Mobile vehicles and mobile robots

Abstract

The present invention discloses a mobile carrier and a mobile robot, the mobile carrier comprises a carrier chassis, a main control circuit board, a driving device and a control box, a mechanical arm bearing seat and a control box bearing seat are arranged on the carrier chassis; the main control circuit board is arranged in the carrier chassis; the carrier chassis is mounted on the driving device, and the driving device is electrically connected to the main control circuit board; the control box is detachably arranged in the control box bearing seat, the control box has a communication interface that can output an electrical signal for controlling the mechanical arm, and the control box is electrically connected to the main control circuit board. The mobile carrier of the present invention arranges the controller originally integrated with the mechanical arm as an independent component in the form of a control box on its carrier chassis. When a control failure occurs in the mechanical arm, the control box can be disassembled for inspection and maintenance, and there is no need to disassemble and assemble the mechanical arm. The operation is simple and maintenance is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to a mobile vehicle and a mobile robot. Background Art

[0002] The invention, research and application of robots are based on the needs of scientific research and social production. After years of development, in addition to the continuous improvement of the intelligence level of robots, their application scope has also penetrated from industry to various industries.

[0003] Among them, the robotic arm is the main branch of robots, which are usually desktop-level robotic arms installed on a fixed table and work in a limited workspace. With the update and iteration of robot products, some robotic arms installed on carriers have also appeared on the market. The carriers are moved to achieve the change of working environment, which has expanded the working space to a certain extent, and the application scenarios are no longer limited.

[0004] For a vehicle equipped with a robotic arm, the controller used to control the operation of the robotic arm is usually integrated with the robotic arm, the controller is located inside the base of the robotic arm, and the control panel is exposed on the base of the robotic arm. However, when there is no abnormality in the hardware structure of the robotic arm, but a control failure occurs, the entire robotic arm needs to be removed from the vehicle to repair and debug the controller, which is a cumbersome and inconvenient maintenance process. Summary of the invention

[0005] The main purpose of the present invention is to provide a mobile carrier, aiming to solve the technical problem that the maintenance process of the robot arm controller on the current mobile carrier is complicated and inconvenient.

[0006] To achieve the above object, the present invention provides a mobile vehicle, which includes:

[0007] A carrier chassis, on which a mechanical arm bearing seat and a control box bearing seat are arranged;

[0008] A main control circuit board, wherein the main control circuit board is arranged in the carrier chassis;

[0009] A driving device, the carrier chassis is mounted on the driving device, and the driving device is electrically connected to the main control circuit board; and

[0010] A control box is detachably disposed in the control box bearing seat, the control box is provided with a communication interface capable of outputting an electrical signal for controlling the robot arm, and the control box is electrically connected to the main control circuit board.

[0011] Among them, mobile vehicles also include:

[0012] A battery box is arranged in the vehicle chassis and is electrically connected to the control box and the main control circuit board.

[0013] Among them, mobile vehicles also include:

[0014] Laser radar, the laser radar is installed on the vehicle chassis.

[0015] Among them, mobile vehicles also include:

[0016] Ultrasonic radar: at least one set of ultrasonic radar is installed on each side of the vehicle chassis.

[0017] Among them, mobile vehicles also include:

[0018] The first camera assembly is arranged on the front side of the vehicle chassis and is electrically connected to the main control circuit board.

[0019] The robot arm supporting seat includes a mounting cavity arranged on the upper end surface of the carrier chassis and a mounting component located in the mounting cavity.

[0020] The mounting assembly includes a plurality of clamping blocks which are arranged circumferentially along the inner wall of the mounting cavity and protrude from the inner wall of the mounting cavity, and the clamping blocks abut against the mechanical arm to fix the mechanical arm.

[0021] Among them, the mobile carrier also includes a mounting plate, which is provided with two groups of through holes, and a group of threaded holes are respectively provided on the two sides facing each other of the control box supporting seat and the control box. The two groups of through holes correspond to the positions of the threaded holes on the control box supporting seat and the threaded holes on the control box, respectively, and are fixed by screws. The number of each group of through holes and each group of threaded holes is at least two.

[0022] Among them, the driving device includes at least one set of wheels, a crossbeam connecting the wheels and a motor arranged on the crossbeam. The wheels are driven by the motor, the motor is electrically connected to the main control circuit board, and the crossbeam is located in the vehicle chassis.

