CN218640935U - Chassis damping system, chassis system and object conveying robot - Google Patents

Abstract

The utility model discloses a chassis shock mitigation system, chassis system and send thing robot, chassis shock mitigation system includes: the shock absorber comprises a slide rail structure and a shock absorber, wherein the slide rail structure comprises a slide block and a slide rail piece which are matched with each other; one of the sliding block and the sliding rail piece is used as at least part of a wheel carrier to be connected with the first wheel, and the other one of the sliding block and the sliding rail piece is used to be directly or indirectly connected with the chassis, so that the first wheel can move up and down relative to the chassis; the first end of the shock absorber is connected with the wheel carrier, and the second end of the shock absorber is used for being directly or indirectly connected with the chassis. The utility model discloses a chassis shock mitigation system's damping performance is good for the complete machine removes the stationarity good.

Description

Chassis damping system, chassis system and object conveying robot

Technical Field

The utility model relates to a remove chassis technical field, specifically, relate to a chassis shock mitigation system, chassis system and send thing robot.

Background

In recent years, with the rapid development of artificial intelligence, some service robots gradually come into the public vision, for example, restaurant robots, the restaurant robots usually include a bracket and a mobile chassis, wherein the bracket is used for placing a dinner plate, and the mobile chassis is used for realizing the walking of the restaurant robots. However, in the related art, the mobile chassis of the restaurant robot vibrates obviously when passing through an uneven road surface, so that the whole machine shakes greatly, and the obstacle crossing capability of the robot is poor due to the defects of the chassis.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the related art to a certain extent.

Therefore, the embodiment of the utility model provides a chassis shock mitigation system, this chassis shock mitigation system's damping performance is good, is favorable to increasing chassis complete machine and removes stationarity.

The embodiment of the utility model provides a still provide an application arbitrary embodiment chassis shock mitigation system's chassis system.

The embodiment of the utility model provides a still provide one kind and use arbitrary embodiment the robot that send thing of chassis system.

The utility model discloses chassis shock mitigation system includes:

the sliding rail structure comprises a sliding block and a sliding rail piece which are mutually matched; one of the sliding block and the sliding rail piece is used for being at least partially connected with the first wheel as a wheel carrier, and the other one of the sliding block and the sliding rail piece is used for being directly or indirectly connected with the chassis so that the first wheel can move up and down relative to the chassis;

and the first end of the shock absorber is connected with the wheel frame, and the second end of the shock absorber is used for being directly or indirectly connected with the chassis.

The utility model discloses chassis shock mitigation system's damping performance is good, is favorable to strengthening the stationarity of robot at the removal in-process.

In some embodiments, the sliding block is provided with a guide groove, the guide groove is provided with first buckling parts at two sides along the sliding direction, the sliding rail piece is provided with second buckling parts at two sides along the sliding direction, and the first buckling parts and the second buckling parts are matched to limit the sliding rail piece to slide in the guide groove and not to be separated.

In some embodiments, the slide rail structure is a linear rail structure.

In some embodiments, further comprising:

the swinging piece comprises a first hinge part, a second hinge part and a third hinge part; the second end of the shock absorber is connected with the first hinge part, the second hinge part is used for being connected with the chassis, and the third hinge part is used for being connected with a second wheel, so that the second wheel and the second end of the shock absorber can swing relative to the position, connected with the second hinge part, on the chassis, and the second wheel can move up and down relative to the chassis.

In this embodiment, the second end of bumper shock absorber is through swing piece indirect connection to the chassis for the second end of bumper shock absorber can swing relative to the chassis, combines the slide rail structure, can realize second wheel and first round linkage, specifically, for example, when the second wheel drives into sunken pavement, first round can upwards move under the linkage effect, makes the second wheel press close to ground in order to avoid unsettledly, thereby has strengthened the ability of hindering more on chassis through the two-wheeled linkage when the shock attenuation.

In some embodiments, the pendulum comprises:

a first connection section having a first end and a second end, the first end of which forms the second hinge;

the first end of the first extension section is connected with the second end of the first connection section, the second end of the first extension section is far away from the first end of the first extension section and is close to the slide rail structure, and the first hinge part is formed at the second end of the first extension section;

and the first end of the second extension section is connected with the first end of the first connecting section, the second end of the second extension section is far away from the first end of the second extension section and is close to the second wheel, and the third hinge part is formed at the second end of the second extension section.

In some embodiments, a line on which the first extension is located and a line on which the second extension is located are perpendicular to each other; and/or, the oscillating piece further comprises: and the first end of the second connecting section is connected with the second end of the first connecting section, and the second end of the second connecting section is connected with the second end of the second extending section.

In some embodiments, the slide rail structure further comprises: a first fixed block;

under the condition that the sliding block is used for being connected with a first wheel as at least part of a wheel carrier and the sliding rail piece is used for being indirectly or directly connected with a chassis, the first fixing block is used for being fixedly connected with the sliding block and hinged with the first end of the shock absorber;

under the condition that the sliding rail piece is used as at least part of a wheel frame to be connected with a first wheel and the sliding block is used for being indirectly or directly connected with a chassis, the first fixed block is used for being fixedly connected with the sliding rail piece and is hinged with the first end of the shock absorber;

the first fixed block is hinged to the first end of the shock absorber, and the position of the first end of the shock absorber is not higher than the position of the first hinged portion in the vertical direction.

In some embodiments, the slide rail structure further comprises: a second fixed block;

under the condition that the sliding block is used for being connected with the first wheel as at least part of the wheel carrier and the sliding rail piece is used for being indirectly or directly connected with the chassis, the second fixing block is used for fixedly connecting the sliding rail piece with the chassis;

and under the condition that the sliding rail piece is used for being at least partially connected with the first wheel through the wheel carrier and the sliding block is used for being indirectly or directly connected with the chassis, the second fixing block is used for fixedly connecting the sliding block with the chassis.

