1. A mobile vehicle, comprising:

the vehicle chassis is provided with a mechanical arm bearing seat and a control box bearing seat;

a master control circuit board disposed in the vehicle chassis;

the carrier chassis is arranged on the driving device, and the driving device is electrically connected with the main control circuit board; and the number of the first and second groups,

the control box is detachably arranged in the control box bearing seat, the control box is provided with a communication interface capable of outputting an electric signal for controlling the mechanical arm, and the control box is electrically connected with the main control circuit board.

2. The mobile vehicle of claim 1, further comprising:

and the battery box is arranged in the carrier chassis and is electrically connected with the control box and the main control circuit board.

3. The mobile vehicle of claim 1, further comprising:

and the laser radar is arranged on the carrier chassis.

4. The mobile vehicle of claim 1, further comprising:

and each side surface of the carrier chassis is at least provided with one set of ultrasonic radar.

5. The mobile vehicle of claim 1, further comprising:

the first camera assembly is arranged on the front side face of the carrier chassis and is electrically connected with the main control circuit board.

6. The mobile vehicle of claim 1, wherein the robotic arm carrier includes a mounting cavity disposed on an upper end surface of the vehicle chassis and a mounting assembly located in the mounting cavity.

7. The mobile carrier of claim 6, wherein the mounting assembly comprises a plurality of blocks circumferentially arranged along the inner wall of the mounting cavity and protruding from the inner wall of the mounting cavity, and the blocks abut against the robot arm to fix the robot arm.

8. The mobile carrier according to claim 1, further comprising a mounting plate, wherein two sets of through holes are formed in the mounting plate, two opposite sides of the control box bearing seat and the control box are respectively provided with a set of threaded holes, the two sets of through holes respectively correspond to the threaded holes in the control box bearing seat and the threaded holes in the control box and are fixed by screws, and the number of each set of through holes and each set of threaded holes is at least two.

9. The mobile vehicle according to claim 1, wherein the driving device comprises at least one set of wheels, a beam connected to the wheels, and a motor disposed on the beam, the wheels are driven by the motor, the motor is electrically connected to the main control circuit board, and the beam is located in the vehicle chassis.

10. The mobile carrier according to claim 9, wherein a mounting seat is disposed on the carrier chassis at a position corresponding to a centerline of the cross beam, a rotating shaft hole and a rotating shaft inserted into the rotating shaft hole are disposed on the mounting seat, the rotating shaft is fixedly connected to the cross beam, a first bearing is disposed between the rotating shaft and the rotating shaft hole, and the first bearing is axially fixed with respect to the mounting seat and the rotating shaft.

11. The mobile carrier of claim 10,

the rotating shaft is further sleeved with two shaft sleeves located in the rotating shaft hole, the first bearings are located on two opposite sides of the shaft sleeves respectively, and the shaft sleeves are abutted to inner rings of the first bearings.

12. The mobile carrier of claim 11,

the rotating shaft hole comprises a shaft sleeve mounting hole section and two first bearing mounting hole sections which are respectively positioned at two opposite sides of the shaft sleeve mounting hole section, and the aperture of the shaft sleeve mounting hole section is smaller than that of the first bearing mounting hole section;

the rotating shaft comprises a beam connecting section, a first transition section, a first bearing mounting section and a fastening section;

the shaft diameter of the first transition section is larger than that of the first bearing mounting section, and the first transition section is abutted with an inner ring of the first bearing close to the cross beam;

the fastening section is provided with a fastening assembly which is abutted against an inner ring of the first bearing far away from the cross beam;

and limiting parts which are positioned on the periphery of the rotating shaft hole and abutted against the outer ring of the first bearing are arranged on the opposite end surfaces of the mounting seat.

13. The mobile vehicle according to claim 9, wherein the driving device further comprises a wheel axle connected to the wheel, a stopper seat, and a second bearing;

the two opposite end surfaces of the limiting seat are respectively provided with a wheel axle hole and a power output axle hole, the wheel axle is arranged in the wheel axle hole in a penetrating manner, and the power output axle of the motor is arranged in the power output axle hole in a penetrating manner;

the second bearing is sleeved on the wheel shaft and arranged in the wheel shaft hole, and the second bearing is axially fixed relative to the limiting seat and the wheel shaft.

