WO2022262625A1

WO2022262625A1 - Mobile robot

Info

Publication number: WO2022262625A1
Application number: PCT/CN2022/097755
Authority: WO
Inventors: 柳云飞
Original assignee: 北京有竹居网络技术有限公司
Priority date: 2021-06-17
Filing date: 2022-06-09
Publication date: 2022-12-22
Also published as: CN115489641A

Abstract

A mobile robot, which comprises a chassis (1) and a load body (2) disposed above the chassis (1). Wheels (13) are mounted on the chassis (1), and a first damping shock absorber (3) is disposed between each wheel (13) and the chassis (1); the load body (2) is connected to the chassis (1) by means of a moving structure (5); a second damping shock absorber (4) is further disposed on the chassis (1); one end of the second damping shock absorber (4) is connected to the chassis (1), and the other end of the second damping shock absorber (4) is used for supporting the load body (2), so that the load body (2) floats up and down relative to the chassis (1) under the action of the second damping shock absorber (4); the stiffness of the second damping shock absorber (4) is lower than that of the first damping shock absorber (3).

Description

move robot

Cross References to Related Applications

This application is based on the application with the Chinese application number 202110670969.X and the filing date is June 17, 2021, and claims its priority. The disclosure content of the Chinese application is hereby incorporated into this application as a whole.

technical field

The present disclosure relates to the technical field of mobile robots, in particular to a mobile robot.

Background technique

Mobile robots have been widely used in hotels, restaurants and other places, for example, they can be used to deliver food and other items.

The mobile robot specifically includes a chassis and a load body; wherein, the load body is arranged above the chassis, and the load body can be used to carry objects, etc.; wheels are installed on the chassis, and the wheels drive the mobile robot to move. The load body is fixedly connected to the chassis. Wherein, a damping shock absorber is arranged between the wheel and the chassis to reduce the vibration of the vehicle body during the traveling of the mobile robot. The less rigid the damping shock absorber between the wheel and the chassis, the better it will filter vibrations.

Contents of the invention

The present disclosure provides a mobile robot, including a chassis and a load body arranged above the chassis;

Wheels are installed on the chassis, and a first damping shock absorber is arranged between the wheels and the chassis;

The load body is connected to the chassis through a moving structure, and a second damping shock absorber is also provided on the chassis, one end of the second damping shock absorber is connected to the chassis, and the second damping shock absorber is connected to the chassis. The other end of the damping shock absorber is used to support the load body, so that the load body floats up and down relative to the chassis under the action of the second damping shock absorber;

Wherein, the stiffness of the second damping shock absorber is lower than the stiffness of the first damping shock absorber.

Optionally, the mobile structure includes at least two support arms;

One end of each support arm is rotatably connected to the load body, and the other end of each support arm is rotatably connected to the chassis;

The connection point between the support arm and the load body is the first connection point, and the connection point between the support arm and the chassis is the second connection point; among the two adjacent support arms, the two The distance between the first connection points is equal to the distance between two said second connection points.

Optionally, the chassis has an upwardly extending side bracket, the side bracket is located on one side of the load body, and the other end of the support arm is rotatably connected to the side bracket.

Optionally, when the mobile robot is stationary, the support arm is set in a horizontal state.

Optionally, the at least two support arms are respectively arranged on two sides of the load body.

Optionally, the top end of the second damping shock absorber is connected to the load body, and the bottom end of the second damping shock absorber is connected to the chassis.

Optionally, the second damping shock absorber includes a spring damper, and the elastic deformation direction of the spring damper is set along the vertical direction.

Optionally, the chassis includes a bottom plate and a bearing seat arranged above the bottom plate, the wheels are mounted on the bottom plate, and the load body is arranged on the bearing seat;

The bottom end of the spring damper is connected to the bearing base, or the bearing base is provided with an avoidance hole for avoiding the spring damper, so that the bottom end of the spring damper can pass through the avoidance hole protrudes to connect with the bottom plate.

Optionally, there is one second damping shock absorber, and the second damping shock absorber is located on the central axis of the load body along the traveling direction of the mobile robot;

Alternatively, there are at least two second damping shock absorbers, and the at least two second damping shock absorbers are respectively arranged on both sides of the central axis of the load body along the traveling direction of the mobile robot.

Optionally, the mobile structure includes at least three support arms;

One end of each support arm is rotatably connected to the load body through a ball joint, and the other end of each support arm is rotatably connected to the chassis through a ball joint;

Among all the supporting arms, at least one supporting arm is not coplanar with any two supporting arms in the remaining supporting arms.