In some embodiments, the first fixed block includes a first side, a second side, and a first end, the first side and the second side being opposite sides, the first end of the first fixed block being adjacent to both the first side and the second side and proximate to the first wheel;

the first side of the first fixed block is provided with a hinge part for being hinged with a first end of the shock absorber, and the second side of the first fixed block is used for being fixedly connected with the sliding block or the sliding rail piece;

the first end of the first fixed block is provided with a stopping part, and the stopping part is used for fixedly connecting the first wheel and limiting the limit position of the first wheel moving upwards or downwards by abutting against a fixed part, the sliding block or the sliding rail part on the chassis; the wheel carrier further comprises the first fixed block.

In some embodiments, the shock absorber is a spring shock absorber.

In some embodiments, the slide rail structure further comprises: a third fixed block and a fourth fixed block; the fourth fixing block is used for being fixedly connected to the chassis;

under the condition that the sliding block is used for being at least partially connected with the first wheel through the wheel frame and the sliding rail piece is used for being indirectly or directly connected with the chassis, the third fixing block is used for being fixedly connected with the sliding block;

under the condition that the sliding rail piece is used for being at least partially connected with the first wheel through the wheel frame and the sliding block is used for being indirectly or directly connected with the chassis, the third fixing block is used for being fixedly connected with the sliding rail piece;

a first protruding part is arranged on the third fixed block, a second protruding part is arranged on the fourth fixed block, and the first protruding part and the second protruding part are oppositely arranged in the vertical direction; the shock absorber is disposed between the first protrusion and the second protrusion to absorb shock to the first wheel during up and down movement of the first wheel relative to the chassis.

In this embodiment, the shock absorber is fixed through the third fixed block and the fourth fixed block, and the shock absorber can be compressed in the up-down direction to realize the shock absorption of the first wheel.

In some embodiments, the slide rail structure further comprises: a fifth fixed block;

under the condition that the sliding block is used for being connected with the first wheel as at least part of the wheel carrier and the sliding rail piece is used for being indirectly or directly connected with the chassis, the fifth fixing block is used for fixedly connecting the sliding rail piece with the chassis;

under the condition that the sliding rail piece is used for being at least partially connected with the first wheel through the wheel carrier and the sliding block is used for being indirectly or directly connected with the chassis, the fifth fixing block is used for fixedly connecting the sliding block with the chassis;

and/or the presence of a gas in the gas,

the third fixing block is provided with a first side surface, a second side surface and a first end surface which are adjacent in pairs but not opposite; the first side surface of the third fixed block is used for being fixedly connected with the sliding block or the sliding rail piece, the first protruding portion is arranged on the second side surface of the third fixed block, and the first end surface of the third fixed block is used for being fixedly connected with the first wheel.

In some embodiments, the shock absorber is a spring.

The utility model discloses chassis system includes:

the chassis damping system as described in the above embodiments;

the chassis;

the first wheel; and

the second wheel;

the first wheel is a driven wheel, and the second wheel is a driving wheel; and/or a base with an adjustable installation position is arranged below the chassis, and a second hinge part of the swinging part in the chassis damping system is hinged to the base.

The utility model discloses chassis system includes:

the chassis damping system as described in the above embodiments;

the chassis; and

the first wheel;

wherein the first wheel is a driven wheel.

The utility model discloses chassis system includes:

the chassis damping system as described in the above embodiment as a first chassis damping system;

the chassis damping system as described in the above embodiment as a second chassis damping system;

two of the first wheels, each of the first wheels being a driven wheel; and

one said second wheel, each said second wheel being a drive wheel;

wherein one of the first wheels and one of the second wheels are connected with the first chassis damping system and the other one of the first wheels is connected with the second chassis damping system.

The utility model discloses send thing robot includes: the chassis system as described in the above embodiments, or the chassis damping system as described in the above embodiments.

Drawings

Fig. 1 is a first perspective view of a chassis system according to an embodiment of the present invention.

Fig. 2 is a side view schematic of the chassis system of fig. 1.

FIG. 3 is a side schematic view of a first chassis cushioning system of the chassis system of FIG. 2.

Fig. 4 is an exploded view of the first chassis damping system of fig. 3.

Fig. 5 is a second schematic perspective view of the chassis system according to the embodiment of the present invention.

Fig. 6 is an enlarged schematic view of the second chassis shock absorbing system of fig. 5.

Fig. 7 is an exploded view of the second chassis damping system of fig. 5.

Fig. 8 is a schematic top view of a chassis system according to an embodiment of the present invention.

Reference numerals:

a first chassis damping system 100; a second chassis damping system 200;

a slide rail structure 1; a slider 11; a guide groove 111; a first engaging portion 112; a slide member 12; a second engaging portion 121; a first fixing block 13; a first side 131; a second side 132; a stopper 133; a second fixing block 14; a third fixing block 15; a first projection 151; a first side 152; a second side 153; a first end face 154; a fourth fixing block 16; a second projection 161; a fifth fixing block 17;

a shock absorber 2;

a wheel carrier 3;

a chassis 4; a relief hole 41; a base 42;

a first wheel 5;

an oscillating piece 6; a first connecting section 61; a first extension 62; a second connection section 63; a second extension 64; a first hinge 65; a second hinge 66; the third hinge portion 67;

a second wheel 7.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1, the chassis damping system of the embodiment of the present invention includes a slide rail structure 1 and a damper 2.

The sliding track structure 1 comprises a sliding block 11 and a sliding track piece 12 which are matched with each other, wherein one of the sliding block 11 and the sliding track piece 12 is used for being connected with the first wheel 5 as at least part of the wheel frame 3, and the other one is used for being directly or indirectly connected with the chassis 4, so that the first wheel 5 can move up and down relative to the chassis 4. One of the slide block 11 and the slide rail member 12 serving as at least a part of the wheel frame 3 may be directly or indirectly connected to one end of the shock absorber 2, and the other may be directly or indirectly connected to the chassis 4.

It should be noted that the positions of the sliding block 11 and the sliding rail 12 can be interchanged, and fig. 1 to 8 illustrate that the sliding block 11 is directly or indirectly connected to the chassis 4, and the sliding rail 12 is used as at least part of the wheel frame 3 to be connected to the first wheel 5. In addition, the embodiment of the chassis damping system may be as the first chassis damping system 100 or the second chassis damping system 200.

