CN217623034U

CN217623034U - Shock attenuation module, chassis and mobile robot

Info

Publication number: CN217623034U
Application number: CN202220696118.2U
Authority: CN
Inventors: 夏舸; 李大瑞; 陈炜燃
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2022-10-21
Anticipated expiration: 2032-03-28

Abstract

The utility model relates to a shock-absorbing structure technical field provides a shock attenuation module, chassis and mobile robot. The damping module comprises a chassis connecting piece, a driving wheel connecting piece and a damping assembly, wherein the chassis connecting piece is provided with a first horizontal supporting part; the driving wheel connecting piece can be arranged on the chassis connecting piece in a non-detachable mode in a sliding mode along the vertical direction, the driving wheel connecting piece is provided with a second horizontal supporting portion, and the first horizontal supporting portion and the second horizontal supporting portion are arranged up and down; the damping assembly is arranged between the first horizontal supporting portion and the second horizontal supporting portion and used for buffering the downward movement of the first horizontal supporting portion and the upward movement of the second horizontal supporting portion. Wherein, damper's buffering direction and the vibrations direction on chassis are vertical upwards, and damper directly cushions the shock attenuation to chassis connecting piece and drive wheel connecting piece, avoid the buffer power loss, and the shock attenuation is efficient, and the shock attenuation is effectual, has solved the current not good technical problem of chassis shock attenuation effect.

Description

Shock attenuation module, chassis and mobile robot

Technical Field

The utility model belongs to the technical field of shock-absorbing structure technique and specifically relates to a shock attenuation module, chassis and mobile robot are related to.

Background

The mobile robot is a robot with self-planning, self-organization and self-adaptation capability working in a complex environment, and is widely applied to the field of commercial services, such as welcoming, carrying, patrol, preschool education, automatic transportation and goods delivery.

Four driven wheels are generally distributed on a chassis of the mobile robot to support loads above the chassis, and two driving wheels are further arranged to drive the robot to move. Part of driven wheels or driving wheels of the robot are rigidly connected with the chassis or are connected with the chassis through a non-independent suspension. Both in a rigid connection suspension mode and in a suspension mode of a non-independent suspension, the stability of the mobile robot is poor when the mobile robot passes through uneven road surfaces, and the damping effect is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a shock attenuation module, chassis and mobile robot aims at solving the current not good technical problem of chassis shock attenuation effect.

In order to achieve the above object, according to an aspect of the present application, there is provided a damping module, including:

the chassis connecting piece is provided with a first horizontal supporting part;

the driving wheel connecting piece can be installed on the chassis connecting piece in a sliding and non-detachable mode along the vertical direction and is provided with a second horizontal supporting portion, and the first horizontal supporting portion and the second horizontal supporting portion are arranged up and down;

and the damping assembly is arranged between the first horizontal supporting part and the second horizontal supporting part and is used for buffering the downward movement of the first horizontal supporting part and the upward movement of the second horizontal supporting part.

In one embodiment, the first horizontal support portion is located above the second horizontal support portion.

In one embodiment, the shock absorbing assembly includes an elastic member, and both ends of the elastic member respectively abut against the first horizontal supporting portion and the second horizontal supporting portion.

In one embodiment, the first and second horizontal supports extend in a first horizontal direction.

In one embodiment, the number of the elastic members is two or more, and the two or more elastic members are distributed at intervals along the first horizontal direction.

In one embodiment, the shock absorbing assembly further comprises a hinge located on the same side of the first horizontal support portion and the second horizontal support portion, a first end of the hinge is rotatably connected with the first horizontal support portion, and a second end of the hinge is rotatably connected with the second horizontal support portion.

In one embodiment, the first horizontal supporting portion has a first mounting position, the shock absorption assembly further comprises a first connecting piece and a first rotating shaft, the first rotating shaft is mounted at the first mounting position, one end of the first connecting piece is rotatably connected with the first rotating shaft, and the other end of the first connecting piece is connected with the first end of the hinge.

In one embodiment, the second horizontal supporting portion has a second mounting position, the shock absorption assembly further includes a second connecting piece and a second rotating shaft, the second rotating shaft is mounted at the second mounting position, one end of the second connecting piece is rotatably connected with the second rotating shaft, and the other end of the second connecting piece is connected with the second end of the hinge.