Optionally, the second damping shock absorber includes two spring dampers, the bottom end of each spring damper is connected to the chassis, and the top end of each spring damper is connected to the load body ;

The bottom ends of the two spring dampers are close to each other, the top ends of the two spring dampers are far away from each other, and the top ends of the two spring dampers are respectively arranged on the load body along the direction of travel of the mobile robot on both sides of the central axis;

Or, the top ends of the two spring dampers are close to each other, the bottom ends of the two spring dampers are far away from each other, and the bottom ends of the two spring dampers are respectively arranged on the side of the load body along the mobile robot. On either side of the central axis in the direction of travel.

Optionally, there are at least two second damping shock absorbers, and at least two second damping shock absorbers are located at different heights.

Optionally, in the traveling direction of the mobile robot, among all the second damping shock absorbers, at least one second damping shock absorber is located in front of the rest of the second damping shock absorbers.

Optionally, one end of the second damping shock absorber is connected to the chassis, and the other end of the second damping shock absorber is connected to the support arm.

Optionally, the second damping shock absorber includes a torsion spring, one end of the torsion spring is fixedly connected to the chassis, the other end of the torsion spring is fixedly connected to the support arm, and the torsion spring The other end is arranged close to the connection point between the support arm and the chassis;

Alternatively, the second damping shock absorber includes a spring damper, and the elastic deformation direction of the spring damper is set along the vertical direction.

Optionally, the second damping shock absorber is arranged at the bottom edge region of the load body.

Optionally, the moving structure includes a chute provided on the chassis and a sliding part provided on the load body.

Optionally, the chute is located on one side of the load body, and the chute is arranged vertically; the sliding part is clamped in the chute.

Optionally, the chassis has an upwardly extending side bracket, and the side bracket is located on one side of the load body; the sliding part is arranged on the side bracket; the chute is vertically opened on the load ontology.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 is a schematic diagram of a three-dimensional structure of a mobile robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a side view structure of a mobile robot according to an embodiment of the present disclosure;

Fig. 3 is a left view corresponding to Fig. 2;

4 is a partial top view of the chassis of the mobile robot according to an embodiment of the present disclosure;

5 is a schematic diagram of a three-dimensional structure of a mobile robot according to another embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a side view structure of a mobile robot according to another embodiment of the present disclosure;

Figure 7 is a right view corresponding to Figure 6;

Fig. 8 is a schematic structural view of the load body and the second damping shock absorber in Fig. 5;

Figure 9 is a side view corresponding to Figure 8;

Fig. 10 is a schematic structural diagram of a mobile robot according to another embodiment of the present disclosure;

Fig. 11 is a schematic structural diagram of a mobile robot according to yet another embodiment of the present disclosure.

Among them, 1. chassis; 11. bearing seat; 110. avoidance hole; 12. bottom plate; 13. wheel; 131. driving wheel; 132. driven wheel; 14. side bracket; 2. load body; 3. first damping Shock absorber; 4, second damping shock absorber; 41, spring damper; 42, fixed plate; 5, moving structure; 51, support arm; 511, one end; 512, the other end; , the second connection point.

detailed description

In order to more clearly understand the above objects, features and advantages of the present disclosure, the solutions of the present disclosure will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the present disclosure, but the present disclosure can also be implemented in other ways than described here; obviously, the embodiments in the description are only some of the embodiments of the present disclosure, and Not all examples.

This embodiment provides a mobile robot, which can be used in places such as hotels, restaurants, restaurants, etc., to deliver items, food, and the like. Of course, it can also be applied in other places, and this embodiment is not limited thereto.

Referring to FIGS. 1 to 11 , the mobile robot includes: a chassis 1 and a load body 2 disposed above the chassis 1 . Wherein, the load body 2 can be a load rack for storing goods, or a load box for storing goods. For example, the load body 2 has a plurality of compartment layers or compartments for placing different kinds of articles. Certainly, the load body 2 may also not carry items, that is, it may be used as the main body of the fuselage.

Wherein, wheels 13 are installed on the chassis 1 , and the wheels 13 specifically include driving wheels 131 and driven wheels 132 . For example, as shown in FIG. 1 , in some embodiments, the driving wheels 131 are specifically a pair, and the pair of driving wheels are arranged on both sides of the central axis of the chassis 1 along the direction of robot travel. Specifically, there are two pairs of driven wheels 132 , one pair of driven wheels 132 is arranged on the front side of the chassis 1 , and the other pair of driven wheels 132 is arranged on the rear side of the chassis 1 . The driven wheel 132 is specifically a universal wheel. Of course, only one pair of driven wheels 132 may be provided, which is specifically set according to actual needs, which is not limited in this embodiment.