Some possible embodiments of the present invention will be described below by taking a specific embodiment of the first chassis damping system 100 as an example.

For example, as shown in fig. 1, the chassis damping system may be installed on the chassis 4, the chassis 4 may be provided with an avoidance hole 41, the avoidance hole 41 may penetrate through the chassis 4 in the up-down direction, the wheel frame 3 may be fitted in the avoidance hole 41, and the wheel frame 3 may move in the up-down direction.

As shown in fig. 1 and 2, the sliding block 11 may be fixedly connected to the chassis 4, the sliding rail member 12 may be fixedly connected to the wheel frame 3 as a part of the wheel frame 3, and the first wheel 5 may be mounted at the bottom end of the wheel frame 3. When in use, under the sliding cooperation effect of the sliding rail piece 12 and the sliding block 11, the wheel carrier 3 can slide up and down relative to the chassis 4, thereby realizing the up-and-down movement of the first wheel 5.

A first end of the damper 2 is connected to the wheel carrier 3 and a second end of the damper 2 is used for direct or indirect connection to the chassis 4. For example, as shown in fig. 1 and 2, the first end of the shock absorber 2 may be a rear end, the second end of the shock absorber 2 may be a front end, the rear end of the shock absorber 2 may be hinged with the wheel frame 3, and the front end of the shock absorber 2 may be hinged with the chassis 4. Thus, when the wheel frame 3 moves up and down, the damper 2 can store part of the kinetic energy of the wheel frame 3, thereby achieving a damping effect of the first wheel 5.

The utility model discloses chassis shock mitigation system, first round 5 can reciprocate by oneself to on the one hand make first round 5 can with the contact of unsmooth ground, on the other hand passes through 2 bumper shock absorbers and applys elasticity to first round 5, can play the cushioning effect, has guaranteed the stationarity that chassis 4 removed, and then can reduce the walking of using this chassis shock mitigation system's robot and rock.

In addition, through setting up slide rail structure 1, slide rail structure 1 can play the effect that restraint first round 5 removed, and first round 5 can only remove along the relative slip direction of slide rail spare 12 and slider 11 promptly, has guaranteed stability and structural strength when chassis shock mitigation system moves. The damper 2 can play a role of buffering and damping, so that the first wheel 5 is relatively stable in the process of moving up and down.

In some embodiments, the sliding block 11 is provided with a guiding groove 111, the guiding groove 111 is provided with first buckling parts 112 at two sides along the sliding direction, the sliding rail member 12 is provided with second buckling parts 121 at two sides along the sliding direction, and the first buckling parts 112 and the second buckling parts 121 cooperate to limit the sliding rail member 12 to slide in the guiding groove 111 without being disengaged.

As shown in fig. 4, the guide groove 111 may be a rectangular groove, the guide groove 111 may be provided at a front side of the slider 11, the guide groove 111 may penetrate the slider 11 in the up-down direction, and the first engaging portion 112 may be a protrusion provided on an inner groove side wall of the guide groove 111, and the protrusion may be arranged to extend in an extending direction of the guide groove 111. Protrusions may be provided on both of the opposite inner tank side walls of the guide groove 111.

The slide rail member 12 may be substantially rectangular, the left and right sides of the slide rail member 12 may be provided with second engaging portions 121, and the second engaging portions 121 may be elongated slots extending along the vertical direction and penetrating through the upper and lower ends of the slide rail member 12. When the slider 11 and the slide rail 12 are assembled, the slide rail 12 can be inserted into the guide groove 111 from above or below the slider 11, and the two first engaging portions 112 can be inserted into the two second engaging portions 121, respectively.

Therefore, on one hand, the sliding guidance of the sliding block 11 and the sliding rail piece 12 can be enhanced, on the other hand, the situation that the sliding rail piece 12 and the sliding block 11 are transversely separated can be avoided, and the stability in use is ensured. In other embodiments, the sliding block 11 may have a ring structure, and the sliding rail member 12 may be sleeved in the ring structure of the sliding block 11 to realize relative sliding.

In some embodiments, the sliding track structure 1 is a linear track structure. As shown in fig. 2 and 4, the sliding block 11 and the sliding rail member 12 are respectively substantially rectangular, and the sliding rail member 12 can only slide along a single direction relative to the sliding block 11, so that the use requirement is met, and the structural form is simplified. In other embodiments, the slide rail structure 1 may be a curved rail structure, for example, a structure with a certain curvature, and the sliding block 11 and the slide rail member 12 may have a corresponding curved structure.

In some embodiments, the chassis shock absorbing system further comprises a swing member 6, the swing member 6 comprising a first hinge 65, a second hinge 66 and a third hinge 67; the second end of the shock absorber 2 is connected to a first hinge 65, a second hinge 66 for connection to the chassis 4 and a third hinge 67 for connection to the second wheel 7, so that the second wheel 7 and the second end of the shock absorber 2 can be swung relative to the chassis 4 at the location where the second hinge 66 is connected and so that the second wheel 7 can be moved up and down relative to the chassis 4.

As shown in fig. 2 and 3, the swinging member 6 may be disposed at the front side of the slide rail structure 1, the first hinge portion 65 and the second hinge portion 66 may be disposed at the rear side of the swinging member 6, and the third hinge portion 67 may be disposed at the front side of the swinging member 6. The damper 2 is connected between the swinging member 6 and the wheel frame 3, and the front end (right end in fig. 3) of the damper 2 may be hinged to the first hinge portion 65 and the rear end (left end in fig. 3) of the damper 2 may be hinged to the front side of the wheel frame 3.

The swinging member 6 may be hinged to the chassis 4 by a second hinge 66 and a third hinge 67 of the swinging member 6 may be used for mounting the second wheel 7.

