CN114633246A

CN114633246A - Mobile robot base and mobile robot

Info

Publication number: CN114633246A
Application number: CN202011476596.4A
Authority: CN
Inventors: 王轶民; 王静; 栗清泉
Original assignee: Tongbuer Beijing Science And Technology Co ltd
Current assignee: Tongbuer Beijing Science And Technology Co ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2022-06-17

Abstract

The invention provides a robot movable base and a movable robot, wherein the base comprises a frame, a wheel assembly and a reciprocating linear motion assembly, the wheel assembly is fixed on the frame and comprises a wheel driving part and a driving wheel, and the wheel driving part is used for driving the driving wheel to rotate; reciprocating type rectilinear motion subassembly is fixed on the frame, reciprocating type rectilinear motion subassembly includes rotation driving part, driving part and follower, rotation driving part drive rotary motion is to the driving part, the follower will the rotary motion of driving part converts linear motion into, the fixed part has on the follower, the fixed part is used for fixed robot body, so that robot body with follower synchronous motion. The movable base can not only realize the movement of the robot body; and when the base is in the unmoved state, the position of the robot body can be quickly and conveniently adjusted.

Description

Mobile robot base and mobile robot

Technical Field

The invention relates to the technical field of intelligent robots, in particular to a mobile robot base and a mobile robot.

Background

At present, modern intelligent mobile robots in China can basically complete relatively complex work such as deep sea exploration, battle, investigation, intelligence collection, rescue, service and the like according to human instructions; the mobile robot can independently complete work, can cooperate with a person to complete a task, or can complete the task under the guidance of the person, and the intelligent mobile robot has wide application in different fields.

The intelligent mobile robot is divided according to the moving mode, and can be divided into: wheeled mobile robots, walking mobile robots (single-legged, double-legged, and multi-legged), crawler mobile robots, crawling robots, peristaltic robots, and swimming robots, and the like. The wheel type mobile robot generally comprises a mobile base and a robot body, and is used for automatic carrying, traction, loading and unloading, processing and other operations. The movement of the robot body of the existing wheel-type mobile robot depends on the movement of a base; when the position of the robot body needs to be adjusted, the robot body can be located at an expected position only by controlling the base to move in a preset direction, and the movement of the base can be realized only by the driving motors of the driving wheels, so that the control mode is complex. Moreover, in the case of a complex operating environment and a small movement range reserved for the mobile base, the adjustment range of the position of the robot body is limited to a certain extent, and the robot body may not be in the optimal working position. Therefore, how to realize the fast and convenient adjustment of the position of the robot body is an urgent technical problem to be solved.

Disclosure of Invention

Accordingly, the present disclosure is directed to a mobile robot base and a mobile robot, which are used to solve one or more of the problems of the prior art.

According to one aspect of the invention, a mobile robot base is disclosed, the base comprising a frame, a wheel assembly and a reciprocating linear motion assembly,

the wheel assembly is fixed on the frame and comprises a wheel driving part and a driving wheel, and the wheel driving part is used for driving the driving wheel to rotate;

reciprocating type linear motion subassembly is fixed on the frame, reciprocating type linear motion subassembly includes rotation driving part, driving part and follower, rotation driving part drive the rotary motion is done to the driving part, the follower will the rotary motion of driving part converts linear motion into, the fixed part has on the follower, the fixed part is used for fixed robot body, so that robot body with follower synchronous motion.

In some embodiments of the present invention, the number of the wheel assemblies is four, and four sets of the wheel assemblies are symmetrically arranged.

In some embodiments of the present invention, the rotation driving component is provided with a power port and a network port, the driving component is a lead screw, and the driven component is a nut.

In some embodiments of the present invention, the rotation driving part is provided with a power port and a network port, the driving part is a gear, and the driven part is a rack.

In some embodiments of the invention, the wheel assembly further comprises a speed reducer, the wheel driving part is a driving motor, and the driving wheel is a mecanum wheel;

and the driving motor of each Mecanum wheel is provided with a power supply port and a network port.

In some embodiments of the present invention, the base further includes a switch, and a network port of the switch is connected to the network ports of the rotary driving part and each of the driving motors through signal lines.