14. The mobile carrier according to claim 13, wherein the driving device further comprises a limiting mechanism disposed on the limiting seat for axially limiting the second bearing;

the limiting mechanism comprises a first limiting assembly and a second limiting assembly, the first limiting assembly is located at one end, close to the power output shaft, of the wheel shaft hole, the second limiting assembly is located at the other end of the wheel shaft hole, and the second bearing is located between the first limiting assembly and the second limiting assembly.

15. The mobile vehicle according to claim 13, wherein an axle diameter of the wheel axle is larger than an axle diameter of the power output shaft, and a power output shaft insertion hole matched with a tail end of the power output shaft is formed in an end, facing the power output shaft, of the wheel axle, and the tail end of the power output shaft is inserted into the power output shaft insertion hole.

16. The mobile vehicle according to claim 15, wherein the circumferential side of the wheel axle is provided with a plurality of fasteners penetrating into the power output shaft insertion holes and abutting against the power output shaft.

17. The mobile carrier according to claim 16, wherein the retainer has a receiving cavity between the axle hole of the wheel and the axle hole of the power output axle and at least one opening on a circumferential side thereof and communicating with the receiving cavity, and the fastening member is located in the receiving cavity.

18. A mobile robot comprising a robot arm and a mobile carrier according to any of claims 1-17, the robot arm being detachably disposed in the robot arm carrier.

19. The mobile robot of claim 18, wherein the robot arm comprises a base, a turntable, a large arm, a small arm, and an end effector, which is provided at an end of the small arm, connected in this order.

20. The mobile robot of claim 19, wherein the robotic arm further comprises:

and the second camera assembly is positioned on the end effector and is electrically connected with the control box.

Background

The invention, research and application practice of the robot is required by scientific research and social production, and through years of development, the robot has continuously improved intelligence degree, and the application range of the robot also permeates from the industry to various industries.

Among these, robotic arms are the main branch of robots, which are usually table-top-grade robotic arms, mounted on a fixed table top and working in a limited working space. Along with the updating iteration of robot products, a part of mechanical arms are arranged on a carrier on the market, the carrier is carried and moved to replace the working environment, the working space is expanded to a certain extent, and the application scene is not limited any more.

For a carrier carrying a robot arm, a controller for controlling the operation of the robot arm is generally integrated with the robot arm, the controller is located in a base of the robot arm, and a control panel is exposed on the base of the robot arm. However, when the hardware structure of the manipulator is not abnormal, but a control fault occurs, the manipulator needs to be integrally detached from the carrier to perform operations such as maintenance and debugging on the controller, and the maintenance process is complicated and inconvenient.

Disclosure of Invention

The invention mainly aims to provide a mobile carrier, and aims to solve the technical problems of complex and inconvenient maintenance process of a mechanical arm controller on the existing mobile carrier.

To achieve the above object, the present invention provides a mobile carrier, comprising:

the vehicle chassis is provided with a mechanical arm bearing seat and a control box bearing seat;

a master control circuit board disposed in the vehicle chassis;

the carrier chassis is arranged on the driving device, and the driving device is electrically connected with the main control circuit board; and the number of the first and second groups,

the control box is detachably arranged in the control box bearing seat, the control box is provided with a communication interface capable of outputting an electric signal for controlling the mechanical arm, and the control box is electrically connected with the main control circuit board.

Wherein, remove the carrier and still include:

and the battery box is arranged in the carrier chassis and is electrically connected with the control box and the main control circuit board.

Wherein, remove the carrier and still include:

and the laser radar is arranged on the carrier chassis.

Wherein, remove the carrier and still include:

the ultrasonic radar, every side of carrier chassis sets up a set of ultrasonic radar at least.

Wherein, remove the carrier and still include:

the first camera assembly is arranged on the front side surface of the carrier chassis and is electrically connected with the main control circuit board.

The mechanical arm bearing seat comprises an installation cavity arranged on the upper end face of the carrier chassis and an installation assembly located in the installation cavity.

Wherein, the installation component includes along the inner wall circumference of installation cavity arrange, and a plurality of fixture blocks of the inner wall of protrudingly in the installation cavity, the fixture block supports in order to fix the arm with the arm counterbalance.

Wherein, remove the carrier and still include the mounting panel, be equipped with two sets of through-holes on the mounting panel, the control box bears the seat and the control box both sides in opposite directions respectively are equipped with a set of screw hole, and two sets of through-holes bear the screw hole position on the seat with the control box respectively and correspond and pass through the screw connection fixed, and the quantity of every group through-hole, every group screw hole all is two at least.