In one of them embodiment, the chassis connecting piece includes first adaptor and second adaptor, first adaptor is used for installing on the chassis body, first adaptor has the hole of dodging, the second adaptor connect in dodging the week side in hole, the second adaptor be equipped with pass dodge the hole first horizontal support portion.

In one embodiment, the second adapter is provided with a first bump located below the avoidance hole, and the driving wheel connecting piece is supported on the top surface of the first bump.

In one embodiment, the driving wheel connecting member is provided with the second horizontal supporting portion passing through the avoiding hole.

In one embodiment, the second adapter is provided with a second projection above the first projection, the second projection is spaced from the first projection, and the second projection is used for limiting the maximum upward moving distance of the driving wheel connecting piece.

In one embodiment, the first adapter is provided with a third bump, and the top surface of the second bump is attached to the bottom surface of the third bump.

In one embodiment, the chassis connecting part is provided with a sliding groove extending upwards vertically, and the driving wheel connecting part is provided with a sliding block arranged on the sliding groove in a sliding manner.

In one embodiment, the cross section of the sliding groove is semicircular, and the part of the sliding block, which is positioned in the sliding groove, is a hemisphere.

In one embodiment, the sliding grooves are formed in two sides of the chassis connecting piece, and the driving wheel connecting piece is provided with two sliding blocks which correspond to the sliding grooves in one-to-one mode.

According to a further aspect of the present application, there is provided a chassis comprising a chassis body, a drive wheel and the shock absorbing module of any one of the above, the chassis connection member being mounted to the chassis body, the drive wheel being mounted to the drive wheel connection member.

According to yet another aspect of the present application, there is provided a mobile robot including the above-described chassis.

The utility model provides a shock attenuation module, chassis and mobile robot's beneficial effect is: the chassis connecting piece is arranged on the chassis body, and the driving wheel is arranged on the driving wheel connecting piece; when the chassis body bears an overlarge load, the first horizontal supporting part moves downwards, and the damping assembly realizes damping on the chassis body by buffering the downward movement of the first horizontal supporting part; when the driving wheel moves upwards through an uneven road surface or under impact, the second horizontal supporting part moves upwards, and the damping assembly realizes damping on the driving wheel by buffering the upward movement of the second horizontal supporting part; the buffering direction of shock-absorbing component and the vibrations direction on chassis are vertical upwards, and shock-absorbing component directly cushions the shock attenuation to chassis connecting piece and drive wheel connecting piece, reduces the buffering power loss, and the shock attenuation is efficient, and the shock attenuation is effectual, has solved the current not good technical problem of chassis shock attenuation effect.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a chassis according to an embodiment of the present invention;

FIG. 2 is a further perspective view of the chassis provided by the embodiment;

FIG. 3 is a schematic structural diagram of a damping module according to an embodiment;

FIG. 4 is a perspective view of the shock absorbing module according to the embodiment;

FIG. 5 is an exploded view of the shock absorbing module according to the embodiment;

FIG. 6 is a schematic structural diagram of a first adapter of a chassis connector of the shock absorption module according to an embodiment;

fig. 7 is a schematic structural diagram of a second adaptor of a chassis connector of a shock absorption module according to an embodiment.

Wherein, in the figures, the respective reference numerals:

x, a first horizontal direction; y, a second horizontal direction; z, vertical direction;

10. a chassis body; 20. a drive wheel; 30. a driven wheel;

100. a chassis attachment; 110. a first adapter; 111. avoiding holes; 112. a third bump; 113. a horizontal mounting plate; 120. a second adaptor; 121. a first horizontal support section; 122. a first mounting location; 123. a first bump; 124. a second bump; 125. a chute;

200. a drive wheel connection; 201. a second horizontal support section; 202. a second mounting location; 203. a slider; 204. a hemisphere;

300. a shock absorbing assembly; 310. an elastic member; 320. a hinge; 330. a first connecting piece; 340. a first rotating shaft; 350. a second rotating shaft.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Now the embodiment of the present invention provides a chassis and a damping module.

