a non-transitory memory, such as a hard disk, a flash memory, And a random access memory, a communication computing processor, such as a central processing unit, And an application processor, And the application processor uses a positioning algorithm, such as a Simultaneous Localization And Mapping (SLAM), to map the environment where the cleaning robot 10 is located according to the obstacle information fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices arranged on the buffer 122 are combined to comprehensively judge which working state and position the cleaning robot 10 is currently in, and the current pose of the cleaning robot 10, such as passing a threshold, putting a carpet on the cliff, being blocked above or below the cleaning robot, being full of dust boxes, being taken up and the like.

As shown in fig. 3, the cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153. As the dry cleaning system 151, a main cleaning function is derived from a sweeping system composed of a roll brush, a dust box, a fan, an air outlet, and connecting members between the four. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dry cleaning system 151 may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.

As shown in fig. 3, energy source system 160 includes rechargeable batteries, such as hydrogen-storage batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.

As shown in fig. 2, the human-computer interaction system 170 includes keys on the panel of the host computer for the user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; a sub-machine client program may also be included. For the path navigation type automatic cleaning equipment, the map of the environment where the equipment is located and the position of the machine can be displayed to a user by a machine client, and richer and more humanized function items can be provided for the user.

The driving mechanism is disposed in the main body 110, and includes a driving motor and a control circuit for controlling the driving motor, and the driving motor can drive the traveling wheels 141 of the traveling mechanism 140 to rotate, so as to achieve the traveling purpose of the self-propelled cleaning robot 10.

As shown in fig. 3, the traveling mechanisms 140 disposed at the bottom of the main body 110 are generally disposed in three, one of the traveling mechanisms 140 is located at the middle of the front side of the bottom of the main body 110, and the other two traveling mechanisms 140 are disposed along a transverse axis defined by the main body 110, wherein the transverse axis is perpendicular to the advancing direction of the main body 110, so that the main body 110 can travel smoothly, and the bottom of the main body 110 has enough space for arranging other components, such as a roller brush, an edge brush 152, and the like. In a specific application, the traveling wheels 141 of at least two traveling mechanisms 140 are universal wheels, which can be independently driven by the corresponding traveling mechanisms 140 to move forward, backward, turn, rotate, and the like.

In this embodiment, the damping member 144 is disposed approximately horizontally, which means that the central axis of the damping member 144 is disposed at a small included angle with the horizontal direction, and the included angle is 5 ° to 10 °, so that the elastic member 143 on the damping member 144 applies a certain downward ground contact force to the driving wheel to make the road wheel 141 cling to the ground, and the space occupied by the damping member 144 and the elastic member 143 in the vertical direction is also reduced, thereby reducing the overall height of the self-moving robot, and facilitating the self-moving robot to enter into a low space such as a bed bottom for operation.

The moving part in each walking mechanism 140 makes the walking wheel 141 form a bias-falling suspension structure, so that when the mobile robot is placed on the ground, the gravity of the main body 110 presses the moving part, and the walking wheel 141 is mostly positioned in the main body 110 through the rotation of the moving part, thereby further reducing the overall height of the self-moving robot and making the self-moving robot have better adaptability. The elastic member 143 disposed on the damping member 144 applies a certain landing force to the traveling wheel 141, so that the traveling wheel 141 is tightly attached to the ground, thereby preventing unstable traveling due to suspension of the traveling wheel 141.

As shown in fig. 5, when the mobile robot encounters an obstacle such as a door sill, the obstacle applies a force opposite to the forward direction to the traveling wheel 141, so that the traveling wheel 141 moves in a direction away from the bottom of the main body 110, that is, the portion of the traveling wheel 141 exposed out of the main body 110 gradually increases, and the movement of the movable member is driven by the movement of the traveling wheel 141, so that the connection a2 between the movable member and the damping member 144 gradually approaches the connection a1 between the damping member 144 and the main body 110, so that a pressure is generated to the damping member 144 and the elastic member 143 disposed on the damping member 144, and during the compression of the damping member 144 by the pressure, a resistance opposite to the pressure is generated to weaken the pressure, so that the force applied to the elastic member 143 is reduced, and thus the amount of compression of the elastic member 143 is reduced, so that the same amount of compression is generated, more time is required, that is, the reaction speed of the elastic member 143 is reduced, so that the acting force of the elastic member 143 on the main body 110 can be slowly released, thereby reducing the possibility that the main body 110 is greatly inclined upwards, further reducing the risk of erroneous judgment of a cliff sensor or a drop sensor, and the like, and improving the reliability of the mobile robot operation.