The driving device comprises at least one group of wheels, a beam connected with the wheels and a motor arranged on the beam, the wheels are driven by the motor, the motor is electrically connected with the main control circuit board, and the beam is positioned in the carrier chassis.

The carrier chassis is provided with a mounting seat corresponding to the central line of the cross beam, the mounting seat is provided with a rotating shaft hole and a rotating shaft penetrating through the rotating shaft hole, the rotating shaft is fixedly connected with the cross beam, a first bearing is arranged between the rotating shaft and the rotating shaft hole, and the first bearing is axially fixed relative to the mounting seat and the rotating shaft.

Wherein, still the cover is equipped with the axle sleeve that is located the pivot downthehole in the pivot, and first bearing is two and is located the relative both sides of axle sleeve respectively, and the axle sleeve is with the inner ring butt of first bearing.

The rotating shaft hole comprises a shaft sleeve mounting hole section and two first bearing mounting hole sections which are respectively positioned at two opposite sides of the shaft sleeve mounting hole section, and the aperture of the shaft sleeve mounting hole section is smaller than that of the first bearing mounting hole section;

the rotating shaft comprises a beam connecting section, a first transition section, a first bearing mounting section and a fastening section;

the shaft diameter of the first transition section is larger than that of the first bearing mounting section, and the first transition section is abutted with an inner ring of the first bearing close to the cross beam;

the fastening section is provided with a fastening assembly which is abutted against an inner ring of the first bearing far away from the cross beam;

the opposite two end surfaces of the mounting seat are provided with limiting pieces which are positioned on the periphery of the rotating shaft hole and are abutted with the outer ring of the first bearing.

The driving device also comprises a wheel shaft connected with the wheels, a limiting seat and a second bearing;

the two opposite end surfaces of the limiting seat are respectively provided with a wheel axle hole and a power output axle hole, a wheel axle is arranged in the wheel axle hole in a penetrating way, and a power output axle of the motor is arranged in the power output axle hole in a penetrating way;

the second bearing is sleeved on the wheel shaft and arranged in the wheel shaft hole, and the second bearing is axially fixed with the wheel shaft relative to the limiting seat.

The driving device also comprises a limiting mechanism which is arranged on the limiting seat and is used for axially limiting the second bearing;

the limiting mechanism comprises a first limiting assembly and a second limiting assembly, the first limiting assembly is located at one end, close to the power output shaft, of the wheel shaft hole, the second limiting assembly is located at the other end of the wheel shaft hole, and the second bearing is located between the first limiting assembly and the second limiting assembly.

The axle diameter of the wheel axle is larger than that of the power output shaft, a power output shaft insertion hole matched with the tail end of the power output shaft is formed in one end, facing the power output shaft, of the wheel axle, and the tail end of the power output shaft is inserted into the power output shaft insertion hole.

Wherein, the circumferential side surface of the wheel shaft is provided with a plurality of fasteners which penetrate into the power output shaft jack and are abutted with the power output shaft.

Wherein, spacing seat is equipped with the holding chamber that is located between wheel shaft hole and the power take off shaft hole and at least one opening that is located its circumference side and communicates with the holding chamber, and the fastener is located the holding intracavity.

The invention also provides a mobile robot, which comprises a mechanical arm and the mobile carrier, wherein the mechanical arm is detachably arranged in the mechanical arm bearing seat.

The mechanical arm comprises a base, a rotary table, a large arm, a small arm and an end effector which are connected in sequence, wherein the end effector is arranged at the tail end of the small arm.

Wherein, the arm still includes:

and the second camera assembly is positioned on the end effector and is electrically connected with the control box.

Compared with the prior art, the technical scheme of the embodiment of the invention has the beneficial effects that:

this removal carrier will be originally with the integrative controller that sets up of arm to the form of control box sets up on its carrier chassis as an independent part, when the control fault appears in the arm, dismantles control box inspection and maintains can, need not to carry out the dismouting to the arm again, easy operation and maintenance convenience.