Exemplarily, a drive device, a position detection device, a control device, etc. may be provided on the chassis 1, and the drive device and the position detection device are all electrically connected to the control device. The driving device is used to drive the wheels 13 to rotate, so as to drive the robot to travel along a preset path. The position detection device is used to sense the position of the robot, and the control device can control the drive device to start and stop according to the sensing signal sensed by the position detection device, thereby controlling the running state of the robot. For example, the position detection device sends a sensing signal to the control device when the robot reaches the meal delivery position, and the control device controls the drive device to stop driving the robot after receiving the sensing signal, thereby realizing automatic meal delivery.

Generally, a damping shock absorber is provided between the wheel 13 and the chassis 1 to reduce the vibration of the vehicle body during traveling. Generally speaking, the lower the stiffness of the damping shock absorber between the wheel 13 and the chassis 1, the better the vibration filtering effect. However, if the stiffness is too low, the robot will inevitably accelerate or decelerate during the walking process. During the acceleration and deceleration stages of the robot, the inertial force will cause the body to swing too much, causing the body to be unstable. In severe cases, objects will be spilled or dumped. . That is to say, the filter vibration performance requires the chassis 1 to have low rigidity, and the stability of the vehicle body requires the chassis 1 to have high rigidity.

Based on this, in the mobile robot provided in this embodiment, a first damping shock absorber 3 is arranged between the wheel 13 and the chassis 1 . Exemplarily, the first damping shock absorber 3 may specifically include: a telescopic rod and a telescopic spring sleeved on the telescopic rod.

At the same time, the load body 2 and the chassis 1 are connected by a moving structure 5, and the chassis 1 is also provided with a second damping shock absorber 4, one end of the second damping shock absorber 4 is connected with the chassis 1, and the second damping shock absorber 4 is connected to the chassis 1. The other end of the shock absorber 4 is used to support the load body 2 so that the load body 2 floats up and down relative to the chassis 1 under the action of the second damping shock absorber 4 . Wherein, the stiffness of the second damping shock absorber 4 is lower than that of the first damping shock absorber 3 .

By setting the moving structure 5 , the load body 2 is connected to the chassis 1 and the load body 2 is fixed without affecting the up and down movement of the load body 2 under the action of the second damping shock absorber 4 .

In the mobile robot provided by the present disclosure, a first damping shock absorber is arranged between the wheel and the chassis, and a second damping shock absorber is also arranged on the chassis, and the stiffness of the second damping shock absorber is lower than that of the first damping shock absorber. Rigidity of the device, one end of the second damping shock absorber is connected to the chassis, the other end of the second damping shock absorber is used to support the load body, and the load body and the chassis are connected through a moving structure, so that the load body is in the second Under the action of the damping shock absorber, it floats up and down relative to the chassis.

Through the above arrangement, the load body 2 can float up and down relative to the chassis 1 to reduce the vibration impact on the load body 2 . That is to say, the stability of the chassis 1 is separated from the ability to filter vibrations, and the rigidity of the first damping shock absorber 3 of the chassis 1 and the wheel 13 is relatively large, so that the overall stability of the robot is better, and to a certain extent avoids the acceleration or failure of the robot. During deceleration, the situation of instability of the vehicle body due to inertial force occurs; at the same time, the load body can be floated relative to the chassis under the action of the second damping shock absorber, due to the connection between the load body 2 and the second damping shock absorber 4 of the chassis 1 part The rigidity is small, so that the impact of the ground on the load body 2 can be reduced as much as possible, that is, better vibration filtering performance can be ensured.

That is to say, the mobile robot provided in this embodiment can not only meet the performance requirements of the robot to transport goods and filter vibrations, but also meet the requirements of the stability of the vehicle body, so that the overall performance of the robot can be improved.

The moving structure 5 may specifically include: at least two supporting arms 51 . Wherein, one end 511 of each support arm 51 is rotatably connected with the load body 2, and the other end 512 of each support arm 51 is rotatably connected with the chassis 1. Wherein, the connection point between the support arm 51 and the load body 2 can be regarded as a first connection point 513 , and the connection point between the support arm 51 and the chassis 1 can be regarded as a second connection point 514 . In two adjacent support arms 51 , the distance between two first connection points 513 is equal to the distance between two second connection points 514 .

That is, the connection line between the two first connection points 513 , the connection line between the two second connection points 514 and the two adjacent support arms 51 together form a parallelogram. This setting ensures that the load body 2 floats up and down under the action of the second damping shock absorber 4 without skewing or toppling over, avoiding the occurrence of items carried on the load body 2 and ensuring the stability of the load body 2 .