[0023] Among them, a mounting seat is provided on the vehicle chassis at the center line position corresponding to the crossbeam, the mounting seat is provided with a rotating shaft hole and a rotating shaft passing through the rotating shaft hole, the rotating shaft is fixedly connected to the crossbeam, a first bearing is provided 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.

[0024] The rotating shaft is also provided with a shaft sleeve located in the rotating shaft hole, and there are two first bearings which are respectively located on opposite sides of the shaft sleeve, and the shaft sleeve is in contact with the inner ring of the first bearing.

[0025] Wherein, the rotating shaft hole comprises a shaft sleeve mounting hole section and two first bearing mounting hole sections respectively located on opposite sides of the shaft sleeve mounting hole section, and the hole diameter of the shaft sleeve mounting hole section is smaller than the hole diameter of the first bearing mounting hole section;

[0026] The rotating shaft comprises a crossbeam connecting section, a first transition section, a first bearing mounting section and a fastening section;

[0027] The shaft diameter of the first transition section is larger than the shaft diameter of the first bearing installation section, and the first transition section abuts against the inner ring of the first bearing close to the crossbeam;

[0028] A fastening assembly is provided at the fastening section and abuts against the inner ring of the first bearing away from the crossbeam;

[0029] The two opposite end surfaces of the mounting seat are provided with limiting pieces located at the peripheral side of the rotating shaft hole and abutting against the outer ring of the first bearing.

[0030] The driving device further comprises a wheel shaft connected to the wheel, a limit seat and a second bearing;

[0031] The two opposite end surfaces of the limiting seat are respectively provided with a wheel shaft hole and a power output shaft hole, the wheel shaft is inserted into the wheel shaft hole, and the power output shaft of the motor is inserted into the power output shaft hole;

[0032] The second bearing sleeve is arranged on the wheel axle and is arranged in the wheel axle hole. The second bearing is fixed axially relative to the limiting seat and the wheel axle.

[0033] Wherein, the driving device further comprises a limiting mechanism disposed on the limiting seat and used for axially limiting the second bearing;

[0034] The limiting mechanism includes a first limiting assembly and a second limiting assembly. The first limiting assembly is located at one end of the wheel axle hole close to the power output shaft, the second limiting assembly is located at the other end of the wheel axle hole, and the second bearing is located between the first limiting assembly and the second limiting assembly.

[0035] Among them, the diameter of the wheel axle is larger than the diameter of the power output shaft, and a power output shaft socket matched with the end of the power output shaft is provided at one end of the wheel axle facing the power output shaft, and the end of the power output shaft is inserted into the power output shaft socket.

[0036] Among them, a plurality of fasteners which penetrate into the insertion hole of the power output shaft and abut against the power output shaft are arranged on the circumferential side surface of the wheel shaft.

[0037] The limiting seat is provided with a receiving cavity located between the wheel shaft hole and the power output shaft hole and at least one opening located on its circumferential side and connected with the receiving cavity, and the fastener is located in the receiving cavity.

[0038] The present invention further provides a mobile robot, which includes a mechanical arm and the aforementioned mobile carrier, wherein the mechanical arm is detachably disposed in a mechanical arm bearing seat.

[0039] The robot arm includes a base, a turntable, a large arm, a small arm and an end effector which are connected in sequence, and the end effector is arranged at the end of the small arm.

[0040] The robotic arm also includes:

[0041] The second camera assembly is located on the end effector and is electrically connected to the control box.

[0042] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0043] This mobile vehicle sets the controller that was originally integrated with the robotic arm in the form of a control box as an independent component on its vehicle chassis. When a control failure occurs in the robotic arm, the control box can be removed for inspection and maintenance without the need to disassemble and assemble the robotic arm. The operation is simple and maintenance is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a structural schematic diagram of a mobile carrier in one embodiment of the present invention;

[0045] Figure 2 for Figure 1 Schematic diagram of the explosion structure of the mobile vehicle;

[0046] Figure 3 for Figure 2 A schematic diagram of the structure of a part of the mobile vehicle;

[0047] Figure 4 for Figure 2 A schematic diagram of the explosion structure of another part of the mobile vehicle;

[0048] Figure 5 for Figure 2 A schematic diagram of a part of the structure of the driving device of the mobile vehicle;

[0049] Figure 6 for Figure 5 An exploded structural diagram of the structure shown;

[0050] Figure 7 for Figure 5 a cross-sectional view of the structure shown;

[0051] Figure 8 for Figure 5 Another exploded structural diagram of the structure shown;

[0052] Fig. 9 Schematic diagram of the structure of a mobile robot in one embodiment of the present invention. DETAILED DESCRIPTION