Drawings

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

fig. 2 is an exploded view of the mobile vehicle of fig. 1;

FIG. 3 is a schematic structural view of a portion of the mobile carrier of FIG. 2;

fig. 4 is an exploded view of another portion of the mobile carrier of fig. 2;

fig. 5 is a schematic structural view of a portion of the driving device of the mobile carrier in fig. 2;

FIG. 6 is an exploded view of the structure of FIG. 5;

FIG. 7 is a cross-sectional view of the structure shown in FIG. 5;

FIG. 8 is a schematic illustration of an alternative exploded structure to that shown in FIG. 5;

fig. 9 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention.

Detailed Description

In the following, the embodiments of the present invention will be described in detail with reference to the drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The present invention provides a mobile carrier 1000, referring to fig. 1 and fig. 2, the mobile carrier 1000 includes:

the carrier chassis 1100, the carrier chassis 1100 is provided with a mechanical arm bearing seat 1110 and a control box bearing seat 1120;

a main control circuit board 1200, the main control circuit board 1200 disposed in the carrier chassis 1100;

the driving device 1300, the carrier chassis 1100 is erected on the driving device 1300, and the driving device 1300 is electrically connected with the main control circuit board 1200; and the number of the first and second groups,

the control box 1400, the control box 1400 is detachably disposed in the control box bearing seat 1120, the control box 1400 has a communication interface capable of outputting an electrical signal for controlling the robot arm, and the control box 1400 is electrically connected to the main control circuit board 1200.

The mobile carrier 1000 of the present embodiment is mainly used for carrying a robot to perform a moving operation, and specifically, the mobile carrier 1000 is composed of a carrier chassis 1100, a main control circuit board 1200, a driving device 1300 and a control box 1400, wherein the carrier chassis 1100 is a main body of the mobile carrier 1000, and the robot and the control box 1400 for controlling the operation of the robot are detachably disposed on a robot carrying seat 1110 and a control box carrying seat 1120 of the carrier chassis 1100 correspondingly. The detachable connection mode has various modes, including clamping, screw connection and the like, and can be set according to actual conditions. The control box 1400 may output an electrical signal to the robot arm to operate as a controller by connecting a signal line between its communication interface and the robot arm. Referring to fig. 1, the robot arm bearing seat 1110 and the control box bearing seat 1120 are located at the upper end surface of the mobile carrier 1000 and are adjacently arranged, so as to facilitate the routing between the control box 1400 and the robot arm; and the control box 1400 may be a square box, which has other types of interfaces, control keys, and display screens besides the communication interface, and is distributed on different sides of the box.

The main control circuit board 1200 is used as a main control part of the mobile carrier 1000, and is mainly used for controlling the mobile carrier 1000 to move and operate, and is arranged in the carrier chassis 1100; specifically, the driving device 1300 is electrically connected to the main control circuit board 1200, and the main control circuit board 1200 provides a control signal to the driving device 1300, so that the driving device 1300 drives the mobile carrier 1000 to move. The drive device 1300 referred to therein generally includes a wheel, a wheel frame on which the wheel is mounted, a drive motor for powering the wheel, and the like. In addition, the main control circuit board 1200 may be electrically connected to the control box 1400, so as to implement data communication, control coordination, and functional cooperation between the mobile carrier 1000 and the robot.

The mobile carrier 1000 of the embodiment is to use the controller originally integrated with the robot as an independent component in the form of the control box 1400 on the carrier chassis 1100, and when the robot has a control failure, the control box 1400 is detached for inspection and maintenance, and the robot does not need to be detached and installed, so that the operation is simple and the maintenance is convenient.

Referring to fig. 2, the mobile carrier 1000 further includes:

a battery case 1500, the battery case 1500 being disposed in the carrier chassis 1100 and electrically connected with the control box 1400 and the main control circuit board 1200.

The battery box 1500 in this embodiment is a power supply of the mobile carrier 1000, and supplies power to the control box 1400, the mechanical arm, and the main control circuit board 1200 through the battery box, that is, the control box 1400 and the mechanical arm do not need to be provided with additional power supplies, so that space is saved, load of the mobile carrier 1000 is reduced, and cost is reduced. The battery cartridges 1500 are preferably provided at the rear of the carrier chassis 1100, and are two mounted side by side. In addition, the battery box 1500 can be connected to the control box 1400 through a power supply line, and the control box 1400 is connected to the main control circuit board 1200 through the power supply line, so as to simplify power routing.

The mobile carrier 1000 further includes:

lidar mounted on the vehicle chassis 1100.