Thus, by the connection of the oscillating piece 6 and the shock absorber 2, it is possible to achieve an interlocking of the first wheel 5 and the second wheel 7, for example, the first wheel 5 can move up when the second wheel 7 oscillates down; when the second wheel 7 is swung upwards, the first wheel 5 can be moved downwards. Therefore, the chassis damping system can always keep one wheel to be attached and contacted with the ground, the ground grabbing force can be ensured, and the obstacle crossing capability is improved. In addition, connect first wheel 5 and second wheel 7 through the bumper shock absorber is indirect, in the two-wheeled linkage, can be to first wheel 5 and second wheel 7 shock attenuation, promoted complete machine mobility stability.

Optionally, a base 42 with an adjustable installation position is arranged below the chassis 4, and the second hinge part 66 of the swinging part in the chassis shock absorption system is hinged to the base 42. For example, as shown in fig. 3 and 4, the chassis 4 may include a base 42, the base 42 may be detachably mounted under the chassis 4, and the third hinge portion 67 of the swing member 6 may be hinged with the base 42. When the swing piece is installed, the installation position of the base 42 can be adjusted slightly, so that the assembly of the swing piece 6 is facilitated, and the processing errors of the swing piece 6 and the chassis 4 can be compensated.

In some embodiments, the pendulum 6 comprises a first connecting section 61, a first extending section 62 and a second extending section 64, the first connecting section 61 having a first end and a second end, the first end of the first connecting section 61 forming a second hinge 66; the first end of the first extending section 62 is connected to the second end of the first connecting section 61, the second end of the first extending section 62 is far away from the first end and close to the sliding rail structure 1, and the first hinge 65 is formed at the second end of the first extending section 62; a first end of the second extension section 64 is connected with a first end of the first connection section 61, a second end of the second extension section 64 is far away from the first end of the second extension section 64 and close to the second wheel 7, and a third hinge 67 is formed at the second end of the second extension section 64.

In a further embodiment, the line of the first extension 62 and the line of the second extension 64 may be perpendicular to each other.

As shown in fig. 3, the first extension segment 62 and the second extension segment 64 are arranged substantially vertically, and the second end of the first connection segment 61 connects the first extension segment 62 and the second extension segment 64. For example, the front end of the first extension section 62 may be fixedly coupled with the upper end of the first connection section 61, and the first hinge 65 may be provided at the rear end of the first extension section 62 and coupled to the shock absorber 2. The upper end of the second extension section 64 may be connected to the upper end of the first connection section 61, and the second hinge 66 may be provided at the lower end of the first connection section 61. A third hinge 67 may be provided at a lower end of the second extension 64 and connected to the second wheel 7.

Therefore, on one hand, the overall structure of the swinging piece 6 is simpler, on the other hand, the avoidance requirement of the swinging piece 6 in swinging can be met, and the situation that the swinging piece 6 and the second wheel 7 are easy to interfere with the chassis 4 and touch in swinging is avoided.

In some embodiments, the swinging member 6 further comprises a second connecting section 63, a first end of the second connecting section 63 is connected with a second end of the first connecting section 61, and a second end of the second connecting section 63 is connected with a second end of the second extending section 64.

For example, as shown in fig. 3, the second connection section 63 may be provided at a lower side of the first connection section 61, a left end of the second connection section 63 may be connected to a lower end of the second extension section 64, and a right end of the second connection section 63 may be connected to a lower end of the first connection section 61. First linkage segment 61, second linkage segment 63, second extension 64 can form the triangle-shaped structure to can play the effect of reinforcing swinging member 6's structural strength, satisfied the operation requirement that the second wheel 7 luffing motion was vibrate.

In some embodiments, the sliding rail structure 1 further comprises a first fixing block 13, where the sliding block 11 is used to connect with the first wheel 5 as at least part of the wheel frame 3 and the sliding rail member 12 is used to connect indirectly or directly with the chassis 4, the first fixing block 13 is used to connect the sliding block 11 fixedly and connect the first end of the damper 2 in an articulated manner, where the sliding rail member 12 is used to connect with the first wheel 5 as at least part of the wheel frame 3 and the sliding block 11 is used to connect indirectly or directly with the chassis 4, the first fixing block 13 is used to connect the sliding rail member 12 fixedly and connect the first end of the damper 2 in an articulated manner, and the position of the first end of the damper 2 in an articulated manner on the first fixing block 13 is not higher than the position of the first hinge 65 in the vertical direction.

As shown in fig. 2, the sliding block 11 may be fixed above the chassis 4, and the sliding rail member 12 may be slidably mounted on the front side of the sliding block 11, at this time, the first fixing block 13 may be fixed on the front side of the sliding rail member 12, and the rear end of the shock absorber 2 may be hinged to the first fixing block 13. In other embodiments, the sliding rail member 12 may be fixed above the chassis 4, and the sliding block 11 may be slidably mounted on the front side of the sliding rail member 12, in which case the first fixing block 13 may be fixed on the front side of the sliding block 11.

As shown in fig. 2, the shock absorber 2 is arranged substantially obliquely, that is, the shock absorber 2 is arranged substantially extending in a direction from front upper to rear lower, and the front end of the shock absorber 2 is always higher than the rear end of the shock absorber 2. Thus, when the wheel frame 3 of the first wheel 5 moves up and down, the damper 2 may generate a component force action in the vertical direction or a component force action in the horizontal direction. The vertical component force can realize vertical buffering on the first wheel 5, and the horizontal component force can realize swing driving on the swing piece 6.

It will be appreciated that in other embodiments, the shock absorber 2 may be arranged substantially horizontally, that is, the front end and the rear end of the shock absorber 2 are substantially at the same level, and when in use, the first wheel 5 and the second wheel 7 can be linked by extending and contracting the shock absorber 2, and the requirement of buffering and shock absorption can also be met.

In some embodiments, the slide rail structure 1 further includes a second fixing block 14; in the case that the sliding block 11 is used to connect with the first wheel 5 as at least part of the wheel carrier 3 and the sliding rail member 12 is used to connect to the chassis 4 indirectly or directly, the second fixing block 14 is used to fixedly connect the sliding rail member 12 to the chassis 4; in case the slide rail member 12 is adapted to be connected to the first wheel 5 as at least part of the wheel carriage 3 and the slide 11 is adapted to be connected to the chassis 4 indirectly or directly, the second fixing block 14 is adapted to fixedly connect the slide 11 to the chassis 4.