[0053] The scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] The present invention provides a mobile vehicle 1000, referring to Figure 1 and Figure 2 , the mobile vehicle 1000 comprises:

[0055] A carrier chassis 1100 , on which a robot arm bearing seat 1110 and a control box bearing seat 1120 are disposed;

[0056] A main control circuit board 1200 , which is disposed in the carrier chassis 1100 ;

[0057] A driving device 1300, the carrier chassis 1100 is mounted on the driving device 1300, and the driving device 1300 is electrically connected to the main control circuit board 1200; and,

[0058] The control box 1400 is detachably disposed in the control box support seat 1120 . The control box 1400 has a communication interface that can output electrical signals for controlling the robot arm. The control box 1400 is electrically connected to the main control circuit board 1200 .

[0059] The mobile carrier 1000 of this embodiment is mainly used to carry a robotic arm to perform mobile operations. Specifically, the mobile carrier 1000 is composed of a carrier chassis 1100, a main control circuit board 1200, a drive device 1300 and a control box 1400, wherein the carrier chassis 1100 is the main body of the mobile carrier 1000, and the robotic arm and the control box 1400 for controlling the operation of the robotic arm are correspondingly detachably arranged on the robotic arm support seat 1110 and the control box support seat 1120 of the carrier chassis 1100. There are many forms of detachable connection, including snap-on connection, screw connection, etc., which can be set according to actual conditions. The control box 1400 can output electrical signals to the robotic arm to control the operation of the controller by connecting a signal line between its communication interface and the robotic arm. Refer to Figure 1 The robot arm support seat 1110 and the control box support seat 1120 are located on the upper end surface of the mobile carrier 1000 and are arranged adjacent to each other to facilitate the wiring between the control box 1400 and the robot arm; and the control box 1400 can be a square box body, which, in addition to the communication interface, also has other types of interfaces, control buttons and display screens, etc., which are distributed on different surfaces of the box body.

[0060] The main control circuit board 1200, as the main control part of the mobile vehicle 1000, is mainly used to control the movement of the mobile vehicle 1000, and is arranged in the vehicle 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 vehicle 1000 to move. The driving device 1300 involved generally includes a wheel, a wheel frame for mounting the wheel, a driving motor for providing power for the wheel, etc. In addition, the main control circuit board 1200 can also be electrically connected to the control box 1400 to achieve data communication, control coordination and functional collaboration between the mobile vehicle 1000 and the robotic arm.

[0061] The mobile carrier 1000 of this embodiment has the controller that was originally integrated with the robotic arm set as an independent component in the form of a control box 1400 on its carrier chassis 1100. When a control failure occurs in the robotic arm, the control box 1400 can be removed for inspection and maintenance without the need to disassemble and assemble the robotic arm. The operation is simple and maintenance is convenient.

[0062] Reference Figure 2 , the mobile vehicle 1000 also includes:

[0063] The battery box 1500 is disposed in the vehicle chassis 1100 and is electrically connected to the control box 1400 and the main control circuit board 1200 .

[0064] The battery box 1500 in this embodiment is the power supply of the mobile vehicle 1000, and the control box 1400, the robotic arm and the main control circuit board 1200 are powered by the battery box. That is, the control box 1400 and the robotic arm do not need to be powered by a separate power supply, which saves space, reduces the weight of the mobile vehicle 1000, and reduces the cost. As a preferred design, the battery box 1500 is arranged at the rear of the vehicle chassis 1100, and two are installed side by side. In addition, the battery box 1500 can be connected to the control box 1400 via a power supply line, and the control box 1400 is then connected to the main control circuit board 1200 via a power supply line, thereby simplifying the power wiring.

[0065] The mobile vehicle 1000 also includes:

[0066] Laser radar, the laser radar is installed on the vehicle chassis 1100.

[0067] In this embodiment, the mobile vehicle 1000 scans surrounding obstacles through an ultrasonic radar provided on the vehicle chassis 1100 so as to avoid obstacles during its movement.

[0068] Reference Figure 1 , the mobile vehicle 1000 also includes:

[0069] Ultrasonic radar 1600 , at least one set of ultrasonic radar 1600 is disposed on each side of the vehicle chassis 1100 .

[0070] In this embodiment, the mobile vehicle 1000 is provided with an ultrasonic radar 1600 on the vehicle chassis 1100 so as to avoid obstacles during its movement; specifically, at least one set of ultrasonic radars 1600 is provided on each side of the vehicle chassis 1100 so as to avoid obstacles in multiple directions for the mobile vehicle 1000, thereby expanding the obstacle avoidance range and improving safety. Of course, in addition to the ultrasonic radar 1600, obstacle avoidance can also use infrared sensors or collision switches.