Fig. 1 is a schematic structural diagram of a chassis according to an embodiment of the present invention. Fig. 2 is a further perspective view of the chassis provided by the embodiment.

Referring to fig. 1 and 2, the chassis provided in this embodiment includes a chassis body 10, a driving wheel 20, and any one of the following shock absorption modules.

Specifically, the driving wheel 20 is mounted to the chassis body 10 through a damping module for damping vibration between the driving wheel 20 and the chassis body 10.

Optionally, the chassis further comprises a driven wheel 30 mounted to the chassis body 10. Referring to fig. 2, the number of the driven wheels 30 is four, and the driven wheels are distributed at four corners of the chassis body 10. The number of the driving wheels 20 is two, and is located at the middle of both sides of the chassis body 10.

Fig. 3 is a schematic structural diagram of a damping module according to an embodiment. Fig. 4 is a further perspective view of the shock absorbing module according to the embodiment. Figure 5 is an exploded view of the shock absorbing module according to the embodiment.

Referring to fig. 3 to 5, the damping module of the present embodiment includes a chassis link 100, a driving wheel link 200, and a damping member 300.

The chassis link 100 is provided with a first horizontal support portion 121. The driving wheel connecting member 200 is slidably and non-detachably mounted to the chassis connecting member 100 in the vertical direction Z, the driving wheel connecting member 200 is provided with a second horizontal supporting portion 201, and the first horizontal supporting portion 121 and the second horizontal supporting portion 201 are disposed up and down. The damper assembly 300 is disposed between the first horizontal support portion 121 and the second horizontal support portion 201, and the damper assembly 300 is used for damping the downward movement of the first horizontal support portion 121 and for damping the upward movement of the second horizontal support portion 201.

In this embodiment, the chassis connector 100 of the damping module is mounted on the chassis body 10, and the driving wheel 20 is mounted on the driving wheel connector 200 of the damping module. When the chassis body 10 bears an excessive load, the first horizontal supporting portion 121 moves downward, and the damping assembly 300 damps the chassis body 10 by damping the downward movement of the first horizontal supporting portion 121; when the driving wheel 20 moves upward through an uneven road surface or receives an impact, the second horizontal supporting portion 201 moves upward, and the damping assembly 300 damps the driving wheel 20 by damping the upward movement of the second horizontal supporting portion 201.

In the shock attenuation module that this embodiment provided, the buffering direction of damper 300 is vertical upwards with the vibrations direction on chassis, and damper 300 directly cushions the shock attenuation to chassis connecting piece 100 and drive wheel connecting piece 200, avoids the cushion effect because of the direction change loss, and the shock attenuation is efficient, and the shock attenuation is effectual, has solved the current not good technical problem of chassis shock attenuation effect.

Correspondingly, the chassis that this embodiment provided shock attenuation is effectual.

It should be noted that the driving wheel attachments 200 are non-detachably mounted to the chassis attachments 100, that is, the driving wheel attachments 200 do not slide to be separated from the chassis attachments 100 in the process of sliding in the vertical direction Z, and that the driving wheel attachments 200 are not non-detachably and non-detachably mounted to the chassis attachments 100.

The first horizontal support portion 121 and the second horizontal support portion 201 are vertically disposed, and the first horizontal support portion 121 may be located above the second horizontal support portion 201, or the second horizontal support portion 201 may be located above the first horizontal support portion 121.

For example, when the first horizontal support portion 121 is located above the second horizontal support portion 201, the damper assembly 300 is located therebetween, and the two can be prevented from moving toward each other, that is, the damper assembly 300 can damp the downward movement of the first horizontal support portion 121 and damp the upward movement of the second horizontal support portion 201.

For example, when the second horizontal support portion 201 is located above the first horizontal support portion 121, the shock absorbing assembly 300 is located therebetween for preventing the two from moving away from each other. When the first horizontal support part 121 moves downward, the shock-absorbing member 300 applies an elastic tensile force to the first horizontal support part 121 to buffer it; when the second horizontal supporting portion 201 moves upward, the shock-absorbing member 300 applies an elastic tensile force thereto to absorb it.

The chassis connector 100 of the shock absorbing module will be described.