As shown in fig. 2, the second fixing block 14 may be fixed above the chassis 4, the slider 11 may be fixed on a front side of the second fixing block 14, and the slide rail member 12 may be slidably fitted on a front side of the slider 11. In this case, the slide member 12 may be regarded as a part of the wheel frame 3. In other embodiments, the sliding rail member 12 may be fixed on the front side of the second fixing block 14, and the sliding block 11 may be slidably fitted on the front side of the sliding rail member 12, in which case the sliding block 11 may be regarded as a part of the wheel frame 3. The second fixing block 14 is arranged to facilitate the installation and fixation of the slide rail structure 1.

In some embodiments, the first fixing block 13 includes a first side 131, a second side 132, and a first end, the first side 131 and the second side 132 are opposite sides, and the first end of the first fixing block 13 is adjacent to both the first side 131 and the second side 132 and is close to the first wheel 5; a first side 131 of the first fixed block 13 is provided with a hinge part for hinge-connecting a first end of the shock absorber 2, and a second side 132 of the first fixed block 13 is used for fixedly connecting the sliding block 11 or the sliding rail member 12; a stopping part 133 is arranged at a first end of the first fixing block 13, and the stopping part 133 is used for fixedly connecting the first wheel 5 and limiting the limit position of the first wheel 5 moving upwards or downwards by abutting against a fixing part, a sliding block 11 or a sliding rail part 12 on the chassis 4; the wheel carrier 3 further comprises a first fixing block 13. The fixing member of the chassis 4 against which the stop portion 133 abuts may be the chassis itself or other members directly or indirectly fixedly connected to the chassis.

As shown in fig. 4, the first side 131 may be a front side of the first fixing block 13, the second side 132 may be a rear side of the first fixing block 13, and the first end of the first fixing block 13 may be a bottom end of the first fixing block 13. The front side of the first fixed block 13 may be provided with a hinge portion provided at a position near the bottom end of the first fixed block 13, and the damper 2 may be connected to the first fixed block 13 through the hinge portion of the front side of the first fixed block 13. The sliding block 11 or the sliding rail member 12 of the sliding rail structure 1 may be connected and fixed to the rear side of the first fixing block 13, and the fixing manner may be fixing by a fastening member such as a screw, and in some other embodiments, may also be fixing by welding.

As shown in fig. 4, the first fixing block 13 can be substantially L-shaped, the first fixing block 13 can be regarded as a part of the wheel frame 3, the stopping portion 133 can be disposed at the bottom of the first fixing block 13 and located at the rear side of the first fixing block 13, and when the first fixing block 13 moves up and down, the stopping portion 133 can stop with the second fixing block 14, so as to limit the limit value of the upward sliding movement of the first fixing block 13.

It is understood that, in other embodiments, the stopping portion 133 can also be engaged with the sliding block 11 or the sliding rail member 12 on the second fixing block 14. In other embodiments, when the first fixing block 13 moves downward, the stopping portion 133 can also stop with the chassis 4, the slider 11, and the like, so as to limit a limit value of downward displacement of the first fixing block 13, thereby enabling the first wheel 5 to be displaced within a certain upward and downward stroke.

In some embodiments, as shown in FIG. 4, the damper 2 is a spring damper. The spring shock absorber can include the tension and compression bar and spring, and the spring can overlap the periphery side at the tension and compression bar, and during the use, both tension and compression bar and spring can play the shock attenuation of buffering effect. In other embodiments, the shock absorber 2 may be an air shock absorber, a hydraulic shock absorber, or the like.

In some embodiments, the shock absorber 2 may also be a one-way damping shock absorber. The one-way damping shock absorber has no damping when compressed and can only be supported by the elastic force of the spring, otherwise, the shock absorber has damping when rebounded, so that the rebounding speed and the instantaneous rebounding impact can be reduced, and the vibration caused by secondary impact is reduced.

Some possible embodiments of the present invention will be described below by taking a specific embodiment of the second chassis damping system 200 as an example.

In some embodiments, the slide rail structure 1 further includes a third fixing block 15 and a fourth fixing block 16 in addition to the slider 11 and the slide rail member 12; the fourth fixing block 16 is used for being fixedly connected to the chassis 4; in the case that the sliding block 11 is used for being connected with the first wheel 5 as at least part of the wheel carrier 3 and the sliding rail piece 12 is used for being indirectly or directly connected with the chassis 4, the third fixing block 15 is used for fixedly connecting the sliding block 11; in case the slide element 12 is intended to be connected as at least part of the wheel carrier 3 with the first wheel 5 and the slide 11 is intended to be connected indirectly or directly to the chassis 4, the third fixing block 15 is intended to be fixedly connected with the slide element 12.

For example, as shown in fig. 5 to 7, the third fixing block 15 may be regarded as a part of the wheel frame 3, and the third fixing block 15 may be connected and fixed with the sliding rail member 12, in which case, the sliding block 11 may be directly or indirectly connected and fixed with the chassis 4. In other embodiments, the positions of the sliding rail member 12 and the sliding block 11 are interchanged, and the third fixing block 15 may also be fixedly connected to the sliding block 11, in which case, the sliding rail member 12 may be directly or indirectly fixedly connected to the chassis 4.

The third fixed block 15 is provided with a first protruding part 151, the fourth fixed block 16 is provided with a second protruding part 161, and the first protruding part 151 and the second protruding part 161 are arranged oppositely in the up-down direction; the damper 2 is disposed between the first protrusion 151 and the second protrusion 161 to damp the first wheel 5 during the up and down movement of the first wheel 5 relative to the chassis 4.

As shown in fig. 5 and 7, the first protrusion 151 may be integrally formed on the third fixing block 15, and the fourth fixing block 16 may be fixed to the upper side of the chassis 4 by fastening, welding, or the like. The second protrusion 161 may be integrally formed with the fourth fixing block 16. The second protrusion 161 may be located right above the first protrusion 151, and the damper 2 may be disposed between the first protrusion 151 and the second protrusion 161, for example, a top end of the damper 2 may be connected and fixed to the second protrusion 161, and a bottom end of the damper 2 may be connected and fixed to the first protrusion 151. When the wheel frame 3 moves up and down, the first protrusion 151 may compress the damper 2, and the damping of the wheel frame 3 may be achieved by means of the damper 2. In other embodiments, the relative positions of the first protrusion 151 and the second protrusion 161 may be interchanged.