[0071] Reference Figure 1 , the mobile vehicle 1000 also includes:

[0072] The first camera assembly 1700 is disposed on the front side of the vehicle chassis 1100 and is electrically connected to the main control circuit board 1200 .

[0073] In this embodiment, the mobile vehicle 1000 uses the first camera assembly 1700 to obtain the moving trajectory on the road surface, realize line-finding navigation, and thus prevent deviation from its moving path. In addition, the first camera assembly 1700 can also automatically identify obstacles on the moving path to assist the mobile vehicle 1000 in moving and avoiding obstacles.

[0074] Reference Figure 1 The robot arm support seat 1110 includes a mounting cavity 1111 disposed on the upper end surface of the carrier chassis 1100 and a mounting assembly located in the mounting cavity. In this embodiment, the mounting cavity 1111 is adapted to the shape and size of the base of the robot arm. The robot arm support seat 1110 places the base of the robot arm through the mounting cavity 1111, and uses the mounting assembly to fix the base of the robot arm to achieve the setting of the robot arm. The structural form of the mounting assembly can be various, for example, the mounting assembly includes a plurality of screws, and the plurality of screws are arranged around the base of the robot arm and fixed in the mounting cavity. Of course, the structural form of this mounting assembly is only exemplary and not restrictive.

[0075] Reference Figure 1 The installation assembly includes a plurality of blocks 1112 that are arranged along the inner wall of the installation cavity 1111 in the circumferential direction and protrude from the inner wall of the installation cavity 1111. The blocks 1112 abut against the robot arm to fix the robot arm. In this embodiment, the installation assembly abuts against the circumferential side of the base of the robot arm through the plurality of blocks 1112 so as to assemble the base of the robot arm in the installation cavity 1111. The arrangement is stable and easy to assemble and disassemble. The blocks 1112 are integrally formed with the inner wall of the installation cavity 1111. The number and location of the blocks 1112 are set according to actual conditions. In this embodiment, refer to Figure 1There can be three blocks 1112, one corresponding to the middle position of the front side of the robot arm base, and the other two corresponding to the two side positions of the rear side of the robot arm base.

[0076] Reference Figure 2 The mobile carrier 1000 further includes a mounting plate 1800, on which two groups of through holes are provided, and on the two sides facing each other of the control box bearing seat 1120 and the control box 1400, a group of threaded holes are provided, and the two groups of through holes correspond to the positions of the threaded holes on the control box bearing seat 1120 and the threaded holes on the control box 1400, respectively, and are connected and fixed by screws, and the number of each group of through holes and each group of threaded holes is at least two. In this embodiment, the control box 1400 is first connected and fixed to the mounting plate 1800 by screws, and the mounting plate 1800 is then connected and fixed to the control box bearing seat 1120 by screws, so as to realize the detachable setting of the control box 1400 on the control box bearing seat 1120.

[0077] Reference Figure 3 The driving device 1300 includes at least one set of wheels 1310, a crossbeam 1320 connected to the wheels 1310, and a motor 1330 disposed on the crossbeam 1320. The wheels 1310 are driven by the motor 1330. The motor 1330 is electrically connected to the main control circuit board 1200. The crossbeam 1320 is located in the vehicle chassis 1100. In this embodiment, a motor 1330 may be correspondingly disposed for each wheel 1310. Each motor 1330 starts and stops by receiving a control signal from the main control circuit board 1200, and starts to drive or stops driving the wheel 1310 to rotate accordingly.

[0078] Reference Figure 3 and Figure 4, a mounting seat 1130 is provided on the carrier chassis 1100 at a centerline position corresponding to the cross beam 1320, a rotating shaft hole 1131 and a rotating shaft 1140 passing through the rotating shaft hole 1131 are provided on the mounting seat 1130, the rotating shaft 1140 is fixedly connected to the cross beam 1320, a first bearing 1150 is provided 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 seat 1130 can be a square seat body, and is connected and fixed to the carrier chassis 1100 by screws. The rotating shaft hole 1131 on the mounting seat 1130 is set through two opposite side surfaces thereof, the rotating shaft 1140 is passed through the first bearing 1150 and installed in the rotating shaft hole 1131, and one end is fixedly connected to the cross beam 1320. In this embodiment, the mounting base 1130 and the rotating shaft 1140 provided on the vehicle chassis 1100 are used to realize the installation of the crossbeam 1320 on the vehicle chassis 1100; moreover, when the mobile vehicle 1000 encounters an uneven road surface during its movement, the crossbeam 1320 can swing at a certain angle relative to the vehicle chassis 1100 along with the rotating shaft 1140, so that the vehicle body is not prone to rollover, thereby improving the movement stability.