In an embodiment of the shock absorbing module provided in the present embodiment, referring to fig. 3 to 5, the chassis connector 100 includes a first adapter 110 and a second adapter 120. The first adaptor 110 is for mounting on the chassis body 10, and the first adaptor 110 has an escape hole 111. The second adaptor 120 is connected to the periphery of the avoiding hole 111, and is uniformly stressed and reliably connected.

Optionally, the first adaptor 110 is provided with a plurality of connection holes at the periphery of the avoiding hole 111, and the second adaptor 120 is installed on the first adaptor 110 by a fastener penetrating through the connection holes. The plurality of connecting holes may be selectively spaced along the circumference of the avoiding hole 111.

The second adaptor 120 has a first horizontal support 121 passing through the avoiding hole 111. Therefore, the second connecting piece is installed on one side of the first connecting piece 110, and the first horizontal supporting portion 121 extends to the other side of the first connecting piece 110, so that the damping assembly 300 can be conveniently installed and operated in the space on the other side of the first connecting piece 110, the damping assembly 300 is prevented from interfering with the first connecting piece 110, and the damping module is beneficial to compact structural layout.

Specifically, referring to fig. 6, a horizontal mounting plate 113 is disposed on the top of the first adapter 110. The horizontal mounting plate 113 is for mounting to the chassis body 10, and the horizontal mounting plate 113 extends in a direction opposite to the extending direction of the first horizontal support 121 to avoid interference. The first adapter 110 is mounted on the chassis body 10 through the horizontal mounting plate 113, which is beneficial to increase of the connection area and the connection stability between the first adapter 110 and the chassis body 10.

In another embodiment of the damping module according to the present embodiment, referring to fig. 3 and fig. 5, the second adaptor 120 has a first protrusion 123 located below the avoiding hole 111, and the driving wheel connector 200 is supported on a top surface of the first protrusion 123. The first protrusion 123 supports the driving wheel connector 200, so that the driving wheel connector 200 can be stably disposed on the second adaptor 120, and the driving wheel connector 200 is restricted from moving downwards.

Specifically, the top surface of the first protrusion 123 is a plane and is attached to the bottom surface of the driving wheel connecting member 200, so as to increase the contact area between the first protrusion 123 and the driving wheel connecting member 200.

Specifically, referring to fig. 5, the driving wheel connection member 200 is provided with a second horizontal support portion 201 passing through the avoidance hole 111, so that the first horizontal support portion 121 and the second horizontal support portion 201 extend in the same direction, increasing a space therebetween for installing the shock-absorbing assembly 300.

The second adaptor 120 has a through hole for the second horizontal support portion 201 to pass through.

In some embodiments, referring to fig. 3 and 5, the second adaptor 120 has a second protrusion 124 located above the first protrusion 123, the second protrusion 124 is spaced apart from the first protrusion 123, and the second protrusion 124 is used to limit the maximum upward moving distance of the driving wheel connector 200. When the driving wheel 20 is impacted to move upwards, the driving wheel connecting piece 200 moves upwards at the same time, at this time, the shock absorption assembly 300 buffers the driving wheel connecting piece 200, and meanwhile, when the second bump 124 can prevent the impact force received by the driving wheel 20 from being too large, the driving wheel connecting piece 200 moves upwards to be in rigid butt joint with the second bump 124, and the shock absorption assembly 300 is prevented from being crushed due to the fact that the distance of the driving wheel connecting piece 200 compressing the shock absorption assembly 300 upwards is too large.

Optionally, the second tab 124 has a flat surface for surface contact with the drive wheel connection 200. The bottom surface of the second protrusion 124 can be engaged with the top surface of the driving wheel 20.

In some embodiments, referring to fig. 3 and 5, the first connecting element 110 has a third bump 112, and the top surface of the second bump 124 is attached to the bottom surface of the third bump 112. The third bump 112 reinforces the rigidity of the second adaptor 120 in the vertical direction.

In this embodiment, the drive wheel attachment 200 is slidably mounted to the chassis attachment 100 in a number of ways.

In some embodiments, referring to fig. 3, the chassis link 100 has a sliding slot 125 extending vertically upward, and the driving wheel link 200 has a sliding block 203 slidably disposed on the sliding slot 125. The sliding groove 125 is configured to guide the driving wheel connecting member 200 to move vertically upward, so that the driving wheel 20 can have a certain buffering distance when being impacted upward.