In this embodiment, the mobile carrier 1000 scans surrounding obstacles by the ultrasonic radar disposed on the carrier chassis 1100, so as to avoid the obstacles during the movement process.

Referring to fig. 1, the mobile carrier 1000 further includes:

the ultrasonic radar 1600, at least one set of ultrasonic radar 1600 is set up on every side of vehicle chassis 1100.

In the embodiment, the mobile carrier 1000 is provided with the ultrasonic radar 1600 on the carrier chassis 1100, so that obstacle avoidance can be realized in the moving process; specifically, each side of the vehicle chassis 1100 is provided with at least one set of ultrasonic radar 1600 to realize obstacle avoidance of the mobile vehicle 1000 in multiple directions, thereby enlarging the obstacle avoidance range and improving the safety. Of course, besides the ultrasonic radar 1600, an infrared sensor or a collision switch may be used for obstacle avoidance.

Referring to fig. 1, the mobile carrier 1000 further includes:

the first camera assembly 1700, the first camera assembly 1700 is disposed on the front side of the carrier chassis 1100 and electrically connected to the main control circuit board 1200.

In this embodiment, the mobile carrier 1000 obtains the moving track on the road surface through the first camera assembly 1700, so as to implement the hunting navigation, thereby preventing the moving path from deviating. In addition, the first camera assembly 1700 can also automatically identify an obstacle on the moving path to assist the moving vehicle 1000 in moving and avoiding the obstacle.

Referring to fig. 1, the robot arm carrier 1110 includes a mounting cavity 1111 disposed on an upper end surface of the carrier chassis 1100 and a mounting assembly disposed in the mounting cavity. In this embodiment, the mounting cavity 1111 is matched with the base of the robot arm in shape and size, the robot arm bearing seat 1110 places the base of the robot arm through the mounting cavity 1111, and the base of the robot arm is fixed by the mounting assembly, so as to realize the setting of the robot arm. The mounting assembly may be of various configurations, such as a mounting assembly including a plurality of screws disposed about the base of the robot arm and securing it in the mounting cavity, although the configuration of the mounting assembly is exemplary and not limiting.

Referring to fig. 1, the mounting assembly includes a plurality of latch 1112 arranged along a circumferential direction of an inner wall of the mounting cavity 1111 and protruding from the inner wall of the mounting cavity 1111, and the latch 1112 abuts against the robot arm to fix the robot arm. In this embodiment, the mounting assembly abuts against the base of the robot arm from the circumferential side surface of the base through the plurality of clamping blocks 1112, so that the base of the robot arm is assembled in the mounting cavity 1111, and the mounting assembly is stable and convenient to mount and dismount. In this embodiment, referring to fig. 1, three latch 1112 are provided, one latch 1112 is located at the middle position of the front side of the robot arm base, and the other two latches 1112 are located at the two side positions of the back side of the robot arm base.

Referring to fig. 2, the mobile carrier 1000 further includes a mounting plate 1800, two sets of through holes are formed in the mounting plate 1800, two sets of threaded holes are respectively formed in two opposite sides of the control box bearing seat 1120 and the control box 1400, the two sets of through holes respectively correspond to the threaded holes in the control box bearing seat 1120 and the threaded holes in the control box 1400 in position and are fixed by screws, and the number of each set of through holes and each set of threaded holes is at least two. In this embodiment, the control box 1400 is first fixed to the mounting plate 1800 by screws, and the mounting plate 1800 is then fixed to the control box bearing seat 1120 by screws, so as to achieve the detachable arrangement of the control box 1400 on the control box bearing seat 1120.

Referring to fig. 3, the driving apparatus 1300 includes at least one set of wheels 1310, a cross member 1320 connecting the wheels 1310, and a motor 1330 disposed on the cross member 1320, the wheels 1310 are driven by the motor 1330, the motor 1330 is electrically connected to the main control circuit board 1200, and the cross member 1320 is located in the vehicle chassis 1100. In this embodiment, each wheel 1310 may be correspondingly provided with one motor 1330, and each motor 1330 starts or stops by receiving the control signal from the main control circuit board 1200, and accordingly starts to drive or stops driving the wheel 1310 to rotate.