[0079] Reference Figure 4 The shaft 1140 is also sleeved with a sleeve 1160 located in the shaft hole 1131. There are two first bearings 1150, which are respectively located on opposite sides of the sleeve 1160. The sleeve 1160 abuts against the inner ring of the first bearing 1150. In this embodiment, two first bearings 1150 are provided to jointly support the shaft 1140, thereby improving the structural stability. In addition, the sleeves 1160 are provided to abut against the inner rings of the two first bearings 1150, respectively, so as to limit the installation of the two first bearings 1150.

[0080] Reference Figure 4 The shaft hole 1131 includes a shaft sleeve mounting hole section and two first bearing mounting hole sections respectively located on opposite sides of the shaft sleeve mounting hole section, and the hole diameter of the shaft sleeve mounting hole section is smaller than the hole diameter of the first bearing mounting hole section;

[0081] The rotating shaft 1140 includes a beam connecting section, a first transition section, a first bearing mounting section and a fastening section;

[0082] The shaft diameter of the first transition section is greater than the shaft diameter of the first bearing installation section, and the first transition section abuts against the inner ring of the first bearing 1150 close to the crossbeam 1320;

[0083] A fastening assembly 1170 is provided at the fastening section and abuts against the inner ring of the first bearing 1150 away from the crossbeam 1320;

[0084] Two opposite end surfaces of the mounting seat 1130 are provided with stoppers located around the rotating shaft hole 1131 and abutting against the outer ring of the first bearing 1150 .

[0085] 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 limit member and the sleeve mounting hole section, and the two sides of its inner ring are axially abutted by the first transition section and the sleeve 1160, so as to achieve axial fixation relative to the rotating shaft 1140 and the mounting seat 1130; for the first bearing 1150 far from the cross beam 1320, the two sides of its outer ring are axially abutted by the limit member and the sleeve mounting hole section, and the two sides of its inner ring are abutted by the fastening assembly 1170 and the sleeve 1160, so as to achieve axial fixation relative to the rotating shaft 1140 and the mounting seat 1130. The fastening assembly 1170 includes a fastening ring 1171 and a fastening sleeve 1172 which are sleeved on the rotating shaft 1140 and abut against each other. The fastening ring 1171 abuts against the inner ring of the first bearing 1150, and a plurality of screws abutting against the rotating shaft 1140 are pierced on the circumferential side surface of the fastening sleeve 1172. The position limiting member is a plurality of screws 10, which are arranged around the rotating shaft hole 1131, and the mounting seat 1130 is correspondingly provided with screw holes, and the screw rods of the screws 10 are inserted into the screw holes, and the heads of the screws 10 abut against the outer ring of the first bearing 1150.

[0086] Further, refer to Figure 4 , a shaft insertion hole 1321 is provided on the crossbeam 1320;

[0087] The crossbeam connecting section includes an inserting portion 1141 inserted into and matched with the rotating shaft inserting hole 1321 and a connecting portion 1142 fixedly connected to the crossbeam 1320 .

[0088] In this embodiment, the rotating shaft 1140 is inserted into the rotating shaft socket 1321 of the beam 1320 through the insertion portion 1141 of its beam connecting section, and at the same time, the connecting portion 1142 of the beam connecting section corresponds to the beam 1320. Based on this, a plurality of screws are inserted between the connecting portion 1142 and the beam 1320 to achieve the connection and fixation of the rotating shaft 1140 and the beam 1320.

[0089] Reference Figure 3 , Figure 5 , Figure 6 and Figure 7 , the driving device 1300 further includes a wheel shaft 1340 connected to the wheel 1310, a limiting seat 1350 and a second bearing 1360;

[0090] 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 inserted into the wheel shaft hole 1351, and the power output shaft 1331 of the motor 1330 is inserted into the power output shaft hole 1352;

[0091] The second bearing 1360 is sleeved on the wheel axle 1340 and disposed in the wheel axle hole 1351 . The second bearing 1360 is axially fixed relative to the limiting seat 1350 and the wheel axle 1340 .