In some embodiments of the present invention, the vehicle frame includes a top plate, a bottom plate and a plurality of support columns, the top plate and the bottom plate are connected by the plurality of support columns, an accommodating space is provided between the top plate and the bottom plate, and the switch is located in the accommodating space.

In some embodiments of the invention, the base further comprises a quick coupler for connecting the follower with a robot body.

In some embodiments of the invention, the quick joint comprises a first butt piece and a second butt piece which are butted with each other, the first butt piece is fixed on the driven piece, and the second butt piece is used for fixing the robot body;

the outer wall of the first butt joint piece is provided with a concave part, and the inner wall of the second butt joint piece is provided with a limiting piece matched with the concave part;

the first butt joint piece is provided with a first conductive contact and a signal thimble, and the second butt joint piece is provided with a second conductive contact and a PCB board, wherein the second conductive contact is used for forming electric connection with the first conductive contact, and the PCB board is used for forming network connection with the signal thimble.

According to another aspect of the invention, a mobile robot is also disclosed, the robot comprises a robot body and the mobile base, and the robot body is fixedly connected with the driven member.

In some embodiments of the invention, the robot body is a robotic arm.

In some embodiments of the present invention, the robot arm includes a plurality of modular joints, and each adjacent two of the modular joints are connected by a connecting member, which is a double-flange connecting member or a connecting arm.

In some embodiments of the invention, the modular joint comprises:

the status indicator lamp and two sets of wiring ports, each set of wiring port all includes power port and network port.

According to the mobile robot base, the reciprocating linear motion assembly is arranged on the frame, and the robot body is fixedly connected with the driven piece of the reciprocating linear motion assembly, so that the robot body and the driven piece can move synchronously; therefore, when the position of the robot body is adjusted, the robot body can move without driving the movable base, so that the position of the robot body can be quickly and conveniently adjusted. In addition, the driving wheels of the base adopt Mecanum wheels, so that the base can move in all directions.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to what has been particularly described hereinabove, and that the above and other objects that can be achieved with the present invention will be more clearly understood from the following detailed description.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. For purposes of illustrating and describing some portions of the present invention, corresponding parts of the drawings may be exaggerated, i.e., may be larger, relative to other components in an exemplary apparatus actually manufactured according to the present invention. In the drawings:

fig. 1 is a schematic structural diagram of a mobile base of a robot according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention.

FIG. 3 is a schematic view of a quick coupler.

FIG. 4 is a cross-sectional view of the quick coupler of FIG. 3.

Fig. 5 is a schematic structural view of a modular joint.

Fig. 6 is a schematic structural view of the modular joint with the right end cover removed.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.

It should be emphasized that the term "comprises/comprising/comprises/having" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

It should be noted that the terms of orientation and orientation used in the present specification are relative to the position and orientation shown in the drawings; the term "coupled" herein may mean not only directly coupled, but also indirectly coupled, in which case intermediates may be present, if not specifically stated. A direct connection is one in which two elements are connected without the aid of intermediate elements, and an indirect connection is one in which two elements are connected with the aid of other elements.

In the working process of the mobile robot, the position of the robot body is adjusted at any time according to the position of an object to be operated; the position adjustment of the robot body of the existing mobile robot needs to be realized by controlling the movement of the mobile base. The method is not only complex in control method, but also limited by the operation environment in the adjustment range of the position of the robot body. Therefore, the invention discloses a mobile base of a robot, which comprises a reciprocating linear motion assembly, and the robot body is quickly and conveniently finely adjusted through the reciprocating linear motion assembly.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, like reference characters designate the same or similar parts throughout the several views.

Fig. 1 is a schematic structural diagram of a mobile base of a robot according to an embodiment of the present invention, and as shown in fig. 1, the mobile base includes a frame, a wheel assembly, and a reciprocating linear motion assembly. The wheel assembly 110 is fixed to the frame for effecting movement of the base. Wheel assembly 110 specifically includes a wheel drive component and a drive wheel 111; during the movement of the base, the wheel driving part drives the driving wheel 111 to rotate. The reciprocating linear motion assembly is used for driving the robot body to realize linear motion, so that the position of the robot body is adjusted. The reciprocating linear motion assembly is also fixed on the frame and comprises a rotary driving part 131, a driving part and a driven part; the rotation driving part 131 drives the driving part to rotate, and the driven part converts the rotation of the driving part into linear motion; further, the follower has a fixing portion to fixedly connect the robot body and the follower of the reciprocating linear motion unit, so that the robot body and the follower are moved in synchronization by the rotational driving of the rotational driving part 131.