Referring to fig. 3 and 4, a mounting seat 1130 is disposed on the carrier chassis 1100 at a position corresponding to a center line of the cross beam 1320, a rotating shaft hole 1131 and a rotating shaft 1140 penetrating through the rotating shaft hole 1131 are disposed on the mounting seat 1130, the rotating shaft 1140 is fixedly connected to the cross beam 1320, a first bearing 1150 is disposed between the rotating shaft 1140 and the rotating shaft hole 1131, and the first bearing 1150 is axially fixed relative to the mounting seat 1130 and the rotating shaft 1140. In this embodiment, the mounting base 1130 may be a square base and is fixed to the carrier chassis 1100 by screws. The rotating shaft hole 1131 on the mounting base 1130 penetrates through the two opposite side faces, the rotating shaft 1140 is installed in the rotating shaft hole 1131 through the first bearing 1150, and one end of the rotating shaft is fixedly connected with the cross beam 1320. In the embodiment, the mounting base 1130 and the rotating shaft 1140 arranged on the carrier chassis 1100 are used to mount the cross beam 1320 on the carrier chassis 1100; in addition, in the moving process of the mobile carrier 1000, when the mobile carrier encounters an uneven road surface, the cross beam 1320 can swing by a plurality of angles along with the rotating shaft 1140 relative to the carrier chassis 1100, so that the carrier body is not prone to rollover, and the moving stability is improved.

Referring to fig. 4, the shaft 1140 is further sleeved with two shaft sleeves 1160 located in the shaft holes 1131, the first bearings 1150 are located on two opposite sides of the shaft sleeves 1160, and the shaft sleeves 1160 are abutted to the inner rings of the first bearings 1150. In this embodiment, the two first bearings 1150 are provided to support the rotation shaft 1140 together, thereby improving structural stability. The bushings 1160 are provided to abut against the inner rings of the two first bearings 1150, respectively, so that the two first bearings 1150 are restricted from being mounted.

Referring to fig. 4, the rotation shaft hole 1131 includes a shaft sleeve mounting hole section and two first bearing mounting hole sections respectively located at two opposite sides of the shaft sleeve mounting hole section, and the aperture of the shaft sleeve mounting hole section is smaller than that of the first bearing mounting hole section;

the rotating shaft 1140 comprises a beam connecting section, a first transition section, a first bearing mounting section and a fastening section;

the shaft diameter of the first transition section is greater than that of the first bearing mounting section, and the first transition section is abutted with the inner ring of the first bearing 1150 close to the cross beam 1320;

the fastening section is provided with a fastening component 1170 abutted with an inner ring of the first bearing 1150 far away from the cross beam 1320;

the opposite end surfaces of the mounting base 1130 are provided with stoppers which are located on the peripheral side of the rotating shaft hole 1131 and abut against the outer ring of the first bearing 1150.

In this embodiment, for the first bearing 1150 close to the cross beam 1320, the two sides of its outer ring are axially abutted by the limiting member and the shaft sleeve mounting hole section, and the two sides of its inner ring are axially abutted by the first transition section and the shaft sleeve 1160, so as to realize the axial fixation thereof relative to the rotating shaft 1140 and the mounting base 1130; for the first bearing 1150 far from the cross beam 1320, it is axially fixed with respect to the rotating shaft 1140 and the mounting base 1130 by the stoppers and the bushing mounting hole sections abutting both sides of its outer ring in the axial direction, and by the fastening assembly 1170 and the bushing 1160 abutting both sides of its inner ring. The fastening assembly 1170 includes a fastening ring 1171 and a fastening sleeve 1172 sleeved on the rotating shaft 1140 and abutted against each other, the fastening ring 1171 abuts against the inner ring of the first bearing 1150, and a plurality of screws abutted against the rotating shaft 1140 are arranged on the circumferential side surface of the fastening sleeve 1172 in a penetrating manner. The limiting piece is a plurality of screws 10, the plurality of screws 10 are arranged around the rotating shaft hole 1131, the mounting seat 1130 is correspondingly provided with a screw hole, a screw rod of the screw 10 is inserted into the screw hole, and the head of the screw 10 is abutted against the outer ring of the first bearing 1150.

Further, referring to fig. 4, a spindle socket 1321 is provided on the cross beam 1320;

the cross beam connecting section comprises a plug-in part 1141 which is plug-in matched with the rotating shaft plug hole 1321 and a connecting part 1142 which is fixedly connected with the cross beam 1320.