[0092] In this embodiment, the limiting seat 1350 can be a square seat body, and is connected and fixed to the crossbeam 1320 by screws. The motor 1330 is a reduction motor, and its power output shaft 1331 extends from the reducer of the motor 1330. The power output shaft 1331 of the motor 1330 and the wheel shaft 1340 are correspondingly inserted into the power output shaft hole 1352 and the wheel shaft hole 1351 of the limiting seat 1350 and connected by docking. The wheel shaft 1340 can rotate around its own axis on the limiting seat 1350 through the second bearing 1360. Among them, the inner ring of the second bearing 1360 can be connected and fixed to the wheel shaft 1340 by a fixing method such as interference fit, and the outer ring of the second bearing 1360 can be connected and fixed to the limiting seat 1350 by an interference fit, gluing or other structural limiting fixing methods, so as to realize the axial fixation of the second bearing 1360 relative to the limiting seat 1350 and the wheel shaft 1340. The driving device 1300 in this embodiment axially limits the wheel shaft 1340 through the limit seat 1350 fixed on the cross beam 1320 and the second bearing 1360 arranged therein and axially fixed relative to the limit seat 1350, thereby achieving stable rotation of the wheel shaft 1340 without being affected by the axial displacement of the power output shaft 1331, making it difficult for the wheel to shake, thereby improving control accuracy.

[0093] The driving device 1300 further includes a limiting mechanism disposed on the limiting seat 1350 and used for axially limiting the second bearing 1360;

[0094] The limiting mechanism includes a first limiting assembly and a second limiting assembly. The first limiting assembly is located at one end of the wheel shaft 1351 close to the power output shaft 1331, and the second limiting assembly is located at the other end of the wheel shaft 1351. The second bearing 1360 is located between the first limiting assembly and the second limiting assembly.

[0095] In this embodiment, the limiting mechanism uses its first limiting assembly and the second limiting assembly to axially limit the second bearing 1360 on opposite sides of the second bearing 1360, so that it is fixedly installed in the wheel shaft 1351. The first limiting assembly and the second limiting assembly can have various structural forms, for example, the first limiting assembly or the second limiting assembly includes a retaining ring, the retaining ring is fixed on the limiting seat 1350 by a plurality of screws, the retaining ring is matched with the second bearing 1360 and abuts against the outer ring of the second bearing 1360, thereby limiting the movement of the second bearing 1360 on the limiting seat 1350. Of course, the above structural forms are only exemplary and not restrictive, and can also be other.

[0096] Specifically, refer to Figure 8 , the first limiting assembly includes an annular step 1353 extending radially inward from the inner wall of the wheel shaft hole 1351, and the annular step 1353 abuts against the outer ring of the second bearing 1360. In this embodiment, the first limiting assembly abuts against the outer ring of the second bearing 1360 through the annular step 1353 integrally formed with the limiting seat 1350 to limit the second bearing 1360 from moving on the limiting seat 1350 toward the power output shaft 1331. And when installing the second bearing 1360, it only needs to abut it with the annular step 1353, and no assembly operation of additional structural components is required, which is convenient for installation. The second limiting assembly includes a plurality of screws 10 arranged around the wheel shaft hole 1351, and the limiting seat 1350 is correspondingly provided with a screw hole, and the screw rod of the screw 10 is inserted into the screw hole, and the head of the screw 10 abuts against the outer ring of the second bearing 1360. In this embodiment, the second limiting assembly abuts against the outer ring of the second bearing 1360 through the heads of several screws 10 arranged around the wheel axle 1351 to limit the movement of the second bearing 1360 on the limiting seat 1350 away from the power output shaft 1331. The structure is simple and easy to disassemble and assemble.

[0097] Reference Figure 6 and Figure 7 , the diameter of the wheel shaft 1340 is larger than the diameter of the power output shaft 1331, and the end of the wheel shaft 1340 facing the power output shaft 1331 is provided with a power output shaft plug hole 1341 adapted to the end of the power output shaft 1331, and the end of the power output shaft 1331 is inserted into the power output shaft plug hole 1341. In this embodiment, the end of the power output shaft 1331 is inserted into the power output shaft plug hole 1341 of the wheel shaft 1340 and contacts the bottom of the power output shaft plug hole 1341 to achieve docking assembly with the wheel shaft 1340. Among them, the depth of the power output shaft plug hole 1341 is set according to actual needs and is not limited here.