The frame may include a top plate 121 and a bottom plate 123, and the top plate 121 and the bottom plate 123 are disposed at a predetermined distance, and the top plate 121 and the bottom plate 123 are connected and supported by a plurality of support pillars 122. The structural shapes of the top plate 121 and the bottom plate 123 can be both rectangular, and the number of the wheel assemblies 110 can be four, that is, four sets of wheel assemblies 110 are respectively fixed at four angular positions of the rectangular frame and are symmetrically arranged. Preferably, in order to reduce the weight of the vehicle frame, the top plate 121 of the vehicle frame may be configured to have an "i" shape, in which case the mobile base may also have four sets of wheel assemblies 110, and the four sets of wheel assemblies 110 are symmetrically disposed at four corner positions of the "i" shaped vehicle frame. In addition to the above, the top plate 121 and the bottom plate 123 may be provided in a circular shape, and the four sets of wheel assemblies 110 are uniformly distributed along the circumferential direction of the top plate 121 and the bottom plate 123. It should be understood that the number of the wheel assemblies 110 may be a plurality of groups other than four groups, such as six groups, eight groups, etc., except that the structural shapes of the top plate 121 and the bottom plate 123 of the frame are not particularly limited.

The driving wheel 111 of the wheel assembly 110 is driven by a wheel driving component, which may be a driving motor, and at this time, an input shaft of the driving wheel 111 is fixedly connected to an output shaft of the driving motor. In order to increase the output torque and reduce the inertia of the load, a speed reducer may be additionally installed between the driving motor and the driving wheel 111, and an output shaft of the speed reducer is an input shaft of the driving wheel 111 at this time. Preferably, the drive wheel 111 is a Mecanum wheel for all directions of movement of the mobile base, and the Mecanum wheel is a hub-driven integral Mecanum wheel.

Further, the wheel assembly 110 of the integrated structure may be fixedly connected to the frame by screws or bolts. As shown in fig. 1, the distance between the top plate 121 and the bottom plate 123 of the vehicle frame may be set to be greater than or equal to the height of the driving motor of the wheel assembly 110, the driving motor of the wheel assembly 110 being further disposed between the top plate 121 and the bottom plate 123; the shell of the driving motor or the auxiliary fixed seat arranged close to the end part of the driving motor is fixed with the bottom plate 123 of the frame through screws or bolts; in addition, the shell or the auxiliary fixing seat of the speed reducer of the wheel assembly 110 can be further connected with the top plate 121 of the frame; the fixed connection of the wheel assembly 110 and the vehicle frame is realized through the above.

The driving motor of each wheel assembly 110 is also provided with a power interface and a network interface, and the power interface is used for transmitting electric power to the driving motor; the network interface is used for transmitting network signals to the driving motor. Further, the mobile base includes a switch having a plurality of patch ports. The switch may be specifically placed in the receiving space between the top plate 121 and the bottom plate 123 of the frame, and may be fixed on the top plate 121 or on the bottom plate 123. The network ports of the driving motors of the wheel assemblies 110 are connected with the wiring ports of the switch through signal lines, so as to realize network transmission. It should be understood that the switch may be placed in other locations besides between the top plate 121 and the bottom plate 123 of the frame; however, when the plurality of sets of wheel assemblies 110 are symmetrically disposed, it is preferable to dispose the switch at a middle position of the plurality of sets of wheel assemblies 110, so that the length of the transmission line between the switch and the driving motor can be shortened.

When the movable base moves to the target position and stops moving, the position of the robot body can be further adjusted by adjusting the position of the driven piece of the reciprocating linear motion assembly. And the rotation driving part 131 of the reciprocating linear motion assembly may be specifically a rotating motor, and the rotating motor may be fixed on a frame of the movable base, for example, the top plate 121 of the frame. The driving part is fixedly connected with an output shaft of the rotating motor and synchronously rotates, and the driving part also rotates under the rotation drive of the rotating motor; and the driven part converts the rotary motion of the driving part into linear motion. It should be understood that the reciprocating linear motion assembly mainly functions to convert the rotary motion of the rotary motor into the reciprocating linear motion of the robot body, and thus it may be implemented by a rack and pinion structure or a lead screw nut structure, etc.

