CN220947414U

CN220947414U - Mobile device and robot

Info

Publication number: CN220947414U
Application number: CN202322585939.6U
Authority: CN
Inventors: 唐伟杰; 杨一航; 高晓婷; 王楠; 刘佳恒
Original assignee: Beijing Institute of Technology Zhuhai
Current assignee: Beijing Institute of Technology Zhuhai
Priority date: 2023-09-21
Filing date: 2023-09-21
Publication date: 2024-05-14
Anticipated expiration: 2033-09-21

Abstract

The utility model discloses a mobile device and a robot, which belong to the technical field of robots, wherein the mobile device comprises a chassis, a first mobile mechanism and a second mobile mechanism, the first mobile mechanism comprises a first embedded wheel set, a second embedded wheel set and two Mecanum wheels, one Mecanum wheel is arranged on the first embedded wheel set, the other Mecanum wheel is arranged on the second embedded wheel set, the first embedded wheel set is in running fit with one side of the chassis, the second embedded wheel set is in running fit with the other side of the chassis, the first mobile mechanism is also provided with a first shock absorber and a second shock absorber, and the impact force of the first embedded wheel set on the chassis during reversing is reduced through the second shock absorber, so that the first shock absorption is realized; the first shock absorber limits the range of relative movement between the first embedded wheelset and the second embedded wheelset, and when reversing, the first shock absorber can absorb partial acting force of the first shock absorber and is used for relieving the impact force of the first embedded wheelset on the chassis, so that secondary shock absorption is realized.

Description

Mobile device and robot

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a mobile device and a robot.

Background

At present, the robot technology is widely applied in various fields, and the Mecanum wheel is used as a common moving device of the robot, so that the robot has good maneuverability and flexibility. The mobile device is composed of a plurality of Mecanum wheels, and each Mecanum wheel can independently move and turn, so that the robot can realize multidirectional movement and rotation. The mobile device is widely applied to tasks such as robot navigation, carrying, inspection and the like.

However, existing mecanum robot chassis have some problems in certain environments. For example, on uneven ground, the chassis may shake or be unstable, which affects the motion performance and stability of the robot. Although the existing mobile device can adopt the shock absorber to absorb shock, the installation of the shock absorber and how to arrange the shock absorber have more design schemes, such as considering the shock absorption of a single Mecanum wheel, or the mobile device chassis is used as a whole to carry out shock absorption design, thereby improving the motion performance and stability of the robot. Therefore, there is a large design space for the arrangement of the damper.

Disclosure of utility model

The utility model aims to provide a mobile device and a robot, which realize secondary shock absorption of the mobile device and improve the motion performance and stability of the robot.

The technical scheme is as follows:

The mobile device comprises a chassis, a first mobile mechanism and a second mobile mechanism, wherein the first mobile mechanism and the second mobile mechanism are respectively arranged on two sides of the chassis; the first moving mechanism comprises a first embedded wheel set, a second embedded wheel set and two Mecanum wheels, wherein one Mecanum wheel is arranged at the bottom of the first embedded wheel set, the other Mecanum wheel is arranged at the bottom of the second embedded wheel set, the first embedded wheel set is in running fit with the first end of the chassis, the second embedded wheel set is in running fit with the second end of the chassis, and the first embedded wheel set and the second embedded wheel set are arranged oppositely;

The first moving mechanism is further provided with a first shock absorber and a second shock absorber, two ends of the first shock absorber are respectively installed on the first embedded wheel set and the second embedded wheel set, a first end of the second shock absorber is installed on the first embedded wheel set or the second embedded wheel set, and a second end of the second shock absorber is installed on the chassis.

In one embodiment, the second shock absorber comprises a spring, a guide piece and a moving block, wherein the first end of the moving block is fixed with the first embedded wheel group or the second embedded wheel group, the guide piece is sleeved at the second end of the moving block, the inner wall of the guide piece is in sliding fit with the outer wall of the moving block, and the guide piece is fixed with the chassis; and two ends of the spring are respectively fixed with the moving block and the guide piece.