[0098] Reference Figure 6 and Figure 7 The circumferential side of the wheel axle 1340 is provided with a plurality of fasteners 20 that penetrate into the power output shaft insertion hole 1341 and abut against the power output shaft 1331. In this embodiment, the wheel axle 1340 abuts against the power output shaft 1331 through the plurality of fasteners 20, so that the wheel axle 1340 and the power output shaft 1331 are locked and fixed in the axial direction. Based on this, the power output shaft 1331 can drive the wheel axle 1340 to rotate synchronously when rotating. Figure 4 In actual configuration, there may be three fasteners 20 , which are arranged in sequence and spaced apart around the wheel axle 1340 .

[0099] Furthermore, the end of the power output shaft 1331 is configured with an axial plane 1331a, wherein at least one fastener 20 abuts against the axial plane 1331a of the end of the power output shaft 1331. In this embodiment, the friction between the fastener 20 and the power output shaft 1331 can be increased by the axial plane 1331a configured at the end of the power output shaft 1331 and at least one fastener 20 abutting against it, so as to further strengthen the connection stability between the power output shaft 1331 and the wheel shaft 1340, thereby improving the transmission stability.

[0100] Reference Figure 6 and Figure 7 The limiting seat 1350 is provided with a receiving chamber 1354 located between the wheel axle 1351 and the power output shaft hole 1352 and at least one opening 1355 located on its circumferential side and connected to the receiving chamber 1354, and the fastener 20 is located in the receiving chamber 1354. In this embodiment, the fastener 20 on the wheel axle 1340 can be assembled or disassembled in the receiving chamber 1354 from the opening 1355 of the limiting seat 1350, which is convenient to operate and has high disassembly efficiency. As a preferred design, there are four openings 1355, and the four openings 1355 are respectively arranged on the four circumferential sides of the limiting seat 1350. In addition, the arrangement of the receiving chamber 1354 and the opening 1355 on the limiting seat 1350 realizes the weight reduction of its own structure, thereby reducing the load of the mobile vehicle 1000 and improving the movement performance of the mobile vehicle 1000.

[0101] The present invention also provides a mobile robot, referring to Fig. 9 The mobile robot comprises a mechanical arm 2000 and the aforementioned mobile carrier 1000, and the mechanical arm 2000 is detachably arranged in the mechanical arm bearing seat 1110. The specific structure of the mobile carrier 1000 refers to the above embodiment. Since the mobile robot adopts all the technical solutions of all the above embodiments, it has at least all the technical effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0102] Reference 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 connected in sequence, and the end effector 2500 is arranged at the end of the small arm 2400 .

[0103] Reference Fig. 9 , the robot arm 2000 also includes:

[0104] The second camera assembly 2600 is located on the end effector 2500 and is electrically connected to the control box 1400 .

[0105] In this embodiment, the robotic arm 2000 obtains its end image through the second camera assembly 2600 to monitor the working condition of the end effector 2500 in real time; and, when the first camera assembly 1600 is provided on the mobile vehicle 1000, the second camera assembly 2600 can cooperate with the first camera assembly 1600 to transmit the captured image to the control box 1400 for unified processing, thereby realizing the capture of the spatial image around the mobile robot and improving the working performance of the mobile robot.

[0106] The above description is only a partial or preferred embodiment of the present invention. Neither the text nor the drawings can limit the scope of protection of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the overall concept of the present invention, or direct / indirect application in other related technical fields are included in the scope of protection of the present invention.

Claims

1. A mobile vehicle, characterized in that: include: A carrier chassis, on which a mechanical arm bearing seat and a control box bearing seat are arranged; A main control circuit board, wherein the main control circuit board is arranged in the carrier chassis; A driving device, the carrier chassis is mounted on the driving device, and the driving device is electrically connected to the main control circuit board; and A control box, the control box is detachably disposed in the control box bearing seat, the control box has a communication interface capable of outputting an electrical signal for controlling the robot arm, and the control box is electrically connected to the main control circuit board; A battery box, the battery box is arranged in the vehicle chassis and is electrically connected to the control box and the main control circuit board; The driving device comprises at least one set of wheels, a crossbeam connecting the wheels, and a motor arranged on the crossbeam, the wheels are driven by the motor, the motor is electrically connected to the main control circuit board, and the crossbeam is located in the vehicle chassis; A mounting seat is provided on the carrier chassis at a position corresponding to the center line of the crossbeam, the mounting seat is provided with a rotating shaft hole and a rotating shaft passing through the rotating shaft hole, the rotating shaft is fixedly connected to the crossbeam, a first bearing is provided 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; The rotating shaft is also sleeved with a shaft sleeve located in the rotating shaft hole, the first bearings are two and are respectively located on opposite sides of the shaft sleeve, and the shaft sleeve abuts against the inner ring of the first bearing; The rotating shaft hole comprises a shaft sleeve mounting hole section and two first bearing mounting hole sections respectively located on opposite sides of the shaft sleeve mounting hole section, and the hole diameter of the shaft sleeve mounting hole section is smaller than the hole diameter of the first bearing mounting hole section; The rotating shaft comprises a crossbeam 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 the shaft diameter of the first bearing installation section, and the first transition section abuts against the inner ring of the first bearing close to the crossbeam; The fastening section is provided with a fastening assembly abutting against the inner ring of the first bearing away from the crossbeam; The two opposite end surfaces of the mounting seat are provided with stoppers located at the circumference of the rotating shaft hole and abutting against the outer ring of the first bearing.