Illustratively, when implemented by a lead screw nut structure, the lead screw 132 may act as a driving member and the nut 133 as a driven member. At this time, one end of the screw 132 can be connected with the output shaft of the rotating motor through a coupling, and the other end is fixed and supported through a bearing seat; as the screw 132 rotates, the nut 133 is converted into a linear motion at a lead of a corresponding specification. In this case, the robot body is fixed to a nut 133 as a follower. When the reciprocating linear motion is realized by a rack and pinion, the rotary drive member 131 may be a rotary motor, and the rotary motor may be fixed to the vehicle body frame. In this case, the gear serves as a driving member and the rack serves as a driven member, and a support shaft of the gear is fixedly connected with an output shaft of the rotating motor so that the gear and the output shaft of the rotating motor rotate synchronously; the rack is meshed with the gear, the rotary motion of the gear is converted into linear motion, and the robot body is correspondingly and fixedly connected with the rack.

Similar to the driving motor of the wheel assembly 110, the reciprocating linear motion rotating motor also has a power port and a network port, and the power port is used for being electrically connected with the driving power supply; and the network port of the rotating motor is connected with the network port of the switch through a signal line so as to realize network transmission.

Fig. 2 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention, and as shown in fig. 2, the mobile robot includes a mobile base and a robot body. In this embodiment, the robot body is specifically a robot arm 300, but it should be understood that the robot body may be other structural components of the robot, such as a detection component, an execution component, and the like, besides the robot arm 300.

In this embodiment, the robot arm 300 is fixed to the follower of the reciprocating linear motion assembly and moves in synchronization with the follower. The linear motion of the robot 300 in fig. 2 is achieved by a lead screw nut mechanism, where the first joint of the robot 300 is fixedly connected to the nut 133. The connection between the robot arm 300 and the driven member may be various, such as threaded connection, bonding, welding, etc.; to facilitate the disassembly and assembly of the robotic arm 300, a quick coupler may be used to facilitate the connection between the robotic arm 300 and the driven member.

Fig. 3 is a schematic view of a quick coupler, which includes a first docking member 210 and a second docking member 220 that are docked with each other, as shown in fig. 3 and 4. The first docking member 210 may be secured to the follower by screws or bolts, while the second docking member 220 is adapted to be secured to the robotic arm 300. If the robot body is other executive components, the second pair of joints is fixedly connected with other executive components. The first butt joint part 210 has at least one concave part 211 on the outer wall, and the second joint has a limiting body 221 on the outer wall; preferably, the number of the concave parts on the first pair of joints is equal to the number of the limiting bodies on the second pair of joints. When the first butt joint piece 210 is connected with the second butt joint piece 220, the limiting body 221 is aligned with the concave portion 211, and then the second butt joint piece 220 is pushed towards the first butt joint piece 210, so that the limiting member of the second butt joint piece 220 is clamped in the concave portion 211 of the first butt joint piece 210, and the connection between the second butt joint piece 220 and the first butt joint piece 210 is realized.

The first butt joint member 210 may include a first flange end and a hollow first connection column, when the first butt joint member 210 is fixedly connected to the driven member, a threaded hole is formed in the driven member, and a through hole may be opened at a position of the first flange end corresponding to the threaded hole, so that the first flange end may be connected to the driven member by a screw or a bolt. The concave portion 211 may be specifically disposed on the outer wall of the first connection column, and the number of the concave portions 211 may be plural, in which case the plural concave portions 211 may be uniformly distributed along the circumferential direction of the outer wall of the first connection column.

The second docking member 220 includes a second flanged end and a hollow second connecting post, the second flanged end of the second connecting post being connected to the robot arm 300. In contrast, in the connected state of the first and

second docking members

210 and 220, the second connection column is sleeved outside the first connection column, so the inner shaft hole size of the second connection column can be slightly larger than the outer size of the first connection column. Correspondingly, the limiting body 221 is located on the inner wall of the second connecting column, the limiting body 221 can be a ball specifically, a mounting hole with the diameter slightly smaller than that of the ball can be formed in the inner wall of the second connecting column at the moment, the ball is further mounted in the mounting hole, at least one part of the ball is made to leak out of the inner wall of the second connecting column, and the ball can be clamped in the concave portion of the first connecting column. When the number of the concave portions is plural and is uniformly distributed along the circumferential direction of the first connection column, the number of the position-limiting bodies 221 is also plural and is the same as that of the concave portions 211, and is also uniformly distributed along the circumferential direction of the inner wall of the second connection column.