In this embodiment, the rotating shaft 1140 is inserted into the rotating shaft inserting hole 1321 of the cross beam 1320 through the inserting portion 1141 of the cross beam connecting section, and meanwhile, the connecting portion 1142 of the cross beam connecting section is correspondingly butted with the cross beam 1320, so that a plurality of screws penetrate between the connecting portion 1142 and the cross beam 1320 to realize the connection and fixation of the rotating shaft 1140 and the cross beam 1320.

Referring to fig. 3, 5, 6 and 7, the driving apparatus 1300 further includes a wheel shaft 1340 connected to the wheel 1310, a stopper seat 1350 and a second bearing 1360;

the two opposite end surfaces of the limiting seat 1350 are respectively provided with a wheel shaft hole 1351 and a power output shaft hole 1352, the wheel shaft 1340 is arranged in the wheel shaft hole 1351 in a penetrating manner, and the power output shaft 1331 of the motor 1330 is arranged in the power output shaft hole 1352 in a penetrating manner;

second bearing 1360 is disposed on wheel axle 1340 and disposed in wheel axle hole 1351, and second bearing 1360 is axially fixed with respect to retaining seat 1350 and wheel axle 1340.

In this embodiment, the spacing base 1350 may be a square base and is fixed to the cross beam 1320 by screws. The motor 1330 is a speed reducing motor, a power output shaft 1331 of the motor 1330 extends out from a speed reducer of the motor 1330, the power output shaft 1331 of the motor 1330 and the wheel shaft 1340 are correspondingly arranged in the power output shaft hole 1352 and the wheel shaft hole 1351 of the limiting seat 1350 in a penetrating way and are connected in a butt joint way, and the wheel shaft 1340 can rotate around the axis of the limiting seat 1350 by a second bearing 1360. The inner ring of the second bearing 1360 may be connected and fixed with the wheel axle 1340 by fixing methods such as interference fit, and the outer ring of the second bearing 1360 may be connected and fixed with the stopper seat 1350 by interference fit, gluing, or by other fixing methods for structural limitation, so that the second bearing 1360 is axially fixed with respect to the stopper seat 1350 and the wheel axle 1340. The driving device 1300 in this embodiment axially limits the wheel axle 1340 through the limiting seat 1350 fixed on the cross beam 1320 and the second bearing 1360 axially fixed relative to the limiting seat 1350, so that the wheel axle 1340 can stably rotate without being affected by the axial displacement of the power output shaft 1331, the wheel is not easy to shake, and the control precision is improved.

The driving device 1300 further includes a limiting mechanism disposed on the limiting seat 1350 and used for axially limiting the second bearing 1360;

the limiting mechanism comprises a first limiting assembly and a second limiting assembly, the first limiting assembly is located at one end, close to the power output shaft 1331, of the wheel shaft 1351, the second limiting assembly is located at the other end of the wheel shaft 1351, and the second bearing 1360 is located between the first limiting assembly and the second limiting assembly.

In this embodiment, the limiting mechanism is used to axially limit the second bearing 1360 at two opposite sides of the second bearing 1360 through the first limiting component and the second limiting component, so that the second bearing 1360 is fixedly installed in the wheel axle 1351. The first and second retaining assemblies may be configured in a variety of ways, such as the first or second retaining assemblies including a retaining ring secured to the retaining block 1350 by a plurality of screws, the retaining ring being adapted to engage the outer race of the second bearing 1360 and abut the outer race of the second bearing 1360 to limit movement of the second bearing 1360 on the retaining block 1350. Of course, the above-mentioned structural forms are merely exemplary, not restrictive, and other.

Specifically, referring to fig. 8, the first stop assembly includes an annular step 1353 extending radially inward from the inner wall of the wheel axle bore 1351, the annular step 1353 abutting the outer race of the second bearing 1360. In this embodiment, the first stop assembly abuts against the outer ring of the second bearing 1360 through an annular step 1353 integrally formed with the stop seat 1350 to limit the movement of the second bearing 1360 on the stop seat 1350 toward the power output shaft 1331. And when installing second bearing 1360, only need with annular step 1353 butt in place can, need not to carry out the assembly operation of extra structural component, easy to assemble. The second limiting component comprises a plurality of screws 10 arranged around the wheel axle hole 1351, the limiting seat 1350 is correspondingly provided with screw holes, screw rods of the screws 10 are inserted into the screw holes, and heads of the screws 10 are abutted with the outer ring of the second bearing 1360. In this embodiment, the head of the screw 10 arranged around the wheel axle 1351 of the second limiting assembly abuts against the outer ring of the second bearing 1360 to limit the movement of the second bearing 1360 on the limiting seat 1350 away from the power output shaft 1331, and the second limiting assembly has a simple structure and is convenient to assemble and disassemble.