In some embodiments, the slide rail structure 1 further includes a fifth fixing block 17; in the case that the sliding block 11 is used to connect with the first wheel 5 as at least part of the wheel carrier 3 and the sliding rail member 12 is used to connect to the chassis 4 indirectly or directly, the fifth fixing block 17 is used to fixedly connect the sliding rail member 12 to the chassis 4; in case the slide rail element 12 is adapted to be connected to the first wheel 5 as at least part of the wheel carrier 3 and the slide 11 is adapted to be connected to the chassis 4 indirectly or directly, the fifth fixing block 17 is adapted to fixedly connect the slide 11 to the chassis 4.

For example, as shown in fig. 5 to 7, the fifth fixing block 17 may be fixed above the chassis 4, the fifth fixing block 17 may be located at a rear side of the third fixing block 15, the slider 11 may be fixed to the fifth fixing block 17, and the slide rail member 12 may be fixed to the third fixing block 15. In other embodiments, the positions of the slide rail member 12 and the slide block 11 are interchanged, the slide rail member 12 can be fixed on the fifth fixing block 17, and the slide block 11 can be fixed on the third fixing block 15. Therefore, the installation and fixation of the slide block 11 and the slide rail piece 12 are facilitated.

Optionally, the slide rail structure 1 further includes a third fixing block 15, where the third fixing block 15 has a first side 152, a second side 153, and a first end 154 that are adjacent to each other but not opposite to each other; the first side 152 of the third fixing block 15 is used for fixedly connecting the sliding block 11 or the sliding rail member 12, the first protrusion 151 is disposed on the second side 153 of the third fixing block 15, and the first end 154 of the third fixing block 15 is used for fixedly connecting the first wheel 5.

As shown in fig. 7, the first side 152 may be a rear side of the third fixed block 15, and the sliding block 11 or the sliding rail member 12 may be fixedly connected to the rear side of the third fixed block 15. The second side 153 may be a left side of the third fixing block 15, and the first protrusion 151 may be at a position lower than the left side of the third fixing block 15. The first end of the third fixing block 15 may be a bottom end of the third fixing block 15, and the first wheel 5 may be fixed at the bottom end of the third fixing block 15. Therefore, the third fixing block 15, the fourth fixing block 16 and the fifth fixing block 17 can be arranged in a staggered mode in space, and installation and assembly are facilitated.

In some embodiments, the shock absorber 2 is a spring. For example, the spring may be a tension spring, one end of the spring may be fixedly connected to the first protrusion 151, and the other end of the spring may be fixedly connected to the second protrusion 161.

Optionally, the first protruding portion 151 and the second protruding portion 161 may be provided with a pin, the two pin may be concentrically arranged, and the spring may be sleeved on the outer peripheral sides of the two pins, so as to enhance guidance when the spring is deformed.

The chassis system of the embodiment of the present invention is described below.

The utility model discloses chassis system includes chassis 4 and installs the chassis shock mitigation system on chassis 4, and chassis shock mitigation system can be for first chassis shock mitigation system 100, and first chassis shock mitigation system 100 is the chassis shock mitigation system who includes the spring and draw the depression bar for bumper shock absorber 2 in above-mentioned embodiment promptly.

As shown in fig. 1 to 4, the first chassis damping system 100 includes a first wheel 5, a second wheel 7, a sliding rail structure 1, and a swinging member 6, where the first wheel 5 may be fixedly connected to a first fixing block 13 in the sliding rail structure 1, and the second wheel 7 may be fixedly connected to the swinging member 6, where the first wheel 5 is a driven wheel, and the second wheel 7 is a driving wheel.

When the chassis system is used, the second wheels 7 can drive the chassis system, and the first wheels 5 can rotate automatically when the chassis system moves, so that a supporting effect is achieved.

The following describes a chassis system according to another embodiment of the present invention.

The utility model discloses chassis system includes chassis 4 and installs the chassis shock mitigation system on chassis 4, and chassis shock mitigation system can be for second chassis shock mitigation system 200, and second chassis shock mitigation system 200 is the chassis shock mitigation system that bumper shock absorber 2 only was the spring in above-mentioned embodiment.

As shown in fig. 5 to 7, the second chassis damping system 200 includes a first wheel 5 and a slide rail structure 1, where the slide rail structure 1 includes a slider 11, a slide rail member 12, a third fixing block 15, a fourth fixing block 16, and a fifth fixing block 17, where the first wheel 5 may be fixedly connected to the third fixing block 15 in the slide rail structure 1, and the first wheel 5 is a driven wheel. The damper 2 may be sandwiched between the third fixing block 15 and the fifth fixing block 17.

During the use, first wheel 5 can reciprocate, and bumper shock absorber 2 can compress the energy storage to realize the obstacle crossing performance of second chassis shock mitigation system 200.

A chassis system according to a further embodiment of the present invention is described below.

The utility model discloses chassis system includes chassis shock mitigation system, and chassis shock mitigation system can have two, and two chassis shock mitigation system can be first chassis shock mitigation system 100 and second chassis shock mitigation system 200 respectively, and wherein first chassis shock mitigation system 100 can be the first chassis shock mitigation system 100 that describes in the above-mentioned embodiment, and second chassis shock mitigation system 200 can be the second chassis shock mitigation system 200 that describes in the above-mentioned embodiment.

In a further embodiment, the chassis system may comprise two sets of first chassis damping systems 100 and two sets of second chassis damping systems 200. Further, the two first chassis damping systems 100 may be two front wheels arranged side by side, and may be universal wheels, and the two second chassis damping systems 200 may be two middle wheels arranged side by side (the middle wheels may be driving wheels, and the rear wheels may be universal wheels).

