WO2022143632A1 - 移动机器人及其行走机构 - Google Patents

移动机器人及其行走机构 Download PDF

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Publication number
WO2022143632A1
WO2022143632A1 PCT/CN2021/141979 CN2021141979W WO2022143632A1 WO 2022143632 A1 WO2022143632 A1 WO 2022143632A1 CN 2021141979 W CN2021141979 W CN 2021141979W WO 2022143632 A1 WO2022143632 A1 WO 2022143632A1
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WO
WIPO (PCT)
Prior art keywords
mobile robot
wheel suspension
walking mechanism
driving wheel
swing arm
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PCT/CN2021/141979
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English (en)
French (fr)
Inventor
陈焕昌
张涛
周兴凯
王远志
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深圳市普渡科技有限公司
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Application filed by 深圳市普渡科技有限公司 filed Critical 深圳市普渡科技有限公司
Publication of WO2022143632A1 publication Critical patent/WO2022143632A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
    • B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
    • B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/02—Attaching arms to sprung part of vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern

Definitions

  • the present application relates to the technical field of mobile robots, and in particular, to a mobile robot and its walking mechanism.
  • Mobile robots are gradually being used in the service field, for example, delivery services in restaurants, hotels, office buildings, delivery services between buildings, etc.
  • the movement of mobile robots is completed by the walking mechanism of mobile robots, and the walking mechanism of mobile robots Usually consists of a suspension system and a drive system, the suspension system determines the stability of the robot's movement. In practical applications, if encountering rough ground, the driving wheels on both sides are easy to hang in the air and slip, and even lead to the occurrence of robot dumping accidents.
  • a mobile robot and a walking mechanism thereof are provided.
  • a walking mechanism of a mobile robot comprising: a base plate, two driving wheels, two driving wheel suspension assemblies, a connecting frame, and at least one driven wheel; the two driving wheel suspension assemblies and the driven wheel are arranged on the bottom plate; the two driving wheel suspension assemblies are in one-to-one correspondence with the two driving wheels, and the driving wheel suspension assemblies include: a fixed seat, a swing arm, a shock absorber assembly, and a connecting piece; the fixing seat is fixed on the bottom plate, the swing arm is hinged on the fixing seat, the damping assembly is connected between the swing arm and the connecting piece, and the driving wheel can It is rotatably mounted on the swing arm; the connecting piece is used for fixed connection with the mobile robot body; the connecting frame is connected to the swing arms of the two driving wheel suspension assemblies.
  • a mobile robot comprising: a mobile robot body, characterized in that it further comprises: the walking mechanism of the mobile robot, wherein the mobile robot body is fixedly connected with the connecting pieces of the two driving wheel suspension assemblies .
  • FIG. 1 is a perspective view of a traveling mechanism of a mobile robot provided by the application
  • FIG. 2 is a schematic structural diagram of a driven wheel suspension assembly and a driven wheel provided by the application;
  • Fig. 3 is the sectional view of A-A in Fig. 2;
  • Fig. 4 is a state diagram of the walking mechanism of the mobile robot provided by the application walking on a flat road;
  • FIG. 5 is a state diagram of the walking mechanism of the mobile robot provided by the present application when it passes a sill.
  • the mobile robot and its walking mechanism provided by the present application, wherein the mobile robot is driven to walk by the walking mechanism, and the mobile robot can be used for delivery services in restaurants, hotels, office buildings, or delivery services between buildings.
  • the walking mechanism of the mobile robot mainly includes: a base plate 10, two driving wheels 20, two driving wheel suspension assemblies 30, a connecting frame 40, and at least one driven wheel 50 , the two driving wheel suspension assemblies 30 and the driven wheel 50 are both disposed on the base plate 10 , and the two driving wheel suspension assemblies 30 are symmetrical with respect to the driven wheel 50 .
  • the two driven wheels 50 there are also two driven wheels 50 .
  • the two driven wheels 50 are oppositely arranged on both ends of the bottom plate 10 , and the two driving wheel suspension assemblies 30 are symmetrical to each other with respect to the straight line where the two driven wheels 50 are located.
  • two driven wheels 50 are respectively disposed on both ends of the base plate 10 corresponding to the front and rear directions of the mobile robot body, and two driving wheel suspension assemblies 30 are respectively disposed on both sides of the base plate 10 corresponding to two sides of the mobile robot body.