Referring to fig. 6 and 7, the axle diameter of the wheel axle 1340 is greater than the axle diameter of the power output shaft 1331, and one end of the wheel axle 1340 facing the power output shaft 1331 is provided with a power output shaft insertion hole 1341 matched with the tail end of the power output shaft 1331, and the tail end of the power output shaft 1331 is inserted into the power output shaft insertion hole 1341. In this embodiment, the end of the power output shaft 1331 is inserted into the power output shaft insertion hole 1341 of the wheel shaft 1340, and contacts with the bottom of the power output shaft insertion hole 1341, so as to realize the butt joint assembly with the wheel shaft 1340. The depth of the power output shaft inserting hole 1341 is set according to actual requirements, and is not limited herein.

Referring to fig. 6 and 7, the circumferential side of the wheel shaft 1340 is provided with a plurality of fasteners 20 penetrating into the power output shaft insertion holes 1341 and abutting against the power output shaft 1331. In this embodiment, the wheel shaft 1340 is abutted to the power output shaft 1331 by a plurality of fasteners 20, so as to be locked and fixed with the power output shaft 1331 in the axial direction. In this regard, the power take-off shaft 1331, when rotated, may drive the wheel shaft 1340 to rotate synchronously. Referring to fig. 4, in actual implementation, there may be three fasteners 20, with three fasteners 20 being spaced sequentially about the wheel axis 1340.

Also, the distal end of the power take-off shaft 1331 is configured with an axial plane 1331a, wherein the at least one fastener 20 abuts the axial plane 1331a of the distal end of the power take-off shaft 1331. In this embodiment, by forming the axial plane 1331a at the end of the power output shaft 1331 and abutting at least one fastener 20, the friction between the fastener 20 and the power output shaft 1331 can be increased, so as to further enhance the connection stability between the power output shaft 1331 and the wheel axle 1340, thereby improving the transmission stability.

Referring to fig. 6 and 7, the retainer 1350 is provided with a receiving chamber 1354 between the wheel axle 1351 and the power output axle hole 1352 and at least one opening 1355 on a circumferential side thereof and communicating with the receiving chamber 1354, and the fastening member 20 is located in the receiving chamber 1354. In this embodiment, the fastening member 20 on the wheel axle 1340 can be assembled or disassembled in the accommodating cavity 1354 from the opening 1355 of the limiting seat 1350, so that the operation is convenient and the assembly and disassembly efficiency is high. Preferably, the number of the openings 1355 is four, and the four openings 1355 are respectively disposed on four circumferential sides of the retainer block 1350. In addition, the accommodating cavity 1354 and the opening 1355 on the limiting seat 1350 reduce the weight of the structure thereof, so that the load of the mobile carrier 1000 is reduced, and the motion performance of the mobile carrier 1000 is improved.

Referring to fig. 9, the mobile robot includes a robot arm 2000 and the mobile carrier 1000 described above, wherein the robot arm 2000 is detachably disposed in the robot arm carrier 1110. The specific structure of the mobile carrier 1000 refers to the above embodiments, and since the mobile robot adopts all technical solutions of all the above embodiments, at least all technical effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

Referring to fig. 9, the robot arm 2000 includes a base 2100, a turntable 2200, a large arm 2300, a small arm 2400, and an end effector 2500, which are sequentially connected, and the end effector 2500 is disposed at the end of the small arm 2400.

Referring to fig. 9, the robot arm 2000 further includes:

a second camera assembly 2600, the second camera assembly 2600 being positioned on the end effector 2500 and electrically connected to the control box 1400.

In this embodiment, the mechanical arm 2000 acquires an end image thereof through the second camera assembly 2600 to monitor the working condition of the end effector 2500 in real time; moreover, when the first camera assembly 1600 is arranged on the mobile carrier 1000, the second camera assembly 2600 can cooperate with the first camera assembly 1600 to transmit the shot images to the control box 1400 for unified processing, so that the shooting of the images of the space around the mobile robot is realized, and the working performance of the mobile robot is improved.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.