Specifically, referring to fig. 5, the cross section of the sliding groove 125 is semicircular, and the portion of the sliding block 203 located in the sliding groove 125 is a hemisphere 204, so as to reduce the sliding friction between the driving wheel connector 200 and the chassis connector 100, and avoid the mutual abrasion between the driving wheel connector 200 and the chassis connector 100, but rely on the damping assembly 300 for buffering, decelerating and resetting.

Specifically, the chassis link 100 has sliding grooves 125 on both sides thereof, and the driving wheel link 200 has two sliding blocks 203 at positions corresponding to the sliding grooves 125 one to one, so as to improve stability and reliability of the sliding connection between the chassis link 100 and the driving wheel link 200.

Optionally, the two sliding grooves 125 of the chassis connecting part 100 are distributed at intervals along the second horizontal direction Y, and the chassis connecting part 100 and the driving wheel connecting part 200 are matched with the sliding grooves 125 through the sliding blocks 203, so as to prevent the two parts from moving relatively in the second horizontal direction Y, and ensure that the two parts are relatively stable.

It is understood that in other embodiments, it may be that the chassis attachment 100 has a slider 203 and the drive wheel attachment 200 has a chute 125.

The damper assembly 300 will be explained below.

In some embodiments of the damping module according to the present invention, referring to fig. 4 and 5, the first horizontal supporting portion 121 is located above the second horizontal supporting portion 201. The shock-absorbing assembly 300 includes an elastic member 310, and both ends of the elastic member 310 abut against the first and second horizontal supporting

parts

121 and 201, respectively. In this way, when the chassis link 100 and the first horizontal support part 121 move downward or when the driving wheel 20 and the driving wheel link 200 move upward, the elastic member 310 can cushion the first horizontal support part 121 or the second horizontal support part 201 by being compressed.

Optionally, the elastic member 310 is a spring, a spring plate, a rubber pad or a memory alloy member.

Specifically, the first horizontal support portion 121 and the second horizontal support portion 201 both extend in the first horizontal direction X to increase an installation space for the shock-absorbing assembly 300 therebetween, facilitating the placement of a greater number or volume of elastic members 310.

For example, the number of the elastic members 310 is two or more, which is advantageous for improving the shock-absorbing effect of the shock-absorbing assembly 300. The two or more elastic members 310 are spaced apart along the first horizontal direction X.

Referring to fig. 4, the number of the elastic members 310 is three.

In one embodiment, referring to fig. 4 and 5, shock absorbing assembly 300 further includes a hinge 320. The hinge 320 is located on the same side of the first horizontal support portion 121 and the second horizontal support portion 201, a first end of the hinge 320 is rotatably connected to the first horizontal support portion 121, and a second end of the hinge 320 is rotatably connected to the second horizontal support portion 201. In other words, the two ends of the hinge 320 are rotatably connected to the first horizontal support 121 and the second horizontal support 201, respectively, so that the relatively stable connection between the damping assembly 300 and the chassis connector 100 and the driving wheel connector 200 is enhanced, the integrity of the damping module is improved, and the relative sliding between the first horizontal support 121 and the second horizontal support 201 is not hindered.

Optionally, the number of the hinges 320 is two, and the two hinges 320 are respectively located at two sides of the first horizontal support portion 121.

Specifically, referring to fig. 4 and 7, the first horizontal supporting portion 121 has a first mounting position 122. The shock absorbing assembly 300 further includes a first connecting plate 330 and a first rotating shaft 340, the first rotating shaft 340 is installed at the first installation position 122, one end of the first connecting plate 330 is rotatably connected to the first rotating shaft 340, and the other end of the first connecting plate 330 is connected to the first end of the hinge 320. In other words, the first end of the hinge 320 is rotatably mounted to the first horizontal support 121 by the first connecting piece 330 and the first rotating shaft 340.

Optionally, the first mounting location 122 is a mounting slot, a mounting hole, or a mounting notch.