  • each driving wheel suspension assembly 30 is in one-to-one correspondence with the two driving wheels 20 , and each driving wheel suspension assembly 30 includes: a fixed seat 31 , a swing arm 32 , a damping assembly 33 , and a connecting piece 34 .
  • the fixed seat 31 is fixed on the bottom plate 10, and one end of the swing arm 32 is hinged on the fixed seat 31.
  • the shock absorber assembly 33 can generate a certain elastic deformation to provide elastic restoring force, and the shock absorber assembly 33 is arranged along the height direction of the mobile robot body. , that is, the damping assembly 33 is arranged in the vertical direction.
  • the bottom end of the shock absorber assembly 33 is connected to the top surface of the other end of the swing arm 32
  • the driving wheel 20 is rotatably installed on the side surface of the other end of the swing arm 32
  • the connecting member 34 is fixed to the top end of the shock absorber assembly 33 .
  • the connecting piece 34 is used for fixed connection with the mobile robot body, that is to say, the damping assembly 33 is located between the connecting piece 43 and the top surface of the other end of the swing arm 32. By the weight of the moving robot body, the connecting piece 43 can limit the The damping assembly 33 is elastically deformed upward.
  • the connecting frame 40 is connected to the other ends of the swing arms 32 of the two driving wheel suspension assemblies 30 .
  • the two driving wheels 20 and the two driven wheels 50 can stably support the traveling mechanism.
  • the driving wheel 20 can generate a driving force under the driving of a power source (driving motor) to drive the mobile robot body to move.
  • a power source driving motor
  • FIG. 4 shows the state of the traveling mechanism in the form of a flat road, and the two driving wheels 20 are in contact with the flat ground, so that the two driving wheels 20 are in the same plane.
  • Fig. 5 shows the state when the traveling mechanism is over a sill.
  • the side damping assembly 34 is deformed upward to a certain extent, the swing arm 32 swinging upward on the side drives the swing arm 32 on the other side to swing upward through the connecting frame 40, and then the swing arm 32 on the other side swings upward through the swing arm 32 on the other side.
  • the arm 32 drives the driving wheel 29 on the other side to swing upward, so that the two driving wheels swing synchronously, so as to prevent the mobile robot from hanging in the air and causing the driving wheel to slip during the moving process, thereby avoiding the occurrence of a dumping accident of the mobile robot.
  • the two driven wheels 50 are universal wheels.
  • the mobile robot can be controlled to turn toward the direction by controlling the driving wheel 20 on one side to stop rotating and the driving wheel 20 on the other side to rotate. The direction of the stopped driving wheel 20 is turned.
  • the driving wheel suspension assembly 30 further includes: a rotating shaft 36 .
  • a first through hole is formed on the fixed seat 31 , the first through hole penetrates the thickness direction of the fixed seat 31 , a clamping slot 321 is provided at one end of the swing arm 32 , and two groove walls of the clamping slot 321 are also provided with through-holes
  • the second through hole of the card slot 321 the distance between the two groove walls of the card slot 321 is greater than or equal to the thickness of the fixing seat 31, and the card slot 321 is inserted on the fixing seat 31, that is, the fixing seat 31
  • the first through hole and the second through hole are coaxial
  • the rotating shaft 36 is inserted into the coaxial first through hole and the second through hole
  • the positioning pin 37 is used for positioning, so that the other end of the swing arm 31 can be inserted into the groove 321. Swing around one end.
  • the distance between the two groove walls of the clamping slot 321 is equal to the thickness of the fixing seat 31, so as to avoid the phenomenon of left and right shaking during the swing of the swing arm 32, so as to ensure the stability of the swing arm 32. , to further improve the stability of the active wheel suspension assembly 30.
  • a buffer member 38 is further provided between the swing arm 32 and the bottom plate 10 , and the buffer member 38 is used to buffer the swing of the swing arm 32 to avoid the swinging The bottom plate 10 collides.
  • the buffer member 38 can be an elastic member (spring), a rubber member, etc., and the buffer member 38 can be installed on the swing arm 32 or the bottom plate 10 .
  • the layout direction of the swing arm 32 corresponds to the front-rear direction of the mobile robot body
  • the top surface of the other end of the swing arm 32 is the top surface along the height direction of the mobile robot body
  • the side surface of the other end of the swing arm 32 It corresponds to the side of the mobile robot body.