2. The mobile vehicle according to claim 1, characterized in that: Also includes: Laser radar, the laser radar is arranged on the vehicle chassis.

3. The mobile vehicle according to claim 1, characterized in that: Also includes: Ultrasonic radar: at least one set of the ultrasonic radar is arranged on each side of the vehicle chassis.

4. The mobile vehicle according to claim 1, characterized in that: Also includes: A first camera assembly is disposed on the front side of the vehicle chassis and is electrically connected to the main control circuit board.

5. The mobile vehicle according to claim 1, characterized in that: The robot arm supporting seat includes a mounting cavity arranged on the upper end surface of the carrier chassis and a mounting component located in the mounting cavity.

6. The mobile vehicle according to claim 5, characterized in that: The mounting assembly comprises a plurality of clamping blocks which are arranged along the circumference of the inner wall of the mounting cavity and protrude from the inner wall of the mounting cavity, and the clamping blocks abut against the mechanical arm to fix the mechanical arm.

7. The mobile vehicle according to claim 1, characterized in that: It also includes a mounting plate, which is provided with two groups of through holes, and each of the two sides of the control box supporting base and the control box facing each other is provided with a group of threaded holes, the two groups of through holes respectively correspond to the positions of the threaded holes on the control box supporting base and the threaded holes on the control box and are fixed by screws, and the number of each group of through holes and each group of threaded holes is at least two.

8. The mobile vehicle according to claim 1, characterized in that: The driving device also includes a wheel shaft, a limit seat and a second bearing connected to the wheel; The two opposite end surfaces of the limit seat are respectively provided with a wheel shaft hole and a power output shaft hole, the wheel shaft is inserted into the wheel shaft hole, and the power output shaft of the motor is inserted into the power output shaft hole; The second bearing is sleeved on the wheel axle and arranged in the wheel axle hole. The second bearing is axially fixed relative to the limiting seat and the wheel axle.

9. The mobile vehicle according to claim 8, characterized in that: The driving device further comprises a limiting mechanism disposed on the limiting seat and used for axially limiting the second bearing; The limiting mechanism includes a first limiting assembly and a second limiting assembly. The first limiting assembly is located at one end of the wheel axle hole close to the power output shaft, the second limiting assembly is located at the other end of the wheel axle hole, and the second bearing is located between the first limiting assembly and the second limiting assembly.

10. The mobile vehicle according to claim 8, characterized in that: The diameter of the wheel axle is larger than the diameter of the power output shaft, and one end of the wheel axle facing the power output shaft is provided with a power output shaft socket matched with the end of the power output shaft, and the end of the power output shaft is inserted into the power output shaft socket.

11. The mobile vehicle according to claim 10, characterized in that: A plurality of fasteners are provided on the circumferential side surface of the wheel shaft, which penetrate into the power output shaft insertion hole and abut against the power output shaft.

12. The mobile vehicle according to claim 11, characterized in that: The limiting seat is provided with a containing cavity located between the wheel shaft hole and the power output shaft hole and at least one opening located on its circumferential side and connected with the containing cavity, and the fastener is located in the containing cavity.

13. A mobile robot, characterized in that: It comprises a robotic arm and a mobile carrier as described in any one of claims 1 to 12, wherein the robotic arm is detachably arranged in the robotic arm supporting seat.

14. The mobile robot according to claim 13, characterized in that: The mechanical arm comprises a base, a turntable, a large arm, a small arm and an end effector which are connected in sequence, and the end effector is arranged at the end of the small arm.

15. The mobile robot according to claim 14, characterized in that: The robotic arm also includes: A second camera assembly is located on the end effector and is electrically connected to the control box.

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