In addition, the quick coupler also includes an outer sleeve 230 and a resilient member 231. The outer sleeve 230 is sleeved outside the second docking member 220; in the non-force-applying state, one end of the outer sleeve 230 is flush with the end of the second connecting column; and the outer sleeve 230 can be moved toward the second flange end along the outer wall of the second coupling post by the external force. The outer sleeve 230 may specifically include a first cylinder and a second cylinder, an inner diameter of the first cylinder is greater than an inner diameter of the second cylinder, and a variable diameter portion for transition is provided between the first cylinder and the second cylinder; the elastic member 231 is installed in the first cylinder of the outer sleeve 230 with both ends thereof being pre-stressed and installed between the end surface of the second flange end of the second docking member 220 and the variable diameter portion of the outer sleeve 230. In addition, a retaining ring structure is fixedly arranged at a position, close to the end, of the second connecting column of the second butt joint member 220, the retaining ring structure is used for preventing the second butt joint member 220 from falling off from the outer sleeve 230, the end of the second cylinder of the outer sleeve 230 is provided with an inclined surface part, the inclined surface part is used for clamping the retaining ring structure, and the limiting body 221 is also provided with a return space.

When the quick coupler is used for connecting the mechanical arm 300 and the movable base, the limiting bodies 221 on the second pair of joints 220 can be aligned with the concave parts 211 of the first pair of joints 210, and then the second pair of joints 220 are pushed towards the first pair of joints 210 until the limiting bodies 221 are clamped in the concave parts 211, so that the connection between the second pair of joints 220 and the first pair of joints 210 is realized, namely the connection between the mechanical arm 300 and the movable base is realized. When the robot arm 300 needs to be removed from the mobile base, the outer sleeve 230 outside the second docking member 220 is manually pressed toward the second flange end, and due to the elastic member 231, the outer sleeve 230 moves upward along the outer circumferential wall of the first connecting column; and due to the special structure of the outer sleeve 230, the spacing body 221 has a moving space, and the spacing body 221 returns outwards. As the second pair of contacts 220 are pulled off the first pair of contacts 210, the retainer body 221 gradually releases from the recesses 211 of the first pair of contacts 210.

Further, the first pair of contacts 210 is further provided with a first conductive contact and a signal pin, and correspondingly, the second pair of contacts 220 is provided with a second conductive contact and a PCB. In the connected state of the first pair of contacts 210 and the second pair of contacts 220, the first conductive contact is butted against the second conductive contact, so that an electrical connection is formed between the first conductive contact and the second conductive contact. The signal thimble can be a 4P thimble, and a contact contacted with the 4P thimble is arranged on the PCB at the moment; similarly, in the connected state of the first pair of contacts 210 and the second pair of contacts 220, the signal pins contact with the contacts on the PCB to realize network transmission. For the first conductive contact and the second conductive contact, one of the first conductive contact and the second conductive contact can be set as an elastic conductive contact, and the signal thimble can also be set as an elastic signal thimble; so as to ensure that the first conductive contact and the second conductive contact are always in contact and the signal pin and the PCB are also always in contact in the connection state of the first pair of contacts 210 and the second pair of contacts 220. Additionally, the second conductive contacts on the second pair of contacts 220 may be further integrated on the PCB.

It should be understood that the quick coupler between the robot arm 300 and the mobile base is provided only for quick removal and installation of the robot arm 300, and the quick coupler in the above embodiment is only an example, and may be other types of connecting structures that allow quick installation and quick removal. In addition, if the robot body is an execution element of other types, the use method of the quick connector is similar to that of a mechanical arm.

In an embodiment of the present invention, the robot arm 300 of the mobile robot includes a plurality of modular joints, thereby forming the robot arm 300 having multiple degrees of freedom. Preferably, the number of modular joints is seven, and the seven modular joints of the robot arm 300 are connected in series to form a seven-degree-of-freedom robot arm 300. It should be understood that the number of modular joints that the robot arm 300 has may be set according to the number of degrees of freedom that the robot arm 300 is to achieve, for example in a six degree of freedom robot arm 300, the number of modular joints of the robot arm 300 may correspondingly have only six.