In one embodiment, a part of the spring is sleeved outside the guide piece, the other part of the spring is sleeved outside the moving block, a guide groove is formed in the guide piece, and the moving block is at least partially positioned in the guide groove and is in sliding fit with the guide groove;

wherein the maximum extension distance of the spring is smaller than the length of the guide groove.

In one embodiment, the first shock absorber is a gas spring, the gas spring is located below the second shock absorber, and the gas spring is arranged in a horizontal direction.

In one embodiment, the first embedded wheel set includes a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are disposed opposite to each other, the mecanum wheel is located between the first mounting plate and the second mounting plate, a bearing is disposed at a first end of the first mounting plate or the second mounting plate, and a rotating shaft of the mecanum wheel is located in the bearing; the second end of the first mounting plate is in running fit with the chassis, and the third end of the first mounting plate is connected with the second shock absorber.

In one embodiment, the first end of the first mounting plate is further provided with a motor, and an output end of the motor is connected with a rotating shaft of the Mecanum wheel.

In one embodiment, the second embedded wheel set includes a third mounting plate and a fourth mounting plate, the third mounting plate and the fourth mounting plate are disposed opposite to each other, the second shock absorbers have four, two of the first ends of the second shock absorbers are connected with the first mounting plate and the second mounting plate respectively, the remaining two first ends of the second shock absorbers are connected with the third mounting plate and the fourth mounting plate respectively, and the second ends of the four second shock absorbers are all mounted on the chassis.

In one embodiment, the chassis is provided with a supporting seat, the supporting seat comprises a first supporting plate, a second supporting plate, a seat body and a connecting block, the bottoms of the first supporting plate and the second supporting plate are arranged on the side wall of the connecting block, and the top of the first supporting plate or the second supporting plate is connected with the second shock absorber; the connecting block is installed in on the pedestal, the pedestal is fixed with the chassis, the both sides of pedestal respectively with embedded wheelset normal running fit of first embedded wheelset and second.

In one embodiment, the first support plate or the first support plate has a plurality of through hole structures, and the through hole structures are triangular; the chassis has a plurality of honeycomb holes.

The utility model also provides a robot which comprises a frame, a transmitting mechanism, a picking mechanism and the moving device, wherein the frame is arranged on the moving device, the transmitting mechanism is arranged at the front end of the frame, and the picking mechanism is arranged at the rear end of the frame.

The technical scheme provided by the utility model has the following advantages and effects:

1. The chassis is supported to move through the first moving mechanism and the second moving mechanism, so that the moving device has a moving function; install two Mecanum wheels in the bottom of first embedded wheelset and the embedded wheelset of second respectively, mecanum wheels walk on unsmooth ground, through first embedded wheelset and the embedded wheelset of second respectively with chassis normal running fit, make first embedded wheelset and the embedded wheelset of second can be in the both sides of chassis activity from top to bottom for improve Mecanum wheel in the ascending movable range of vertical direction, avoid Mecanum wheel direct with reaction force to the chassis on. The second shock absorber is adopted to enable a buffer distance to be reserved between the first embedded wheel set or the second embedded wheel set and the chassis, so that impact force of the first embedded wheel set or the second embedded wheel set on the chassis during reversing is reduced, and first shock absorption of the chassis is realized; moreover, install respectively in the embedded wheelset of first embedded wheelset and second through the both ends of first bumper shock absorber, first bumper shock absorber is used for restricting the scope of relative motion between the embedded wheelset of first embedded wheelset and second, improves the wholeness of the embedded wheelset of first embedded wheelset and second, and first embedded wheelset and the embedded wheelset of second are when the switching-over, and first bumper shock absorber can absorb its partial effort for alleviate the impact force of the embedded wheelset of first embedded wheelset and second to the chassis, realize secondary shock attenuation, and improve the motion performance and the stability of robot.

2. Through movable block and guide sliding fit, the direction of movement of guide restriction movable block to fixed with movable block and guide respectively through the both ends of spring, restriction movable block and guide's travel distance, and absorb the impact force that movable block and guide produced when moving through the spring, avoid rigid contact between movable block and the guide, make the second bumper shock absorber possess the absorbing effect.