Specifically, referring to fig. 4 and 7, the second horizontal supporting portion 201 has a second mounting position 202, the shock absorbing assembly 300 further includes a second connecting piece and a second rotating shaft 350, the second rotating shaft 350 is mounted at the second mounting position 202, one end of the second connecting piece is rotatably connected to the second rotating shaft 350, and the other end of the second connecting piece is connected to the second end of the hinge 320. In other words, the second end of the hinge 320 is rotatably mounted to the second horizontal supporting portion 201 through the second connecting piece and the second rotating shaft 350.

Optionally, the second mounting location 202 is a mounting slot, a mounting hole, or a mounting notch.

In addition, the embodiment also provides a mobile robot. The mobile robot comprises the chassis of any one of the above. Accordingly, the mobile robot has the advantage of a shock absorption effect.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A shock attenuation module, its characterized in that includes:

the driving wheel connecting piece can be installed on the chassis connecting piece in a sliding and non-disengaging mode along the vertical direction, the driving wheel connecting piece is provided with a second horizontal supporting part, and the first horizontal supporting part and the second horizontal supporting part are arranged up and down;

2. The cushion module of claim 1, wherein: the first horizontal supporting part is positioned above the second horizontal supporting part; the shock absorption assembly comprises an elastic piece, and two ends of the elastic piece are respectively abutted against the first horizontal supporting part and the second horizontal supporting part.

3. The restraint module of claim 2 wherein: the first and second horizontal support portions extend in a first horizontal direction; the number of the elastic pieces is more than two, and the elastic pieces are distributed at intervals along the first horizontal direction.

4. The restraint module of claim 2 wherein: the shock absorption assembly further comprises a hinge, the hinge is located on the same side of the first horizontal supporting portion and the second horizontal supporting portion, the first end of the hinge is rotatably connected with the first horizontal supporting portion, and the second end of the hinge is rotatably connected with the second horizontal supporting portion.

5. The cushion module of claim 4, wherein: the first horizontal supporting part is provided with a first mounting position, the shock absorption assembly further comprises a first connecting piece and a first rotating shaft, the first rotating shaft is mounted at the first mounting position, one end of the first connecting piece is rotatably connected with the first rotating shaft, and the other end of the first connecting piece is connected with the first end of the hinge;

and/or, the second horizontal supporting part has a second installation position, damping component still includes second connection piece and second pivot, the second pivot install in second installation position, the one end of second connection piece with second pivot rotatable coupling, the other end of second connection piece with the second end of hinge is connected.

6. The restraint module of claim 1 wherein: the chassis connecting piece includes first adaptor and second adaptor, first adaptor is used for installing on the chassis body, first adaptor has the hole of dodging, the second adaptor connect in dodge the week side in hole, the second adaptor is equipped with and passes dodge the hole first horizontal support portion.

7. The restraint module of claim 6 wherein: the second adapter is provided with a first bump positioned below the avoidance hole, and the driving wheel connecting piece is supported on the top surface of the first bump;

the driving wheel connecting piece is provided with a second horizontal supporting part penetrating through the avoidance hole;

the second adapter is provided with a second lug which is positioned above the first lug, a gap is formed between the second lug and the first lug, and the second lug is used for limiting the maximum upward moving distance of the driving wheel connecting piece;

the first adapter is provided with a third bump, and the top surface of the second bump is attached to the bottom surface of the third bump.

8. The cushion module according to any one of claims 1-7, wherein: the chassis connecting piece is provided with a sliding groove extending vertically upwards, and the driving wheel connecting piece is provided with a sliding block arranged in the sliding groove in a sliding manner;

the cross section of the sliding groove is semicircular, and the part of the sliding block, which is positioned in the sliding groove, is a hemisphere;

the two sides of the chassis connecting piece are provided with the sliding grooves, and the driving wheel connecting piece is provided with two sliding blocks which are in one-to-one correspondence with the sliding grooves.

9. A chassis, characterized by: the shock absorption module comprises a chassis body, a driving wheel and the shock absorption module set forth in any one of claims 1 to 8, wherein the chassis connecting piece is mounted on the chassis body, and the driving wheel is mounted on the driving wheel connecting piece.

10. A mobile robot, characterized in that: comprising the chassis of claim 9.