Taking FIG. 2 as an example for illustration, the distance between the above-mentioned two first connection points 513 is the length of the line between the two first connection points 513, and the distance between the above-mentioned two second connection points 514 is The distance is the length of the line between the two second connection points 514 .

Specifically, at least two support arms 51 can be separately arranged on both sides of the load body 2, so that the load body 2 can be connected at least from both sides of the load body 2, so that the balance of the load body 2 is better and more stable. Referring to FIG. 1 or FIG. 5 , for example, two support arms 51 are respectively provided on both sides of the load body 2 , and the two support arms 51 located on the same side of the load body 2 are spaced up and down.

It should be noted that the support arm 51 can be connected to the outside of the load body 2 , or extend into the load body 2 to be connected to the inside of the load body 2 . It only needs to ensure that the supporting arm 51 connects the load body 2 to the chassis 1 without affecting the up and down movement of the load body 2 under the action of the second damping shock absorber 4 . For example, one end 511 of one support arm 51 is connected to the outer wall of the load body 2 , and one end 511 of the other support arm 51 extends into the load body 2 and is connected to the inner side of the load body 2 .

Continuing to refer to FIG. 1 to FIG. 6 , preferably, the support arm 51 can be arranged horizontally. The level here refers to the state of the support arm 51 when the mobile robot is at rest. By arranging the supporting arm 51 horizontally, the vertical floating of the load body 2 can be guaranteed to a greater extent, and the stability of the load body 2 can be improved.

In actual implementation, the chassis 1 has a side bracket 14 extending upward, the side bracket 14 is located on one side of the load body 2 , and the other end 512 of the support arm 51 is specifically rotatably connected to the side bracket 14 . This setting makes the driving of the mobile structure 5 to the load body 2 more direct and the layout more reasonable.

Referring to FIGS. 1 to 8 , in some embodiments, the top end of the second damping shock absorber 4 is connected to the load body 2 , and the bottom end of the second damping shock absorber 4 is connected to the chassis 1 . Since the second damping shock absorber 4 is connected between the load body 2 and the chassis 1, and the stiffness of the second damping shock absorber 4 is lower than that of the first damping shock absorber 3, it can meet the requirements of the robot to transport goods and filter vibrations. The performance requirements of the vehicle can also meet the requirements of vehicle body stability.

In one possible implementation manner, as shown in FIG. 1 to FIG. 4 , the second damping shock absorber 4 specifically includes a spring damper 41 , and the elastic deformation direction of the spring damper 41 is set along the vertical direction.

The arrangement in the vertical direction here can be understood as: the elastic deformation direction of the spring damper 41 is a direction perpendicular to the horizontal plane, and the spring damper 41 is vertically arranged so that the load body 2 floats up and down under the action of the spring damper 41; It may be that there is a small angle between the elastic deformation direction of the spring damper 41 and the vertical plane, that is, the spring damper 41 is slightly inclined and arranged in a substantially vertical manner, as long as the load body 2 can be placed on the spring damper. Under the action of 41, it can be stably floated up and down.

In this implementation manner, specifically, one end 511 of the support arm 51 can be hinged to the load body 2 , and the other end 512 of the support arm 51 can be hinged to the chassis 1 .

Wherein, two supporting arms 51 may be provided, or more than two may be provided. When the mobile structure 5 only includes two support arms 51 , the heights of the two support arms 51 above the load body 2 are different, so as to effectively ensure that the load body 2 can float vertically without tilting or falling over.

The spring damper 41 may specifically include: a telescopic rod and a telescopic spring sheathed on the telescopic rod. Specifically, the top end of the telescopic rod is connected to the load body 2 , and the bottom end of the telescopic rod is connected to the chassis 1 . The spring is deformed by the impact, which drives the telescopic rod to expand and contract, thereby driving the load body 2 to float up and down. During specific implementation, the top end of the telescopic rod can be hinged with the load body 2 , and the bottom end of the telescopic rod can be hinged with the chassis 1 .

Wherein, the chassis 1 may specifically include: a bottom plate 12 and a bearing seat 11 disposed above the bottom plate 12 . The above-mentioned side bracket 14 can specifically extend upward from the supporting base 11 . Referring to FIG. 2 , the side bracket 14 is specifically located on the top side of the bearing seat 11 . Wherein, the wheels 13 are installed on the bottom plate 12 , and the load body 2 is arranged on the bearing seat 11 .