Further, in the above-mentioned embodiment, as shown in fig. 4, the damping member 144 includes a sleeve 1442 and a telescopic member 1441; a vent hole 1443 is formed in the peripheral wall of the sleeve 1442, the first end of the telescopic member 1441 extends into the sleeve 1442, the telescopic member 1441 can perform telescopic movement relative to the sleeve 1442, and the telescopic member 1441 can close the vent hole 1443 in the process of performing retraction movement of the telescopic member 1441.

Wherein, the size and shape of the telescopic member 1441 are adapted to the size and shape of the sleeve 1442, that is, the sleeve 1442 has a cylindrical structure, the telescopic member 1441 also has a cylindrical structure, and there is no gap between the telescopic member 1441 and the sleeve 1442, and air cannot flow between the telescopic member 1441 and the sleeve 1442. One end of the sleeve 1442 is closed, and the other end is provided with an opening, the first end of the telescopic member 1441 extends into the sleeve 1442 through the opening, the first end of the telescopic member 1441 and the inner wall of the sleeve 1442 form a damping air chamber, and the vent hole 1443 formed in the peripheral wall of the sleeve 1442 forms a passage through which air flows to the outside. When the mobile robot works on the ground normally, the part of the expansion piece 1441 extending into the sleeve 1442 is small, so that the expansion piece 1441 cannot shield the vent hole 1443, the damping air chamber can be communicated with the outside smoothly, resistance which hinders deformation of the elastic piece 143 is not generated by the damping structure, and the elastic piece 143 can be compressed quickly to apply certain ground contact force to the road wheel 141, so that the road wheel 141 is attached to the ground.

When the mobile robot encounters an obstacle such as a threshold, the obstacle applies an acting force opposite to the advancing direction to the traveling wheel 141, so that the traveling wheel 141 moves in a direction away from the bottom of the main body 110, that is, the part of the traveling wheel 141 exposed out of the main body 110 gradually increases, and the movement of the moving member is driven by the movement of the traveling wheel 141, so that the connection a2 between the moving member and the damping member 144 gradually approaches the connection a1 between the damping member 144 and the main body 110, so that pressure is generated on the damping member 144 and the elastic element 143 arranged on the damping member 144, and the pressure causes the expansion element 1441 to perform retraction movement, that is, the part of the expansion element 1441 extending into the sleeve 1442 gradually increases, and the elastic element 143 to perform compression deformation; as the amount of retraction of the telescoping member 1441 increases, the telescoping member 1441 blocks the vent hole 1443, thereby reducing the channel for the ventilation between the damping air chamber and the external air, reducing the exhaust speed of the air in the damping air chamber, the air in the damping chamber will generate resistance to the retraction movement of the telescopic member 1441, so that the pressure is weakened, and the force applied to the elastic member 143 is reduced, thereby reducing the amount of compressive deformation of the elastic member 143, and thus requiring more time to generate the same amount of compressive deformation, i.e., reducing the reaction speed of the elastic member 143, this allows the force applied to the body 110 by the elastic member 143 to be slowly released, thereby reducing the chance of the body 110 being largely tilted upward, and further, the risk of misjudgment of cliff sensors or drop sensors and the like is reduced, and the operation reliability of the mobile robot is improved.

In addition, in the embodiment, the ventilation holes 1443 are formed in the peripheral wall of the sleeve 1442 to form a ventilation channel between the damping air chamber and the outside air, and in the retraction movement process of the telescopic member 1441, the ventilation holes 1443 are blocked by the telescopic member 1441, so that the air in the damping air chamber cannot be rapidly discharged, and resistance is generated to the retraction movement, so as to achieve a damping effect.

Further, as shown in fig. 4, the number of the vent holes 1443 is at least two, and at least two vent holes 1443 are arranged on the sleeve 1442 along the direction of the telescopic movement of the telescopic member 1441.