The following describes a chassis system of a specific example of an embodiment of the present invention.

As shown in fig. 1 to 8, the chassis 4 may have a disc shape, the chassis system may include two first chassis damping systems 100, the two first chassis damping systems 100 are both mounted on the chassis 4, and both the two first chassis damping systems 100 may be disposed at the rear side of the chassis 4 and arranged substantially symmetrically, one of the first chassis damping systems 100 may be disposed at the left side of the chassis 4, and the other first chassis damping system 100 may be disposed at the right side of the chassis 4.

The first chassis damping system 100 may include a first slide rail structure, a swinging member 6, a first damper, a first wheel 5 and a second wheel 7, the first slide rail structure includes a first fixed block 13, a second fixed block 14, a first slider and a first slide rail member, the swinging member 6 may be rotatably assembled with the chassis 4, the chassis 4 may be provided with an assembly hole, the first fixed block 13 is fitted in the assembly hole, and the second fixed block 14 may be fixed above the chassis 4 and located at a hole edge position of the assembly hole. The first wheel 5 may be fixed to the bottom of the first fixing block 13, and the first wheel 5 may be driven.

The first slider can be fixed on the front side of the second fixed block 14, the first slide rail member can be fixedly connected with the first fixed block 13, and the first slide rail member and the first slider are in guiding sliding fit along the up-down direction.

The first damper is located above the chassis 4, the front end of the first damper may be hinged to the swinging member 6, and the rear end of the first damper may be hinged to the first fixing block 13. The second wheel 7 may be hinged with the bottom of the oscillating piece 6 and the second wheel 7 may drive the wheel.

The chassis system may further comprise two second chassis damping systems 200, wherein the two second chassis damping systems 200 are both mounted on the chassis 4, and the two second chassis damping systems 200 may be both disposed at the front side of the chassis 4 and arranged substantially symmetrically, wherein one second chassis damping system 200 may be disposed at the left side of the chassis 4, and the other second chassis damping system 200 may be disposed at the right side of the chassis 4.

The second chassis damping system 200 may include a second slide rail structure and a second damper 2, the second slide rail structure includes a third fixed block 15, a fourth fixed block 16, a fifth fixed block 17, a second slider and a second slide rail member, the chassis 4 may be provided with a mounting hole, the third fixed block 15 may be fitted in the mounting hole, the fifth fixed block 17 may be fixed above the chassis 4 and located at a rear side of the third fixed block 15, the second slide rail member may be fixed at a rear side of the third fixed block 15, the second slider may be fixed at a front side of the fifth fixed block 17, and the second slider and the second slide rail member are slidably fitted along an up-down direction. The bottom of the third fixed block 15 may be mounted with a first wheel 5, the first wheel 5 also being a driven wheel.

The fourth fixing block 16 may be fixed above the chassis 4 with the fourth fixing block 16 positioned at the left or right side of the third fixing block 15 and the fifth fixing block 17. The third fixing block 15 is provided with a first protrusion 151, the fourth fixing block 16 is provided with a second protrusion 161, the first protrusion 151 and the second protrusion 161 are oppositely arranged in an up-down direction, the second damper 2 may be a spring, and the second damper 2 may be connected between the first protrusion 151 and the second protrusion 161.

During use, the second wheels 7 of the two first chassis damping systems 100 may be actively driven, so that the movement of the chassis system may be achieved, and in the moving process, the two first wheels 5 of the two first chassis damping systems 100 and the two first wheels 5 of the two second chassis damping systems 200 may both rotate by themselves.

When the ground is uneven, the first wheel 5 of the second chassis damping system 200 can move up and down, so that the obstacle avoidance function is realized, and the second wheel 7 and the first wheel 5 of the first chassis damping system 100 can also move up and down and form linkage, so that the obstacle avoidance function can also be realized.

The following describes the delivery robot according to the embodiment of the present invention.

The utility model provides a delivery robot includes chassis system, and chassis system can be the chassis system described in any one of the above-mentioned embodiments; in other words, the object conveying robot comprises the chassis damping system described in any one of the above embodiments. The delivery robot can be a catering robot, a hall service robot, a factory robot and the like. Of course other robots may be used which require the use of a chassis system. The utility model discloses the obstacle crossing performance of sending the thing robot is strong, and the article on the chassis system can remain the level all the time, has avoided sending the thing robot in the condition of hollow road surface whole slope, jolts lessly, has guaranteed the stability of sending the thing.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present application, unless expressly stated or limited otherwise, a first feature "on" or "under" a second feature may be directly contacting the second feature or the first and second features may be indirectly contacting the second feature through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations to the above embodiments by those of ordinary skill in the art are intended to be within the scope of the present invention.

Claims (17)

1. A chassis cushioning system, comprising:

the sliding rail structure comprises a sliding block and a sliding rail piece which are mutually matched; one of the sliding block and the sliding rail piece is used as at least part of a wheel carrier to be connected with the first wheel, and the other one of the sliding block and the sliding rail piece is used to be directly or indirectly connected with the chassis, so that the first wheel can move up and down relative to the chassis;

and the first end of the shock absorber is connected with the wheel carrier, and the second end of the shock absorber is used for being directly or indirectly connected with the chassis.

2. The chassis damping system according to claim 1, wherein the slider is provided with a guide groove, the guide groove is provided with first engaging portions at both sides in the sliding direction, the slide rail member is provided with second engaging portions at both sides in the sliding direction, and the first engaging portions and the second engaging portions cooperate to restrict the slide rail member to slide in the guide groove without being disengaged.

3. The chassis damping system of claim 1, wherein the slide rail structure is a linear rail structure.

4. The chassis cushioning system of claim 1, 2, or 3, further comprising:

the swinging piece comprises a first hinge part, a second hinge part and a third hinge part; the second end of the shock absorber is connected with the first hinge part, the second hinge part is used for being connected with the chassis, and the third hinge part is used for being connected with a second wheel, so that the second wheel and the second end of the shock absorber can swing relative to the position, connected with the second hinge part, on the chassis, and the second wheel can move up and down relative to the chassis.