Referring to Fig. 1, specifically, an escape hole 110 for avoiding the second damping shock absorber 4 is provided on the bearing seat 11, so that the bottom end of the second damping shock absorber 4 protrudes from the escape hole 110 to Connect with base plate 12. In this way, the second damping shock absorber 4 can be set longer to further improve the buffering effect and further improve the ability to filter vibrations.

Of course, in other implementation manners, the bottom end of the second damping shock absorber 4 may also be directly connected to the bearing seat 11 .

In addition, in this implementation mode, the moving structure 5 can also be in other structural forms besides the above-mentioned support arm 51. For example, the moving structure 5 specifically includes: a chute set on the chassis The sliding part on the body 2. Wherein, the chute is arranged vertically and is located on one side of the load body 2 . The sliding part is clamped in the chute and can slide along the chute so that the load body 2 floats up and down under the action of the second damping shock absorber 4 while ensuring that the load body 2 is fixed. That is to say, at this time, the moving structure 5 not only plays the role of connecting the load body 2 to the chassis 1, but also plays a guiding role when the load body 2 floats. Exemplarily, the chute can be opened on the side of the side bracket 14 of the chassis 1 facing the load body 2 .

Of course, in other implementation manners, it is also possible that the sliding part is arranged on the side bracket 14, and the slide groove is vertically opened on the load body 2, so as to realize the connection and guiding function of the load body 2 as well.

In some embodiments, there is specifically one second damping shock absorber 4 . Exemplarily, the second damping shock absorber 4 can be specifically located on the central axis of the load body 2 along the traveling direction of the mobile robot. The traveling direction of the mobile robot here is the X-X direction shown in FIG. 2 . Such setting makes the load body 2 more balanced and more stable.

2 and 3, the mobile robot has a second damping shock absorber 4, the second damping shock absorber 4 is specifically located at the front end of the load body 2 (ie, the front end of the driving direction), and is located at the front end of the traveling direction. on the central axis.

Of course, the one second damping shock absorber 4 can also be located on one side of the above-mentioned central axis of the load body 2 .

In other embodiments, there are at least two second damping shock absorbers 4 . At least two second damping shock absorbers 4 are respectively arranged on both sides of the central axis of the load body 2 along the traveling direction of the mobile robot. The traveling direction of the mobile robot here is the X-X direction shown in FIG. 2 . For example, there are two second damping shock absorbers 4, and the two second damping shock absorbers 4 are symmetrically arranged with the above-mentioned central axis as a symmetrical axis. For another example, there are three second damping shock absorbers 4 , one of which is arranged on the symmetrical axis, and the other two second damping shock absorbers 4 are respectively arranged on both sides of the symmetrical axis.

Continue referring to FIG. 1 to FIG. 4 , wherein the second damping shock absorber 4 can be specifically arranged at the edge area of the load body 2 . For example, the second damping shock absorber 4 is arranged on the bottom edge region of the load body 2, which can be understood here as that the second damping shock absorber 4 is arranged on the bottom edge of the load body 2, or the second damping shock absorber 4 is set close to the bottom edge of the load body 2.

Since the chassis 1 is generally provided with components such as a control device, the second damping shock absorber 4 is arranged on the bottom edge area of the load body 2, which can facilitate the installation of the second damping shock absorber 4 to a large extent, and does not interfere with other components.

In another feasible implementation, as shown in FIGS. 5 to 9 , the moving structure 5 includes at least three support arms 51 , and one end 511 of each support arm 51 is connected to the load body 2 through a ball joint. The other end 512 of the arm 51 is rotationally connected with the chassis 1 through a ball joint. Wherein, among all the supporting arms 51 , at least one supporting arm 51 is not coplanar with any two supporting arms 51 in the remaining supporting arms 51 .

The support arm 51 is connected by a ball joint. Due to the existence of redundant degrees of freedom, the support arm 51 can be installed normally even if there is an error in the length of the support arm 51 without interference.

The connection point between the support arm 51 and the load body 2 is the above-mentioned first connection point 513, and the connection point between the support arm 51 and the chassis 1 is the above-mentioned second connection point 514. Among the two adjacent support arms 51, the two first connection points The distance between points 513 is equal to the distance between two second connection points 514 . Here, the first connection point 513 and the second connection point 514 can be regarded as rotation center points.

Referring to FIG. 5 , for example, two support arms 51 are respectively provided on both sides of the load body 2, that is, the connection to the load body 2 is realized through four support arms 51, which can ensure the connection stability of the load body 2, There is no need to add more support arms 51 to increase the cost.