The vent holes 1443 are arranged on the sleeve 1442 along the direction of the telescopic movement of the telescopic member 1441, so that at the initial stage of the retraction movement of the telescopic member 1441, that is, when the part of the telescopic rod entering the sleeve 1442 is small, the number of the vent holes 1443 closed by the telescopic rod is small, that is, the number of the vent holes 1443 through which the damping air chamber can communicate with the outside is large, and thus the air in the damping air chamber can be discharged through a large number of the vent holes 1443 which are not closed, so that the resistance generated by the air in the damping air chamber is small, and at the initial stage of the retraction movement of the telescopic member 1441, the amount of compression deformation generated by the spring is small, the acting force applied to the main body 110 is small, the probability that the tilting amplitude of the main body 110 is greatly increased is low due to the acting force, and thus a large resistance is not required to prevent the spring from being deformed.

Along with the continuous action of the pressure applied to the telescopic member and the elastic member 143, the portion of the telescopic rod entering the sleeve 1442 is gradually increased, the number of the vent holes 1443 closed by the telescopic tube is gradually increased, the number of the vent holes 1443 of the damping air chamber capable of communicating with the outside air is gradually decreased, so that air in the damping chamber can only be discharged through the fewer unclosed vent holes 1443, so that the resistance generated by the air in the damping air chamber is gradually increased, thus greatly weakening the pressure applied to the elastic member 143, thereby reducing the speed at which the elastic member 143 generates a large amount of deformation, so that the force applied to the main body 110 by the elastic member 143 can be slowly released, thereby reducing the possibility of the main body 110 being largely tilted upward, and further, the risk of misjudgment of cliff sensors or drop sensors and the like is reduced, and the operation reliability of the mobile robot is improved. In addition, the damping member 144 also satisfies the requirement that the damping force is small in the initial stage of compression and is increased in the latter stage of compression of the elastic member 143.

When the mobile robot crosses over obstacles such as a threshold, the acting force applied by the obstacle to the travelling wheel 141 disappears, so that the pressure on the telescopic member and the elastic member 143 disappears, and thus the elastic force generated by the elastic member 143 due to compression deformation causes the telescopic rod to extend and move, the space of the damping air chamber increases, and in order to maintain the air pressure in the damping air chamber, a certain time is required to make the outside air flow into the damping air chamber through the unclosed air flow hole, so that the release of the thrust of the elastic member 143 on the telescopic rod is slowed down, so that the moving speed of the connection point a2 of the movable member and the damping member 144 away from the connection point a1 of the damping member 144 and the main body 110 is reduced, so that the travelling wheel 141 is slowly returned to the initial position, that is the position where the travelling wheel 141 is located on a flat ground, and thus the damping member 144 can play a role of buffering, thereby reducing vibration generated by the reset of the traveling wheels 141.

It is understood that the number of the vent holes 1443 may be set by a worker, and the embodiment is not limited thereto.

The manner in which the resilient member 143 is disposed may take a variety of forms in a particular application, as will be described in more detail below.

In one implementation, as shown in fig. 6, the elastic member 143 is disposed inside the sleeve 1442, one end of the elastic member 143 is connected to the first end of the telescopic member 1441, and the other end of the elastic member 143 is connected to the inner end surface of the sleeve 1442.

In this implementation, the elastic member 143 is disposed in the sleeve 1442, i.e., the damping air chamber, so that the occupied space of the elastic member 143 is reduced, and the damping structure is more compact.

In another implementation, as shown in fig. 7 and 8, a second end of the telescopic member 1441 is provided with a first connecting member 145, and an end of the sleeve 1442 away from the telescopic member 1441 is provided with a second connecting member 146, wherein the second end of the telescopic member 1441 is an end opposite to the first end of the telescopic member 1441; one end of the elastic member 143 is connected to the first connecting member 145, and the other end of the elastic member 143 is connected to the second connecting member 146.

The first connecting member 145 and the second connecting member 146 may be plate-shaped structures, and of course, other structures capable of realizing connection may also be adopted, and the embodiment is not limited strictly.

In this implementation, the elastic member 143 is disposed outside the damping structure, thereby facilitating installation and replacement of the elastic member 143. The elastic element 143 can be fixedly connected to the first connecting element 145 and the second connecting element 146, or can be detachably connected to the first connecting element and the second connecting element, which is not limited in this embodiment.