5. The chassis damping system of claim 4, wherein the oscillating member comprises:

a first connecting section having a first end and a second end, the first end of which forms the second hinge;

the first end of the first extension section is connected with the second end of the first connection section, the second end of the first extension section is far away from the first end of the first extension section and is close to the slide rail structure, and the first hinge part is formed at the second end of the first extension section;

and the first end of the second extension section is connected with the first end of the first connecting section, the second end of the second extension section is far away from the first end of the second extension section and is close to the second wheel, and the third hinge part is formed at the second end of the second extension section.

6. Chassis damping system according to claim 5,

the straight line of the first extension segment and the straight line of the second extension segment are perpendicular to each other;

and/or the presence of a gas in the atmosphere,

the oscillating piece further includes: and the first end of the second connecting section is connected with the second end of the first connecting section, and the second end of the second connecting section is connected with the second end of the second extending section.

7. The chassis cushioning system of claim 4, wherein the slide rail structure further comprises: a first fixed block;

under the condition that the sliding block is used as at least part of the wheel frame to be connected with the first wheel and the sliding rail piece is used for being indirectly or directly connected with the chassis, the first fixed block is used for being fixedly connected with the sliding block and is hinged with the first end of the shock absorber;

under the condition that the sliding rail piece is used for being connected with a first wheel as at least part of a wheel carrier and the sliding block is used for being indirectly or directly connected with a chassis, the first fixing block is used for being fixedly connected with the sliding rail piece and is hinged with the first end of the shock absorber;

the first fixed block is hinged to the first end of the shock absorber, and the position of the first end of the shock absorber is not higher than the position of the first hinged portion in the vertical direction.

8. The chassis cushioning system of claim 4, wherein the slide rail structure further comprises: a second fixed block;

under the condition that the sliding block is used for being at least partially connected with the first wheel through the wheel carrier and the sliding rail piece is used for being indirectly or directly connected with the chassis, the second fixing block is used for fixedly connecting the sliding rail piece with the chassis;

and under the condition that the sliding rail piece is used for being at least partially connected with the first wheel through the wheel carrier and the sliding block is used for being indirectly or directly connected with the chassis, the second fixing block is used for fixedly connecting the sliding block with the chassis.

9. The chassis shock absorption system of claim 7, wherein the first fixed block includes a first side, a second side, and a first end, the first side and the second side being opposite sides, the first end of the first fixed block being adjacent to both the first side and the second side and proximate to the first wheel;

the first side of the first fixed block is provided with a hinge part for being hinged with the first end of the shock absorber, and the second side of the first fixed block is used for being fixedly connected with the sliding block or the sliding rail piece;

the first end of the first fixed block is provided with a stopping part, and the stopping part is used for fixedly connecting the first wheel and limiting the limit position of the first wheel moving upwards or downwards by abutting against a fixed part, the sliding block or the sliding rail part on the chassis; the wheel carrier further comprises the first fixing block.

10. The chassis damping system of claim 4, wherein the shock absorber is a spring shock absorber, and/or a one-way damping shock absorber.

11. The chassis cushioning system of claim 1, 2 or 3, wherein said slide rail structure further comprises: a third fixed block and a fourth fixed block; the fourth fixing block is fixedly connected to the chassis;

under the condition that the sliding block is used for being at least partially connected with the first wheel through the wheel frame and the sliding rail piece is used for being indirectly or directly connected with the chassis, the third fixing block is used for being fixedly connected with the sliding block;

under the condition that the sliding rail piece is used for being at least partially connected with the first wheel through the wheel frame and the sliding block is used for being indirectly or directly connected with the chassis, the third fixing block is used for being fixedly connected with the sliding rail piece;

a first protruding part is arranged on the third fixed block, a second protruding part is arranged on the fourth fixed block, and the first protruding part and the second protruding part are oppositely arranged in the vertical direction; the shock absorber is disposed between the first projection and the second projection to absorb shock from the first wheel during up and down movement of the first wheel relative to the chassis.

12. Chassis damping system according to claim 11,

the slide rail structure further includes: a fifth fixed block;

under the condition that the sliding block is used for being connected with the first wheel as at least part of the wheel carrier and the sliding rail piece is used for being indirectly or directly connected with the chassis, the fifth fixing block is used for fixedly connecting the sliding rail piece with the chassis;

under the condition that the sliding rail piece is used for being at least partially connected with the first wheel through the wheel carrier and the sliding block is used for being indirectly or directly connected with the chassis, the fifth fixing block is used for fixedly connecting the sliding block with the chassis;

and/or the presence of a gas in the gas,

the third fixing block is provided with a first side surface, a second side surface and a first end surface which are adjacent in pairs but not opposite; the first side surface of the third fixed block is used for being fixedly connected with the sliding block or the sliding rail piece, the first protruding portion is arranged on the second side surface of the third fixed block, and the first end surface of the third fixed block is used for being fixedly connected with the first wheel.

13. The chassis damping system of claim 11, wherein the damper is a spring.

14. An undercarriage system, comprising:

the chassis damping system of any one of claims 4 to 10;

the chassis;

the first wheel; and

the second wheel;

the first wheel is a driven wheel, and the second wheel is a driving wheel; and/or a base with an adjustable installation position is arranged below the chassis, and the second hinge part of the swinging part in the chassis damping system is hinged with the base.

15. An undercarriage system, comprising:

the chassis damping system of any one of claims 1-3, 11-13;

the chassis; and

the first wheel;

wherein the first wheel is a driven wheel.

16. An undercarriage system, comprising:

the chassis vibration damping system of any one of claims 4 to 10, as a first chassis vibration damping system;

the chassis damping system as claimed in any one of claims 1 to 3, 11 to 13 as a second chassis damping system;

two of the first wheels, each of the first wheels being a driven wheel; and

one of said second wheels, each of said second wheels being a drive wheel;

wherein one of said first wheels and one of said second wheels are connected to said first chassis damping system and the other of said first wheels is connected to said second chassis damping system.

17. A delivery robot, comprising:

the chassis system of any one of claims 14 to 16, or the chassis cushioning system of any one of claims 1 to 13.

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