Since the support arm 51 is connected with the load body 2 and the chassis 1 through the rotation of the ball joint, the degree of freedom of the load body 2 will be increased so that it can not only move up and down relative to the chassis 1, but also move left and right. Therefore, referring to FIGS. Fig. 9, in this kind of implementation, the second damping shock absorber 4 specifically includes two spring damping elements 41, the bottom end of each spring damping element 41 is connected on the chassis 1, and the top end of each spring damping element 41 is connected to the load onto body 2. Exemplarily, the top end of the spring damper 41 can be connected to the load body 2 through a ball joint rotation connection, and the bottom end of the spring damper 41 can be specifically connected to the chassis 1 through a ball joint rotation connection.

Wherein, the bottom ends of the two spring dampers 41 are close to each other, and the top ends of the two spring dampers 41 are far away from each other, and the top ends of the two spring dampers 41 are respectively arranged on the moving direction of the load body 2 along the moving direction of the mobile robot (X-X in FIG. 6 ). To) on both sides of the central axis. The arrangement of the two spring dampers 41 of the second damping shock absorber 4 in this way can provide the load body 2 with support stiffness in both horizontal and vertical directions, so that the load body 2 can be kept stable.

Referring to FIG. 5 , for example, two spring damping elements 41 are roughly formed into a V-shaped structure. That is, each spring damper 41 is arranged obliquely, and the elastic force generated by the spring damper 41 will generate force components both in the horizontal direction and in the vertical direction. Under the action of the generated elastic force, it floats up and down, and the component force generated by the spring damper 41 in the horizontal direction can limit the load body 2 from shaking left and right to a certain extent.

There are two degrees of freedom in the horizontal and vertical directions through the connection of the ball joint. With the V-shaped second damping shock absorber 4, the function of shock absorption in both horizontal and vertical directions can be realized at the same time, and the transportation of goods is more stable.

Referring to FIG. 5 and FIG. 8 , in actual implementation, the bottom ends of the two spring damping elements 41 are connected to the same fixing plate 42 . For example, when assembling, the bottom ends of the two spring dampers 41 can be connected to the fixed plate 42 first, and then the fixed plate 42 can be fixed on the chassis 1. The fixed plate 42 and the chassis 1 can be connected by bolts, for example. , the specific connection manner is not specifically limited in this embodiment.

Of course, the two spring damping elements 41 can also be formed into an inverted figure-eight structure, that is, there is a certain distance between the bottom ends of the two spring damping elements 41, and the above effects can also be achieved.

In addition, it is also possible that the top ends of the two spring damping elements 41 are close to each other, the bottom ends of the two spring damping elements 41 are far away from each other, and the bottom ends of the two spring damping elements 41 are respectively arranged on the moving direction of the load body 2 along the moving direction of the mobile robot. on both sides of the central axis. That is, the two spring dampers 41 roughly form an inverted V-shaped structure or a positive eight-shaped structure, which can also achieve the above effects.

In this implementation manner, there may be at least two second damping shock absorbers 4 . For example, at least two second damping shock absorbers 4 are located at different heights, so that they can act on the load body 2 from different positions, and further improve the stability of the load body 2 . Wherein, on the direction (X-X among Fig. 6) that mobile robot advances, among all second damping shock absorbers 4, at least one second damping shock absorber 4 is positioned at the front of remaining second damping shock absorbers 4 , thereby further improving the stability of the load body 2 .

Taking Fig. 8 as an example for illustration, there are specifically two second damping shock absorbers 4, one of which is located at position A of the load body 2, and the other second damping shock absorber 4 is located at the position A of the load body 2. At position C of body 2. Exemplarily, position C is the front end of the load body 2 in the direction of travel, and position A is the rear end of the load body 2 in the direction of travel, by setting one of the second damping shock absorbers 4 at the front end and the other at the rear end , and the heights of the two second damping shock absorbers 4 are different, so that the two second damping shock absorbers 4 can act on different positions of the load body 2 respectively, thereby further improving the stability of the load body 2 .

Certainly, the second damping shock absorber 4 can also be arranged at the B position, the D position of the load body 2 and so on.

Referring to FIG. 10 and FIG. 11 , in other embodiments, one end of the second damping shock absorber 4 is connected to the chassis 1 , and the other end of the second damping shock absorber 4 is connected to the support arm 51 .

In one possible implementation, as shown in FIG. 11 , the second damping shock absorber 4 specifically includes a torsion spring, wherein one end of the torsion spring is fixedly connected to the chassis 1, and the other end of the torsion spring is fixed to the support arm 51. connected, and the other end of the torsion spring is set close to the connection point between the support arm 51 and the chassis 1 .

That is to say, the torsion spring is impacted by the ground to generate torsion, and the torsion acts on the support arm 51 to move the support arm 51 , and the support arm 51 drives the load body 2 to make the load body 2 float up and down relative to the chassis 1 .