  • two accommodating holes 11 are further opened on the base plate 10 at positions corresponding to both sides of the mobile robot body, and the two driving wheels 20 corresponding to the two driving wheel suspension assemblies 30 are respectively accommodating. It is placed in the two accommodating holes 11 , and each driving wheel 20 can be exposed to the bottom of the bottom plate 10 through the accommodating holes 11 to support the traveling mechanism.
  • each driving wheel suspension assembly 30 further includes: a positioning part 35 , the positioning part 35 is arranged on the top surface of the other end of the swing arm 32 , and the positioning part 35 is used for aligning the shock absorber assembly 33 one end is positioned.
  • the positioning portion 34 is a positioning column, and the bottom end of the positioning column is fixed on the top surface of the other end of the swing arm 32.
  • the aforementioned shock absorbing component 33 is a spring, and one end of the spring is sleeved on the positioning column. on the column.
  • gas springs, hydraulic springs, etc. can also be used for the shock absorber assembly 33 , and the positioning portion 34 may not be provided, and the bottom ends of the gas springs and hydraulic springs are hinged on the top surface of the other end of the swing arm 32 . It can also achieve the purpose of shock absorption.
  • the aforementioned connecting frame 40 includes: a connecting beam 41 , two ends of the connecting beam 41 are respectively connected to the other ends of the swing arms 32 in the two driving wheel suspension assemblies 30 , so that one side can be driven
  • the wheel 20 swings upward over the ridge and drives the other end of the side swing arm 32 to swing upward around its one end, it drives the other end of the other side swing arm 32 to swing upward around its one end, thereby driving the other side of the driving wheel 20 Swing up to achieve synchronized swing.
  • the connecting frame 40 further includes: two supporting beams 42, one end of the two supporting beams 42 is respectively fixed to the other end of the swing arm 32 in the two driving wheel suspension assemblies 30, the aforementioned connecting beam 41 The two ends of the beam are respectively connected to the other ends of the two supporting beams 42 .
  • the design of the support beam 42 provides installation space for the connecting beam 41 relative to other components, and the structure is simple and compact.
  • the walking mechanism further includes: two driven wheel suspension assemblies 60, and the two driven wheel suspension assemblies 60 are in one-to-one correspondence with the two driven wheels 50, as shown in FIG. 2 and FIG.
  • the wheel suspension assembly 60 includes: a housing 61 and a shock absorber 62, the housing 61 is mounted on the bottom plate 10, the housing 61 has a mounting cavity 611 protruding from the housing 61, and the shock absorber 62 is mounted on the mounting in cavity 611.
  • the driven wheel 50 is fixedly connected to the shock absorber 62 through the connecting seat 51 .
  • This embodiment also provides a mobile robot, which includes: a mobile robot body, the walking mechanism of the mobile robot described in the first embodiment, and the connecting parts between the mobile robot body and the two driving wheel suspension assemblies 30 34 fixed connections. Wherein, all the functions and features of the walking mechanism have been described in detail in the first embodiment, and will not be repeated here.
  • the driving wheel on one side moves upward to drive the swing arm on the side to swing upward, and drives the other side through the connecting frame
  • the swing arm swings upwards, so that the driving wheels on both sides swing synchronously, so as to avoid the floating of the mobile robot during the moving process and cause the driving wheel to slip, thereby avoiding the occurrence of a dumping accident of the mobile robot.