3. The spring is sleeved outside the guide piece and the moving block, so that the structural compactness of the second shock absorber is improved, and the assembly of the second shock absorber is facilitated; and the guide piece is internally provided with a guide groove, the moving block is in sliding fit with the guide groove, and the maximum stretching distance of the spring is smaller than the length of the guide groove. Therefore, under the action of the spring, the moving block always moves in the guide groove, so that the moving block is prevented from being separated from the guide groove, the guide piece can always limit the moving direction of the moving block, and the acting force of the moving block can act on the spring in a concentrated manner, so that the use stability of the second shock absorber is improved.

4. The gas spring is a part capable of realizing functions of supporting, buffering, braking, height, angle adjustment and the like, is used for buffering interaction force between the first embedded wheel set and the second embedded wheel set and realizing a damping function, and is also used for improving the connection integrity between the first embedded wheel set and the second embedded wheel set; moreover, the air spring is in the horizontal direction and is used for absorbing the transverse impact force between the first embedded wheel set and the second embedded wheel set, so that the stability of the chassis in the transverse direction is improved.

5. Adopt first mounting panel and second mounting panel, the Mecanum wheel is located between first mounting panel and the second mounting panel, with the embedded installation of Mecanum wheel, increase the angle of being close of robot front end and ground, also increase the departure angle of robot rear end and ground, the angle of being close and departure angle are bigger, make the robot adapt to the topography that more roughness are different, can cross great pit ground and barrier. The first mounting plate and the second mounting plate limit the two ends of the axial lead of the Mecanum wheel, so that the stability of the Mecanum wheel is improved; and the connection point of the Mecanum wheel and the chassis is further increased, so that the connection stability of the chassis and the first moving mechanism is improved.

6. The motor is fixed on the first mounting plate and provides power for the Mecanum wheels, so that the Mecanum wheels independently move, the Mecanum wheels respectively have independent rotating speeds and driving forces when driving, the horsepower of the robot is improved, the Mecanum wheels can keep the same speed and different speeds, the steering of the mobile device is realized, and the flexibility of the mobile device is improved.

7. Four second shock absorbers are adopted and are respectively connected with the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate, so that impact forces of the first mounting plate, the second mounting plate, the third mounting plate and the fourth mounting plate are relieved, and the shock absorbing effect of the mobile device is further improved.

8. Adopt the supporting seat, improve the connection stability between first embedded wheelset and the embedded wheelset of second and the chassis, first backup pad, second backup pad pass through the connecting block and are connected with the pedestal moreover, improve area of contact between first backup pad, second backup pad and the pedestal to improve the area of force of first backup pad and second backup pad, improve the structural stability of supporting seat.

9. The first backup pad or first backup pad have a plurality of through-hole structures, and the through-hole structure is triangle-shaped, and the chassis has a plurality of cellular holes for alleviate the self weight of first backup pad, second backup pad and chassis, also utilize triangle-shaped stability's principle simultaneously, satisfy the support strength of first backup pad or first backup pad.

10. The mobile device is applied to the robot, so that the flexibility of the robot is improved, and the movement performance and stability of the robot are improved through the mobile device.

Drawings

Fig. 1 is a schematic diagram of a mobile device according to an embodiment of the utility model.

Fig. 2 is a schematic structural view of a first moving mechanism according to an embodiment of the present utility model.

Fig. 3 is a side view of a first movement mechanism in an embodiment of the utility model.

Fig. 4 is a schematic structural view of a second shock absorber according to an embodiment of the present utility model.

Fig. 5 is a schematic structural view of a support base according to an embodiment of the utility model.

Fig. 6 is a schematic view of a robot according to still another embodiment of the present utility model.

Fig. 7 is a side view of a robot in yet another embodiment of the utility model.

Reference numerals illustrate:

100. A mobile device; 1. a chassis; 11. a hole; 2. a first moving mechanism; 21. mecanum wheel; 22. a motor; 23. the first embedded wheel set; 231. a first mounting plate; 232. a second mounting plate; 24. the second embedded wheel set; 241. a third mounting plate; 242. a fourth mounting plate; 25. a support base; 251. a first support plate; 2511. a via structure; 252. a second support plate; 253. a connecting block; 254. a base; 26. a first shock absorber; 27. a second damper; 271. a first connection hole; 272. a spring; 273. a guide member; 2731. a guide groove; 274. a moving block; 275. a second connection hole; 3. a second moving mechanism; 200. a robot; 201. a frame; 202. a transmitting mechanism; 203. a commodity shelf; 204. a pick-up mechanism; A. approach angle; B. angle of departure.

Detailed Description

In order that the utility model may be readily understood, a more particular description of specific embodiments thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

The terms "first" and "second" … "as used herein, unless specifically indicated or otherwise defined, are merely used to distinguish between names and do not denote a particular quantity or order.

The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items, unless specifically stated or otherwise defined.

The term "fixed" or "connected" as used herein may be directly fixed or connected to an element, or indirectly fixed or connected to an element.

Example 1

As shown in fig. 1 to 5, a mobile device 100 includes a chassis 1, a first mobile mechanism 2 and a second mobile mechanism 3, the first mobile mechanism 2 and the second mobile mechanism 3 being respectively mounted on both sides of the chassis 1; the first moving mechanism 2 comprises a first embedded wheel set 23, a second embedded wheel set 24 and two Mecanum wheels 21, wherein one Mecanum wheel 21 is arranged at the bottom of the first embedded wheel set 23, the other Mecanum wheel 21 is arranged at the bottom of the second embedded wheel set 24, the first embedded wheel set 23 is in running fit with the first end of the chassis 1, the second embedded wheel set 24 is in running fit with the second end of the chassis 1, and the first embedded wheel set 23 and the second embedded wheel set 24 are oppositely arranged; the first moving mechanism 2 further has a first shock absorber 26 and a second shock absorber 27, two ends of the first shock absorber 26 are respectively mounted on the first embedded wheel set 23 and the second embedded wheel set 24, a first end of the second shock absorber 27 is mounted on the first embedded wheel set 23 or the second embedded wheel set 24, and a second end of the second shock absorber 27 is mounted on the chassis 1. The chassis 1 is supported to move by the first moving mechanism 2 and the second moving mechanism 3, so that the moving device 100 has a moving function; install two Mecanum wheels 21 in the bottom of first embedded wheelset 23 and the embedded wheelset 24 of second respectively, mecanum wheels 21 walk on unsmooth ground, through first embedded wheelset 23 and the embedded wheelset 24 of second respectively with chassis 1 normal running fit, make first embedded wheelset 23 and the embedded wheelset 24 of second can be in chassis 1 both sides activity from top to bottom for improve Mecanum wheels 21 in the ascending movable range of vertical direction, avoid Mecanum wheels 21 to directly with the reaction force effect to chassis 1 on. The second shock absorber 27 enables the first embedded wheel set 23 or the second embedded wheel set 24 to have a buffer distance with the chassis 1, so that the impact force of the first embedded wheel set 23 or the second embedded wheel set 24 on the chassis 1 during reversing is reduced, and the first shock absorption of the chassis 1 is realized.

Moreover, install respectively in the embedded wheelset 23 of first and second 24 of first bumper shock absorber 26 through the both ends, first bumper shock absorber 26 is used for restricting the scope of relative activity between the embedded wheelset 23 of first and the embedded wheelset 24 of second, improve the wholeness of embedded wheelset 23 of first and the embedded wheelset 24 of second, when the embedded wheelset 24 of first and second is reversing, first bumper shock absorber 26 can absorb its partial effort, be used for alleviating the impact force of embedded wheelset 23 of first and the embedded wheelset 24 of second to chassis 1, realize the secondary shock attenuation, and improve the motion performance and the stability of robot 200. Through first bumper shock absorber 26 and second bumper shock absorber 27, improve the wholeness of first embedded wheelset 23 and the embedded wheelset 24 of second, make the chassis 1 of mobile device 100 form self-adaptation suspended structure, improved the frictional force of Mecanum wheel 21 and ground, avoid causing the removal deviation that single wheelset lacks frictional force and lead to, sideslip out of control etc.. In the present embodiment, the first moving mechanism 2 is similar in structure to the second moving mechanism 3.

As shown in fig. 2 and 4, the second damper 27 includes a spring 272, a guide member 273 and a moving block 274, wherein a first end of the moving block 274 is fixed to the first embedded wheel set 23 or the second embedded wheel set 24, the guide member 273 is sleeved on a second end of the moving block 274, an inner wall of the guide member 273 is slidably matched with an outer wall of the moving block 274, and the guide member 273 is fixed to the support seat 25 of the chassis 1; both ends of the spring 272 are fixed to the moving block 274 and the guide 273, respectively. The guide member 273 restricts the moving direction of the moving block 274 by sliding fit of the moving block 274 with the guide member 273, and is fixed with the moving block 274 and the guide member 273 by both ends of the spring 272, respectively, restricting the moving distance of the moving block 274 from the guide member 273, and absorbing the impact force generated when the moving block 274 and the guide member 273 move by the spring 272, avoiding rigid contact between the moving block 274 and the guide member 273, so that the second damper 27 has a damping effect. The moving member 274 has a first coupling hole 271, and the guide member 273 has a second coupling hole 275, and the first coupling hole 271 and the second coupling hole 275 are adapted to be coupled to the coupling shaft of the first fixing plate 231 or the supporting base 25.

As shown in fig. 4, a part of the spring 272 is sleeved outside the guiding member 273, another part of the spring 272 is sleeved outside the moving block 272, the moving block 274 and the guiding member 273 are both in a columnar structure, the guiding member 273 is internally provided with a guiding groove 2731, the moving block 274 is at least partially positioned in the guiding groove 2731 and is in sliding fit with the guiding groove 2731, and the maximum stretching distance of the spring 274 is smaller than the length of the guiding groove 2731. The spring 272 is sleeved outside the guide 273 and the moving block 274, so that the structural compactness of the second damper 27 is improved, and the assembly of the second damper 27 is facilitated; also, the guide 273 has a guide groove 2731 therein, and the moving block 274 is slidably fitted in the guide groove 2731, and the maximum extension distance of the spring 272 is smaller than the length of the guide groove 2731. Therefore, at least a portion of the moving block 274 always moves in the guide groove 2731 under the action of the spring 272, so that the moving block 274 is prevented from being separated from the guide groove 2731, the guide member 273 always limits the moving direction of the moving block 274, and the acting force of the moving block 274 can be concentrated on the spring 272, thereby improving the use stability of the second damper 27.

The first damper 26 is a gas spring, which is disposed below the second damper 27 in a horizontal direction. The gas spring is a part capable of realizing functions of supporting, buffering, braking, height adjustment, angle adjustment and the like, is used for buffering interaction force between the first embedded wheel set and the second embedded wheel set and realizing a damping function, and is also used for improving the integrity of connection between the first embedded wheel set 23 and the second embedded wheel set 24; moreover, the air springs are in a horizontal direction and are used for absorbing the transverse impact force between the first embedded wheel set 23 and the second embedded wheel set 24, so that the stability of the chassis 1 in the transverse direction is improved.

As shown in fig. 2, 3 and 7, the first embedded wheel set 23 includes a first mounting plate 231 and a second mounting plate 232, where the first mounting plate 231 and the second mounting plate 232 are disposed opposite to each other, the mecanum wheel 21 is located between the first mounting plate 231 and the second mounting plate 232, and a bearing (not shown in the figures) is located at a first end of the first mounting plate 231 or the second mounting plate 232, and a rotating shaft of the mecanum wheel 21 is located in the bearing; a second end of the first mounting plate 231 is in a running fit with the chassis 1, and a third end of the first mounting plate 231 is connected to the second damper 27. Adopt first mounting panel 231 and second mounting panel 232, mecanum wheel 21 is located between first mounting panel 231 and the second mounting panel 232, with the embedded installation of Mecanum wheel 21, increase the angle A that is close of robot 200 front end and ground, also increase the departure angle B of robot 200 rear end and ground, angle A and departure angle B are close, the bigger makes robot 200 adapt to the topography that more roughness are different, can cross great pit ground and barrier. The first mounting plate 231 and the second mounting plate 232 limit the two ends of the axial line of the Mecanum wheel 21, so that the stability of the Mecanum wheel 21 is improved; the connection point of the Mecanum wheel 21 and the chassis 1 is also increased, and the connection stability of the chassis 1 and the first moving mechanism 2 is improved.

As shown in fig. 2 and 3, the first end of the first mounting plate 231 further has a motor 22, and an output end of the motor 22 is connected to a rotating shaft of the mecanum wheel 21. The motor 22 is fixed on the first mounting plate 231 and provides power for the Mecanum wheels 21, so that the Mecanum wheels 21 independently move, the Mecanum wheels 21 respectively have independent rotating speeds and driving forces when driving, the horsepower of the robot 200 is improved, the Mecanum wheels 21 can keep the same speed and different speeds, the steering of the mobile device 100 is realized, and the flexibility of the mobile device 100 is improved.

As shown in fig. 2 and 3, the second in-line wheelset 24 includes a third mounting plate 241 and a fourth mounting plate 242, the third mounting plate 241 and the fourth mounting plate 242 are disposed opposite to each other, the second shock absorbers 27 have four, wherein first ends of two second shock absorbers 27 are respectively connected with the first mounting plate 231 and the second mounting plate 232, and first ends of remaining two second shock absorbers 27 are respectively connected with the third mounting plate 241 and the fourth mounting plate 242, and second ends of four second shock absorbers 27 are all mounted on the chassis 1. Four second dampers 27 are adopted and are respectively connected with the first mounting plate 231, the second mounting plate 232, the third mounting plate 241 and the fourth mounting plate 242, so that impact forces of the first mounting plate 231, the second mounting plate 232, the third mounting plate 241 and the fourth mounting plate 242 are relieved, and the shock absorbing effect of the mobile device 100 is further improved.

As shown in fig. 1, 2 and 5, the chassis 1 has a support base 25, the support base 25 includes a first support plate 251, a second support plate 252, a base 254 and a connection block 253, the bottoms of the first support plate 251 and the second support plate 252 are mounted on the side wall of the connection block 253, and the top of the first support plate 251 or the second support plate 252 is connected with the second damper 27; the connecting block 253 is mounted on the base 254, the base 254 is fixed to the chassis 1, and two sides of the base 254 are respectively in running fit with the first embedded wheel set 23 and the second embedded wheel set 24. Adopt supporting seat 25, improve the connection stability between first embedded wheelset 23 and the embedded wheelset 24 of second and chassis 1, first backup pad 251, second backup pad 252 are connected with pedestal 254 through connecting block 253 moreover, improve the area of contact between first backup pad 251, second backup pad 252 and the pedestal 254 to improve the area of force of first backup pad 251 and second backup pad 252, improve supporting seat 25's structural stability.

As shown in fig. 1 and 5, the first support plate 251 or 252 has a plurality of through-hole structures 2511, and the through-hole structures 2511 have a triangular shape; the chassis 1 has a plurality of honeycomb-shaped holes 11. The through hole structure 2511 is triangular, and the chassis 1 has a plurality of honeycomb holes for reducing the weight of the first support plate 251, the second support plate 252 and the chassis 1, and meanwhile, the principle of triangle stability is utilized to satisfy the support strength of the first support plate 251 or the first support plate 252.

Example two

As shown in fig. 6 and 7, the present utility model further proposes a robot 200, which includes a frame 201, a transmitting mechanism 202, a rack and a pickup mechanism 204, and a moving device 100 as described above, wherein the frame 201 is mounted on the moving device 100, the transmitting mechanism 202 is mounted on a front end of the frame 201, the pickup mechanism 204 is mounted on a rear end of the frame 201, and the rack 203 is mounted on the moving device 100 for accommodating a transmitting ring. The mobile device 100 is applied to a robot, which improves flexibility of the robot 200 and, by the mobile device 100, movement performance and stability of the robot 200. Moreover, as can also be seen from fig. 7, the first embedded wheel set 23 and the second embedded wheel set 24 are disposed close to the supporting seat 25, so as to increase the approach angle a and the departure angle B, increase the contact area with the ground in the circumferential direction of the mecanum wheel 21, and increase the height of the chassis 1 of the robot 200, so that the mobile device 100 can adapt to larger pits and complex road surfaces.

The above examples are also not an exhaustive list based on the utility model, and there may be a number of other embodiments not listed. Any substitutions and modifications made without departing from the spirit of the utility model are within the scope of the utility model.

Claims

1. The mobile device is characterized by comprising a chassis, a first mobile mechanism and a second mobile mechanism, wherein the first mobile mechanism and the second mobile mechanism are respectively arranged on two sides of the chassis; the first moving mechanism comprises a first embedded wheel set, a second embedded wheel set and two Mecanum wheels, wherein one Mecanum wheel is arranged at the bottom of the first embedded wheel set, the other Mecanum wheel is arranged at the bottom of the second embedded wheel set, the first embedded wheel set is in running fit with the first end of the chassis, the second embedded wheel set is in running fit with the second end of the chassis, and the first embedded wheel set and the second embedded wheel set are arranged oppositely;

2. The mobile device of claim 1, wherein the second shock absorber comprises a spring, a guide member and a moving block, wherein a first end of the moving block is fixed with a first embedded wheel group or a second embedded wheel group, the guide member is sleeved at a second end of the moving block, an inner wall of the guide member is in sliding fit with an outer wall of the moving block, and the guide member is fixed with the chassis; and two ends of the spring are respectively fixed with the moving block and the guide piece.

3. The mobile device of claim 2, wherein a portion of the spring is sleeved outside the guide member, another portion of the spring is sleeved outside the moving block, a guide groove is formed in the guide member, and the moving block is at least partially positioned in the guide groove and is in sliding fit with the guide groove;

4. The mobile device of claim 1, wherein the first shock absorber is a gas spring, the gas spring is located below the second shock absorber, and the gas spring is disposed in a horizontal direction.

5. The mobile device of any one of claims 1 to 4, wherein the first in-line wheelset comprises a first mounting plate and a second mounting plate, the first and second mounting plates being disposed opposite one another, the mecanum wheel being located between the first and second mounting plates, a first end of the first or second mounting plate having a bearing, a rotational axis of the mecanum wheel being located within the bearing; the second end of the first mounting plate is in running fit with the chassis, and the third end of the first mounting plate is connected with the second shock absorber.

6. The mobile device of claim 5, wherein the first end of the first mounting plate further has a motor, an output of the motor being coupled to a shaft of the Mecanum wheel.

7. The mobile device of claim 5, wherein the second in-line wheelset comprises a third mounting plate and a fourth mounting plate, the third mounting plate and the fourth mounting plate are disposed opposite to each other, the second shock absorber has four, wherein two first ends of the second shock absorber are respectively connected with the first mounting plate and the second mounting plate, the remaining two first ends of the second shock absorber are respectively connected with the third mounting plate and the fourth mounting plate, and the second ends of the four second shock absorbers are all mounted on the chassis.

8. The mobile device of claim 2, wherein the chassis has a support base, the support base including a first support plate, a second support plate, a base, and a connection block, the bottoms of the first support plate and the second support plate being mounted on a side wall of the connection block, the top of the first support plate or the second support plate being connected to a second damper; the connecting block is installed in on the pedestal, the pedestal is fixed with the chassis, the both sides of pedestal respectively with embedded wheelset normal running fit of first embedded wheelset and second.

9. The mobile device of claim 8, wherein the first support plate or the first support plate has a plurality of through-hole structures, the through-hole structures being triangular; the chassis has a plurality of honeycomb holes.

10. A robot comprising a frame mounted on the mobile device, a launching mechanism mounted at a front end of the frame, and a pick-up mechanism mounted at a rear end of the frame, and a mobile device according to any one of claims 1 to 9.