Because the stiffness of the torsion spring is smaller than that of the first damping shock absorber 3, the impact of the ground on the load body 2 can be reduced as far as possible to ensure better filtering vibration performance, while the first damping shock absorber 3 The rigidity is relatively large, which makes the overall stability of the robot better, and to a certain extent avoids the instability of the robot body due to the inertial force when the robot accelerates or decelerates.

In actual implementation, the chassis 1 has a side bracket 14 extending upward, the side bracket 14 is located on one side of the load body 2 , and one end of the torsion spring is fixedly connected to the side bracket 14 .

In another feasible implementation manner, as shown in FIG. 10 , the second damping shock absorber 4 includes a spring damper, and the elastic deformation direction of the spring damper is set along the vertical direction.

The arrangement in the vertical direction here can be understood as: the elastic deformation direction of the spring damper is perpendicular to the horizontal plane, and the spring damper is vertically arranged so that the load body 2 floats up and down under the action of the support arm 51 and the spring damper; It can also be that there is a small angle between the elastic deformation direction and the vertical plane, that is, the spring damping element is slightly inclined and arranged in a substantially vertical manner, as long as the load body 2 can be realized between the support arm 51 and the spring damping element. Under the action, it can float up and down stably.

Specifically, the spring damper may include: a telescopic rod and a telescopic spring sheathed on the telescopic rod. Wherein, the bottom end of the telescopic rod is connected to the chassis 1 , and the top end of the telescopic rod is connected to the support arm 51 . That is to say, when the telescopic spring is impacted by the ground, it elastically expands and contracts, and directly transmits the force to the support arm 51, so that the support arm 51 moves, and then drives the load body 2 to float up and down. The impact of the ground on the load body 2 is reduced, ensuring better vibration filtering performance.

In this implementation manner, the chassis 1 may specifically include: a bottom plate 12 and a bearing seat 11 disposed above the bottom plate 12 . Wherein, the wheels 13 are installed on the bottom plate 12 , and the load body 2 is arranged on the bearing seat 11 .

Specifically, an avoidance hole 110 for avoiding the second damping shock absorber 4 is opened on the bearing seat 11 , so that the bottom end of the second damping shock absorber 4 protrudes from the avoidance hole 110 to connect with the bottom plate 12 . In this way, the second damping shock absorber 4 can be set longer to further improve the buffering effect and further improve the ability to filter vibrations.

Of course, it is also possible to directly connect the bottom end of the second damping shock absorber 4 to the bearing seat 11 .

The second damping shock absorber 4 in the above-mentioned embodiments can be specifically arranged at the edge area of the load body 2 . Since the chassis 1 is generally provided with components such as a control device, the second damping shock absorber 4 is arranged on the bottom edge area of the load body 2, which can facilitate the installation of the second damping shock absorber 4 to a large extent, and does not interfere with other components.

In addition, the same or similar technical features in the foregoing embodiments may refer to each other, and details are not repeated here.

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only specific implementation manners of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

A mobile robot, comprising a chassis (1) and a load body (2) arranged above the chassis (1);

Wheels (13) are installed on the chassis (1), and a first damping shock absorber (3) is arranged between the wheels (13) and the chassis (1);

The load body (2) is connected to the chassis (1) through a moving structure (15), and the chassis (1) is also provided with a second damping shock absorber (4), the second damping One end of the shock absorber (4) is connected to the chassis (1), and the other end of the second damping shock absorber (4) is used to support the load body (2), so that the load body (2) ) floats up and down relative to the chassis (1) under the action of the second damping shock absorber (4);

Wherein, the stiffness of the second damping shock absorber (4) is lower than the stiffness of the first damping shock absorber (3).
The mobile robot according to claim 1, wherein said mobile structure (5) comprises at least two support arms (51);

One end of each support arm (51) is rotatably connected to the load body (2), and the other end of each support arm (51) is rotatably connected to the chassis (1);