In this implementation, the elastic element 143 may also be disposed in two ways, specifically as follows:

in the first arrangement, as shown in fig. 8, the elastic member 143 is sleeved on the tube housing and the expansion member 1441, so that the occupied space of the elastic member 143 can be reduced, and the elastic member 143 can be conveniently mounted and dismounted.

In the second arrangement, as shown in fig. 7, the elastic member 143 is located at one side of the sleeve 1442 and the telescopic member, so that mutual interference between the elastic member 143 and the sleeve 1442 can be avoided, and thus the stability of the operation of the elastic member 143 and the damping member 144 can be improved.

Alternatively, in the above embodiment, the elastic member 143 is a spring.

Further, the movable member comprises a connecting plate 142, the connecting plate 142 is approximately horizontally arranged, one end of the connecting plate 142 is rotatably connected with the rotating shaft of the traveling wheel 141, the lower portion of the other end of the connecting plate 142 is rotatably connected with the main machine, and the upper portion of the other end of the connecting plate 142 is hinged with the damping member 144.

In a specific application, as shown in fig. 5, when the mobile robot encounters an obstacle such as a door sill, the obstacle applies a force opposite to the forward direction to the road wheel 141, so that the road wheel 141 moves away from the bottom of the main body 110, and the movement of the road wheel 141 drives the connecting plate 142 to rotate around the connection A3 between the connecting plate 142 and the main body 110, so that the connection a2 between the connecting plate 142 and the damping member 144 gradually approaches the connection a1 between the damping member 144 and the main body 110, thereby generating a pressure on the damping member 144 and the elastic element 143 disposed on the damping member 144.

When the mobile robot crosses an obstacle such as a doorsill, the elastic member 143 generates an elastic force due to compression deformation, so that the connection point a2 between the connection plate 142 and the damping member 144 rotates in a direction away from the connection point a1 between the damping member 144 and the main body 110, thereby driving the traveling wheel 141 to return to the initial position.

The connecting plate 142 is of a plate-shaped structure with a large side wall surface area and a small thickness, so that the connecting plate 142 is connected with each component conveniently. The connecting plate 142 is arranged approximately horizontally, which means that a small included angle exists between the horizontal central axis of the side wall surface of the connecting plate 142 and the horizontal direction, and the included angle is 5-10 degrees, so that the space occupied by the connecting plate 142 in the longitudinal direction can be reduced, the overall height of the self-moving robot is reduced, and the self-moving robot can enter into low spaces such as a bed bottom to operate.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the utility model to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A mobile robot is characterized by comprising a main body and a walking mechanism arranged at the bottom of the main body;

2. The mobile robot of claim 1, wherein the damping member comprises a sleeve and a telescoping member; the telescopic part is characterized in that a vent hole is formed in the peripheral wall of the sleeve, the first end of the telescopic part extends into the sleeve, the telescopic part can perform telescopic motion relative to the sleeve, and the telescopic part can seal the vent hole in the process of performing retraction motion on the telescopic part.

3. The mobile robot as claimed in claim 2, wherein the number of the vent holes is at least two, and at least two of the vent holes are arranged on the sleeve in a direction of the telescopic movement of the telescopic member.

4. The mobile robot of claim 2, wherein the elastic member is disposed inside the sleeve, one end of the elastic member is connected to the first end of the expansion member, and the other end of the elastic member is connected to the inner end surface of the sleeve.

5. The mobile robot of claim 2, wherein the second end of the telescoping member is provided with a first connector and the end of the sleeve distal from the telescoping member is provided with a second connector, wherein the second end of the telescoping member is the end opposite the first end of the telescoping member;

6. The mobile robot of claim 5, wherein the elastic member is sleeved on the sleeve and the telescopic member.

7. The mobile robot of claim 5, wherein the resilient member is located on one side of the sleeve and the telescoping member.

8. The mobile robot of claim 1, wherein the movable member includes a connecting plate; the connecting plate is approximately horizontally arranged, one end of the connecting plate is rotatably connected with a rotating shaft of the travelling wheel, the lower portion of the other end of the connecting plate is rotatably connected with the main body, and the upper portion of the other end of the connecting plate is hinged with the damping member.

9. The mobile robot of claim 1, wherein the resilient member is a spring.

10. The mobile robot of claim 1, wherein the mobile robot is a floor sweeping robot, a floor mopping robot, a floor polishing robot, or a weeding robot.