In the mechanical arm 300, two adjacent modular joints can be connected through a connecting piece. The connectors are exemplified by a double flange connector 320 or a connecting arm 330. As shown in fig. 2, the rotation axis of the first joint of the robot arm 300 is perpendicular to the rotation axis of the second joint, and the first joint and the second joint are connected by a double-flange connection 320; the first joint refers to a modular joint of the robotic arm 300 distal from the end effector. Specifically, joint fixing seats can be arranged outside joint shells of the first joint and the second joint, the joint fixing seats of the first joint can be connected with a left end cover of the first joint through screws or bolts, and the joint fixing seats of the second joint can be connected with a left end cover of the second joint through screws or bolts. Furthermore, the joint fixing seats of the first joint and the second joint are respectively connected with the two convex circular discs of the double-flange connecting piece 320 through screws or bolts, so that the first joint and the second joint are structurally connected in series. Further, a mechanical rotation limiting structure is further arranged between the double-flange connecting piece 320 and the joint fixing seat, and the rotation limiting structure comprises a first limiting block fixed on the joint fixing shell and a second limiting block fixed on a convex circular disc of the double-flange connecting piece 320.

The joint fixing base of the first joint may further be connected to the second flange end of the second pair of joints 220. After the joint housing of the first joint is fixed on the joint fixing seat, the joint fixing seat is further connected with the second flange end, that is, the fixed connection between the first joint and the second pair of joints 220 is realized.

Further, the second joint and the third joint of the robot arm 300 are connected by a connecting arm 330, and a wire passing hole is reserved near and in the middle of the connecting arm 330. The rotation axis of the third joint is perpendicular to the rotation axis of the second joint, and similarly, a joint fixing seat is also arranged outside the third joint and connected with the end part of the third joint through a screw or a bolt. And one end of the connecting arm 330 is fixedly connected with the end of the joint fixing seat of the second joint, and the other end is fixedly connected with the end of the joint fixing seat of the third joint, so that the series connection between the second joint and the third joint is realized.

Besides the connection between the connection arm 330 and the joint holders of the second joint and the third joint through screws or bolts, the connection arm 330 and each joint holder can be formed by integrally forming. At this time, the connecting arm 330 and the two joint holders at both ends thereof can be formed by injection molding. The connecting arm 330 and the joint fixing seat are integrally formed, so that the step of connecting the end parts of the connecting arm 330 and the joint fixing seat is omitted relative to a split structure, the third joint is directly connected with the joint fixing seat at one end of the connecting arm 330, the second joint is connected with the joint fixing seat at the other end of the connecting arm 330, and the connection between the second joint and the third joint is realized.

In addition, in order to make the robot arm 300 formed by connecting a plurality of modular joints in series more beautiful, a connecting arm decoration for fastening the connecting arm 330 may be provided outside the connecting arm 330. So that the screws or bolts between the connecting arm 330 and the knuckle mount are hidden. The connecting arm decorating part is processed in an injection molding mode, and the material of the connecting arm decorating part can be plastic, wood and the like.

The modular joint described above may specifically include a joint housing, a motor, and a reducer. And optionally, the modular joint may further include a status indicator 311, and the status indicator 311 may be fixed on the joint housing and used to display the operation status of the modular joint.

Illustratively, the housing of the modular joint includes left and right end caps and a cylindrical sleeve. The cylindrical sleeve is sleeved outside the motor and the speed reducer; and the left end cover and the right end cover are respectively connected with the end part of the cylindrical sleeve through screws or bolts so as to realize the packaging of the motor and the speed reducer. The status indicator 311 may be fixed to the right and left end caps of the joint housing, or may be fixed to the cylindrical sleeve. In the case of the modular joint shown in fig. 5 and 6, the status indicator 311 is fixed to the right end cap, and the status indicator 311 has a substantially rectangular shape; in addition, two status indicators 311 may be disposed on the right end cover of the joint housing, and the two status indicators 311 may be symmetrically distributed. In addition to the examples shown in fig. 5 and 6, the status indicators 311 may also be disposed on the cylindrical sleeve, for example, the status indicators 311 are distributed along the circumference of the cylindrical sleeve.