Abstract

本申请公开了一种移动机器人及其行走机构，行走机构包括：底板，两个主动轮，两个主动轮悬架总成，连接架，以及至少一个从动轮；所述两个主动轮悬架总成以及所述从动轮都设置在所述底板上；所述两个主动轮悬架总成与所述两个主动轮一一对应，所述主动轮悬架总成包括：固定座，摆臂，减震组件，以及连接件；所述固定座固定在所述底板上，所述摆臂铰接在所述固定座上，所述减震组件连接在所述摆臂与所述连接件之间，所述主动轮可转动的安装在摆臂上；所述连接件用于与移动机器人本体固定连接；所述连接架连接在两个所述主动轮悬架总成的所述摆臂上。

Description

移动机器人及其行走机构
本申请要求于2020年12月31日提交中国专利局、申请号为202011625244.0、申请名称为“一种移动机器人及其行走机构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及移动机器人技术领域，特别涉及一种移动机器人及其行走机构。
背景技术
移动机器人正逐步应用于服务领域，例如，在餐厅、酒店、写字楼进行配送服务，在楼宇之间进行送件服务等，移动机器人的移动是通过移动机器人的行走机构完成的，移动机器人的行走机构通常由悬挂系统和驱动系统组成，悬挂系统决定了机器人移动的稳定性。在实际应用中，倘若遇到崎岖地面，两侧的驱动轮易悬空而出现打滑的现象，甚至导致机器人倾倒事故的发生。
发明内容
根据本申请的各种实施例，提供一种移动机器人及其行走机构。
一种移动机器人的行走机构，包括：底板，两个主动轮，两个主动轮悬架总成，连接架，以及至少一个从动轮；所述两个主动轮悬架总成以及所述从动轮都设置在所述底板上；所述两个主动轮悬架总成与所述两个主动轮一一对应，所述主动轮悬架总成包括：固定座，摆臂，减震组件，以及连接件；所述固定座固定在所述底板上，所述摆臂铰接在所述固定座上，所述减震组件连接在所述摆臂与所述连接件之间，所述主动轮可转动的安装在摆臂上；所述连接件用于与移动机器人本体固定连接；所述连接架连接在两个所述主动轮悬架总成的所述摆臂上。
一种移动机器人，包括：移动机器人本体，其特征在于，还包括：所述的移动机器人的行走机构，所述移动机器人本体与所述两个主动轮悬架 总成的所述连接件固定连接。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征和优点将从说明书、附图以及权利要求书变得明显。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本申请提供的移动机器人的行走机构的立体图；
图2为本申请提供的从动轮悬架总成与从动轮的结构示意图；
图3为图2中A-A的剖面图；
图4为本申请提供的移动机器人的行走机构在平路上行走的状态图；
图5为本申请提供的移动机器人的行走机构过坎时的状态图。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施例。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本申请的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于发明的技术领域的技术人员通常理解的含义相同。本文中在发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本申请。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请提供的移动机器人及其行走机构，其中，移动机器人通过行走机构驱动其行走，该移动机器人可以是在餐厅、酒店、写字楼进行配送服务，或者，在楼宇之间进行送件服务等。
实施例一、
参见图1-图3所示，本实施例提供的移动机器人的行走机构主要包括：底板10，两个主动轮20，两个主动轮悬架总成30，连接架40，以及至少一个从动轮50，两个主动轮悬架总成30以及从动轮50都设置在底板10上，并且，两个主动轮悬架总成30关于该从动轮50对称。
本实施例中，从动轮50同样设置有两个，两个从动轮50相对设置在底板10的两端，两个主动轮悬架总成30则关于两个从动轮50所在直线相互对称。例如，两个从动轮50对应移动机器人本体的前后方向分别设置在底板10的两端，则两个主动轮悬架总成30对应移动机器人本体的两个侧面分别设置在底板10的两侧。
两个主动轮悬架总成30与两个主动轮20一一对应，各主动轮悬架总成30都包括：固定座31，摆臂32，减震组件33，以及连接件34。固定座31固定在底板10上，摆臂32的一端铰接在固定座31上，减震组件33可以产生一定的弹性形变而提供弹性复位力，该减震组件33沿移动机器人本体的高度方向设置，也就是说，减震组件33沿竖直方向设置。并且，减震组件33的底端连接在摆臂32的另一端的顶面，主动轮20可转动的安装在摆臂32的另一端的侧面，连接件34固定在减震组件33的顶端。连接件34用于与移动机器人本体固定连接，也就是说，减震组件33位于连接件43与摆臂32的另一端的顶面之间，通过移动机器人本体自身的重量，连接件43可以限制减震组件33向上的弹性形变。连接架40则连接在两个主动轮悬架总成30的摆臂32的另一端。
本实施方式中，两个主动轮20与两个从动轮50可稳定的支撑本行走机构。主动轮20可在动力源(驱动电机)的驱动下产生驱动力，以带动移动机器人本体移动。如图4所示，图4示出的是该行走机构在平路上形式的状态，两个主动轮20接触平整地面，使得两个主动轮20处于同一平面。如图5所示，图5示出的是该行走机构过坎时的状态，当一侧的主动轮20因不平整道路而向上移动时，带动该侧的摆臂32的另一端绕其一端向上摆动，随之该侧减震组件34向上产生一定形变，该侧向上摆动的摆臂32通过连接架40而带动另一侧的摆臂32向上摆动，进而通过向上摆动的另一侧的摆臂32带动另一侧的主动轮29向上摆动，使得两个主动轮同步摆动，以避免移动机器人在移动过程中出现悬空而引起主动轮打滑的现象，进而避免导致移动机器人倾倒事故的发生。
本申请中，两个从动轮50均为万向轮，在移动机器人需要转向时，通过控制一侧的主动轮20停止转动、另一侧的主动轮20转动，即可控制该移动机器人向朝向停止转动的主动轮20的方向转向。
一种实施例中，该主动轮悬架总成30还包括：转轴36。在固定座31上开设有第一穿孔，该第一穿孔贯穿固定座31的厚度方向，在摆臂32的一端设置有卡槽321，在该卡槽321的两个槽壁上还设置有贯穿该卡槽321的第二穿孔，卡槽321的两个槽壁之间的间距大于等于固定座31的厚度，将卡槽321插接在固定座31上，即使得固定座31容置在卡槽321中，并使得第一穿孔与第二穿孔同轴，将转轴36穿设在同轴的第一穿孔与第二穿孔中，并且通过定位销37进行定位，从而摆臂31的另一端可绕一端摆动。
优选的实施方式中，卡槽321的两个槽壁之间的间距等于固定座31的厚度，以避免在摆臂32摆动的过程中出现左右晃动的现象，以保证摆臂32摆动的稳定性，进一步提高主动轮悬架总成30的稳定性。
在一实施例中，如图1所示，在摆臂32与底板10之间还设置有缓冲部件38，该缓冲部件38用于对摆臂32的摆动进行缓冲，避免摆动的摆臂32与底板10产生碰撞。
该缓冲部件38可以采用弹性件(弹簧)、橡胶件等，且该缓冲部件38可以安装在摆臂32或者底板10上。
本实施例中，摆臂32的布设方向对应于移动机器人本体的前后方向，摆臂32的另一端的顶面则为沿移动机器人本体的高度方向的顶面，摆臂32的另一端的侧面则对应于移动机器人本体的侧面。
在一实施例中，在底板10上对应于移动机器人本体的两侧面的位置上还开设有两个容置孔11，两个主动轮悬架总成30对应的两个主动轮20则分别容置在两个容置孔11中，并且，各主动轮20可通过容置孔11而外露于底板10的底部，对该行走机构起到支撑作用。
如图1所示，各主动轮悬架总成30还都包括：定位部35，该定位部35设置在摆臂32的另一端的顶面上，该定位部35用于对减震组件33的一端进行定位。
一种实施例中，定位部34为定位柱，该定位柱的底端固定在摆臂32的另一端的顶面上，前述的减震组件33为弹簧，该弹簧的一端则套接在定位柱上。
当然，在其他实施例中，减震组件33也可采用气弹簧、液压弹簧等，则可不设置定位部34，将气弹簧、液压弹簧的底端铰接在摆臂32的另一端的顶面上也可达到减震的目的。
继续参见图1所示，前述的连接架40包括：连接梁41，该连接梁41的两端分别连接两个主动轮悬架总成30中摆臂32的另一端，即可在一侧主动轮20过坎向上摆动而带动该侧摆臂32的另一端绕其一端向上摆动时，带动另一侧摆臂32的另一端绕其一端向上摆动，以此带动该另一侧的主动轮20向上摆动，实现同步摆动。
一种实施例中，连接架40还包括：两个支撑梁42，两个支撑梁42的一端分别固定在两个主动轮悬架总成30中摆臂32的另一端，前述的连接梁41的两端则分别连接在两个支撑梁42的另一端。通过支撑梁42的设计，以为连接梁41相对于其他部件提供安装空间，结构简单、紧凑。
本实施例中，行走机构还包括：两个从动轮悬架总成60，两个从动轮悬架总成60与两个从动轮50一一对应，参见图2和图3所示，各从动轮悬架总成60都包括：壳体61和避震器62，壳体61安装在底板10上，该壳体61具有突出于壳体61的安装腔611，避震器62安装在该安装腔611中。从动轮50与所述避震器62通过连接座51固定连接。
实施例二、
本实施例还提供了一种移动机器人，该移动机器人包括：移动机器人本体，以及实施例一所述的移动机器人的行走机构，移动机器人本体与两个主动轮悬架总成30中的连接件34固定连接。其中，行走机构的所有功能和特征已在实施例一种详细阐述，在此不再赘述。
综上所述，本实施例所提供的移动机器人及其行走机构，当移动机器人过坎时，一侧的主动轮向上移动而带动该侧的摆臂向上摆动，并通过连接架带动另一侧的摆臂向上摆动，使得两侧的主动轮同步摆动，以避免移动机器人在移动过程中出现悬空而引起主动轮打滑的现象，进而避免导致移动机器人倾倒事故的发生。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和 详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (15)

  1. 一种移动机器人的行走机构，包括：
    底板，两个主动轮，两个主动轮悬架总成，连接架，以及至少一个从动轮；
    所述两个主动轮悬架总成以及所述从动轮都设置在所述底板上；
    所述两个主动轮悬架总成与所述两个主动轮一一对应，
    所述主动轮悬架总成包括：固定座，摆臂，减震组件，以及连接件；
    所述固定座固定在所述底板上，所述摆臂铰接在所述固定座上，所述减震组件连接在所述摆臂与所述连接件之间，所述主动轮可转动的安装在摆臂上；所述连接件用于与移动机器人本体固定连接；所述连接架连接在两个所述主动轮悬架总成的所述摆臂上。
  2. 如权利要求1所述的移动机器人的行走机构，其特征在于，在所述摆臂与所述底板之间还设置有缓冲部件。
  3. 如权利要求2所述的移动机器人的行走机构，其特征在于，所述缓冲部件为安装在所述摆臂或所述底板上的橡胶件。
  4. 如权利要求1所述的移动机器人的行走机构，其特征在于，所述主动轮悬架总成还包括：定位部，所述定位部设置在所述摆臂与所述减震组件的连接处之间，所述定位部用于对所述减震组件进行定位。
  5. 如权利要求4所述的移动机器人的行走机构，其特征在于，所述定位部为定位柱，所述定位柱固定在所述摆臂与所述减震组件的连接处之间；所述减震组件为弹簧，部分所述弹簧套接在所述定位柱上。
  6. 如权利要求5所述的移动机器人的行走机构，其特征在于，所述减震组件为气弹簧或者液压弹簧，所述气弹簧或者所述液压弹簧的底端铰接在所述摆臂的顶面。7、如权利要求1所述的移动机器人的行走机构，其特征在于，所述连接架包括：连接梁，所述连接梁的两端分别连接所述两个主动轮悬架总成的摆臂之间。
  7. 如权利要求7所述的移动机器人的行走机构，其特征在于，所述连接架还包括：两个支撑梁，所述两个支撑梁的一端分别固定在两个所述主动轮悬架总成的所述摆臂上，所述连接梁的两端分别连接在两个所述支撑梁之间。
  8. 如权利要求1所述的移动机器人的行走机构，其特征在于，所述主 动轮悬架总成还包括：转轴；所述固定座上开设有第一穿孔，所述摆臂与所述固定座的铰接处设置有卡槽，所述卡槽的两个槽壁上还设置有贯穿所述卡槽的第二穿孔，所述固定座容置在所述卡槽中，所述第一穿孔与所述第二穿孔同轴，所述转轴穿设在所述第一穿孔与所述第二穿孔中。
  9. 如权利要求9所述的移动机器人的行走机构，其特征在于，所述卡槽的两个槽壁之间的间距等于所述固定座的厚度。
  10. 如权利要求1所述的移动机器人的行走机构，其特征在于，所述底板上还开设有两个容置孔，所述两个主动轮分别容置在所述容置孔中，且通过所述容置孔外露于所述底板的底部。
  11. 如权利要求1所述的移动机器人的行走机构，其特征在于，所述从动轮设置有两个，两个所述从动轮相对设置，两个所述主动轮悬架总成关于两个所述从动轮所在直线相互对称。
  12. 如权利要求12所述的移动机器人的行走机构，其特征在于，两个所述从动轮对应所述移动机器人本体的前后方向分别设置在所述底板的两端，两个所述主动轮悬架总成对应所述移动机器人本体的两个侧面分别设置在所述底板的两侧。
  13. 如权利要求13所述的移动机器人的行走机构，其特征在于，两个所述从动轮均为万向轮。
  14. 如权利要求12所述的移动机器人的行走机构，其特征在于，所述行走机构还包括：两个从动轮悬架总成，所述两个从动轮悬架总成与两个所述从动轮一一对应，所述从动轮悬架总成包括：壳体和避震器，所述壳体安装在所述底板上；所述壳体具有突出于所述壳体的安装腔，所述避震器安装在所述安装腔中；所述从动轮与所述避震器固定连接。
  15. 一种移动机器人，包括：移动机器人本体，还包括：如权利要求1-15任意一项所述的移动机器人的行走机构，所述移动机器人本体与所述两个主动轮悬架总成的所述连接件固定连接。
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