The connection point between the support arm (51) and the load body (2) is the first connection point (513), and the connection point between the support arm (51) and the chassis (1) is the second connection point ( 514); in two adjacent support arms (51), the distance between the two first connection points (513) is equal to the distance between the two second connection points (514).
The mobile robot according to claim 2, wherein the chassis (1) has a side support (14) extending upwards, the side support (14) is located on one side of the load body (2), and the support The other end of the arm (51) is rotatably connected with the side bracket (14).
The mobile robot according to claim 3, wherein when the mobile robot is stationary, the support arm (51) is arranged in a horizontal state.
The mobile robot according to any one of claims 2 to 4, wherein the at least two support arms (51) are respectively arranged on two sides of the load body (2).
The mobile robot according to any one of claims 2 to 5, wherein the top end of the second damping shock absorber (4) is connected to the load body (2), and the second damping shock absorber ( 4) The bottom end is connected on the chassis (1).
The mobile robot according to claim 6, wherein the second damping shock absorber (4) comprises a spring damper (41), the elastic deformation direction of the spring damper (41) is set along the vertical direction.
The mobile robot according to claim 7, wherein the chassis (1) comprises a base plate (12) and a bearing seat (11) arranged above the base plate (12), and the wheels (13) are installed on the On the bottom plate (12), the load body (2) is arranged on the bearing seat (11);

The bottom end of the spring damper (41) is connected to the bearing seat (11), or the bearing seat (11) is provided with an escape hole (110) for avoiding the spring damper (41), The bottom end of the spring damper (41) protrudes from the avoidance hole (110) to be connected with the bottom plate (12).
The mobile robot according to claim 7 or 8, wherein there is one second damping shock absorber (4), and the second damping shock absorber (4) is located along the load body (2). on the central axis of the moving direction of the mobile robot;

Alternatively, there are at least two second damping shock absorbers (4), and at least two of the second damping shock absorbers (4) are separately arranged on the moving direction of the load body (2) along the moving direction of the mobile robot both sides of the central axis.
The mobile robot according to any one of claims 6 to 9, wherein said mobile structure (5) comprises at least three said support arms (51);

One end of each support arm (51) is rotatably connected to the load body (2) through a ball joint, and the other end of each support arm (51) is rotatably connected to the chassis (1) through a ball joint;

Among all the supporting arms (51), at least one supporting arm (51) is not coplanar with any two supporting arms (51) in the remaining supporting arms (51).
The mobile robot according to claim 10, wherein the second damping shock absorber (4) comprises two spring damping elements (41), and the bottom ends of each of the spring damping elements (41) are connected to the chassis (1), the top end of each spring damper (41) is connected to the load body (2);

The bottom ends of the two spring dampers (41) are close to each other, the top ends of the two spring dampers (41) are far away from each other, and the top ends of the two spring dampers (41) are separately arranged on the load body (2) on both sides of the central axis along the direction of travel of the mobile robot;

Or, the top ends of the two spring dampers (41) are close to each other, the bottom ends of the two spring dampers (41) are far away from each other, and the bottom ends of the two spring dampers (41) are respectively arranged at the The two sides of the central axis of the load body (2) along the traveling direction of the mobile robot.
The mobile robot according to claim 11, wherein there are at least two second damping shock absorbers (4), and at least two second damping shock absorbers (4) are located at different heights.
The mobile robot according to claim 12, wherein, in the direction along which the mobile robot travels, at least one second damping shock absorber (4) among all the second damping shock absorbers (4) is located The front of the remaining second damping shock absorbers (4).
The mobile robot according to any one of claims 2 to 13, wherein one end of the second damping shock absorber (4) is connected to the chassis (1), and the second damping shock absorber (4) ) is connected to the support arm (51) at the other end.
The mobile robot according to claim 14, wherein the second damping shock absorber (4) comprises a torsion spring, one end of the torsion spring is fixedly connected to the chassis (1), and the other end of the torsion spring It is fixedly connected with the support arm (51), and the other end of the torsion spring is arranged close to the connection point between the support arm (51) and the chassis (1);

Alternatively, the second damping shock absorber (4) includes a spring damper, and the elastic deformation direction of the spring damper is set along the vertical direction.
The mobile robot according to claim 14 or 15, wherein there is one second damping shock absorber (4), and the second damping shock absorber (4) is located along the load body (2). on the central axis of the moving direction of the mobile robot;

Alternatively, there are at least two second damping shock absorbers (4), and at least two of the second damping shock absorbers (4) are separately arranged on the moving direction of the load body (2) along the moving direction of the mobile robot both sides of the central axis.
The mobile robot according to any one of claims 1 to 16, wherein the second damping shock absorber (4) is arranged at an edge region of the load body (2).
The mobile robot according to claim 1, wherein the mobile structure (5) comprises a chute arranged on the chassis (1) and a sliding part arranged on the load body (2).
The mobile robot according to claim 18, wherein the chute is located on one side of the load body (2), and the chute is arranged vertically;

The sliding part is clamped in the sliding groove.
The mobile robot according to claim 18, wherein the chassis (1) has a side support (14) extending upward, and the side support (14) is located on one side of the load body (2);

The sliding part is arranged on the side bracket (14);

The chute is vertically opened on the load body (2).