Furthermore, the modular joint further comprises two groups of wiring ports, and each group of wiring ports respectively comprises a power supply port 312-1 and a network port 312-2. Power port 312-1 is used to enable power transfer between the joint and the network port 312-2 is used to enable network transfer between the joint and the joint. Two sets of wiring ports can all set up on articular right-hand member lid, and rotational symmetry sets up. The modular joint is provided with two groups of wiring ports, and the serial connection of the line structures between the joints can be realized, so that the line is simplified.

In addition, in order to facilitate winding, the joint housing of the modular joint may further have a circumferential recess 211 thereon, and the circumferential recess 211 is used as a winding groove 314 for a connection cable of the joint. The winding slots 314 may be specifically located on the cylindrical sleeve and arranged along the circumference of the cylindrical sleeve. The winding groove 314 not only can be used as the winding groove 314 of the joint driving or control cable, but also further improves the strength of the cylindrical sleeve. The connecting cable of the joint is placed or wound in the wire winding groove 314, and in the working process of the mechanical arm 300, the cable moves in the wire winding groove 314 based on the reserved movement allowance, so that the cable damage caused by the movement of the mechanical arm 300 is prevented.

Through the embodiment, the reciprocating linear motion assembly is arranged on the frame of the movable base, and the robot body is fixedly connected with the driven piece of the reciprocating linear motion assembly, so that the robot body and the driven piece can synchronously move; therefore, when the position of the robot body is adjusted, the robot body can move without driving the movable base, so that the position of the robot body can be quickly and conveniently adjusted. In addition, the driving wheel of the base adopts a Mecanum wheel, so that the omnibearing movement of the base is realized; adopt the quick-assembling joint to realize being connected between robot body and the base, and the quick-assembling joint is inside still to integrate circuit module, has not only realized robot body and base's quick dismantlement and installation, has still simplified circuit structure.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments in the present invention.

The above-mentioned embodiments illustrate and describe the basic principles and main features of the present invention, but the present invention is not limited to the above-mentioned embodiments, and those skilled in the art should make modifications, equivalent changes and modifications without creative efforts to the present invention within the protection scope of the technical scheme of the present invention.

Claims

1. A robot movable base is characterized in that the base comprises a frame, a wheel assembly and a reciprocating linear motion assembly,

2. A robotic mobile base as claimed in claim 1, in which the number of wheel assemblies is four, the four sets of wheel assemblies being arranged symmetrically.

3. The mobile robot base of claim 1, wherein the rotary drive component includes a power port and a network port, the driving component is a lead screw, and the driven component is a nut.

4. The mobile base of claim 1, wherein the rotary driving member has a power port and a network port, the driving member is a gear, and the driven member is a rack.

5. A robotic mobile base according to claim 3 or claim 4, wherein the wheel assemblies further comprise speed reducers, the wheel drive components being drive motors, the drive wheels being Mecanum wheels;

6. A robotic mobile base as claimed in claim 5, further comprising a switch, a network port of the switch being connected to the rotary drive means and to a network port of each of the drive motors by signal lines.

7. The mobile robot base of claim 6, wherein the frame comprises a top plate, a bottom plate, and a plurality of support columns, the top plate and the bottom plate are connected by the plurality of support columns, an accommodation space is provided between the top plate and the bottom plate, and the switch is located in the accommodation space.

8. A robotic mobile base as claimed in claim 1, further comprising a quick coupler for connecting the follower with a robot body.

9. A robotic mobile base as claimed in claim 8, in which the quick coupler comprises first and second abutments that abut against one another, the first abutment being secured to the follower and the second abutment being for securing the robot body;

10. A mobile robot, characterized in that the robot comprises a robot body and a mobile base according to any one of claims 1 to 9, the robot body being fixedly connected to the driven member.

11. The mobile robot of claim 10, wherein the robot body is a robotic arm.

12. The mobile robot of claim 11, wherein the robotic arm comprises a plurality of modular joints, each adjacent two of the modular joints being connected by a connector, the connector being a double flange connector or a link arm.

13. The mobile robot of claim 12, wherein the modular joints comprise: