A movable base

Abstract

The embodiment of this specification provides a movable base, including a base and a front drive assembly and a rear wheel installed at the lower end of the base. There are two groups of front drive assemblies; each group of front drive assemblies includes a motor, a front drive wheel, a transmission mechanism, a manual clutch mechanism and a front drive bottom plate; the motor, the front drive wheel, the transmission mechanism, and the manual clutch mechanism are fixedly connected to the base through the front drive bottom plate; the manual clutch mechanism includes an out-of-gear position and an in-gear position; when the manual clutch mechanism is in the in-gear position, the motor is connected to the front drive wheel through the transmission mechanism, and the front drive wheel of each group of front drive assemblies can move under the drive of its corresponding motor; when the manual clutch mechanism is in the out-gear position, the motor is disconnected from the front drive wheel, and the front drive wheel can be pushed by an external force. The movable base has a sensitive front drive wheel, a motor-assisted power supply, can be pushed quickly, and brakes quickly. It is equipped with a manual clutch, and the motor drive can also be separated from the front drive wheel when the motor is powered off, so that artificial external force can be achieved, and it is easy to use.

Description

Technical Field

[0001] The present invention relates to the field of robot mobile equipment, and in particular to a movable base. Background Art

[0002] In recent years, surgical robots have been increasingly used in operating rooms to assist doctors in laparoscopic surgery, bladder surgery and other surgeries. The surgical robot mainly consists of a movable base, a robotic device mounted on the movable base, and surgical tools at the far end of the robotic device. In actual use, emergency surgeries are often encountered, requiring medical staff to quickly push the surgical robot into place, and to be able to quickly stop it and the base to be stable enough to ensure the precise control of the surgical tools at the far end of the robotic device and ensure the normal progress of the operation. Therefore, the surgical robot requires a base that can move quickly and stop stably. Summary of the invention

[0003] One of the embodiments of the present specification provides a movable base, including a base and a front-drive assembly and a rear wheel installed at the lower end of the base; the front-drive assembly has two groups; each group of the front-drive assembly includes a motor, a front-drive wheel, a transmission mechanism, a manual clutch mechanism and a front-drive base plate; the motor, the front-drive wheel, the transmission mechanism and the manual clutch mechanism are fixedly connected to the base through the front-drive base plate; the manual clutch mechanism includes an out-of-gear position and an in-gear position; when the manual clutch mechanism is in the in-gear position, the motor is connected to the front-drive wheel through the transmission mechanism, and the front-drive wheel of each group of the front-drive assembly can move under the drive of its corresponding motor; when the manual clutch mechanism is in the out-of-gear position, the motor is disconnected from the front-drive wheel, and the front-drive wheel can be pushed by an external force.

[0004] In some embodiments, the manual clutch mechanism includes a clutch handle, a connecting column, a clutch elbow, a clutch pin and a groove; the clutch handle is fixedly connected to the clutch elbow through the connecting column; the clutch pin is fixedly connected to the clutch elbow; the groove is opened on the front drive bottom plate; the clutch pin is embedded in the groove.

[0005] In some embodiments, the groove includes a clutch groove and a clutch groove corresponding to the clutch position and the clutch position, respectively; when the clutch pin is embedded in the clutch groove, the manual clutch mechanism is in the clutch position; when the clutch pin is embedded in the clutch groove, the manual clutch mechanism is in the clutch position; the included angle between the clutch groove and the clutch groove is 90°; accordingly, when the clutch handle is used to shift gears, the clutch handle rotates 90° to drive the clutch elbow to rotate 90°.

[0006] In some embodiments, the clutch handle is located on the upper end surface of the base; rotating the clutch handle can control the clutch stop pin to be embedded in the clutch groove or the clutch groove.

[0007] In some embodiments, the manual clutch mechanism also includes a handle spring; the handle spring is sleeved on the clutch elbow, one end of the handle spring is fixedly connected to the connecting column, and the other end of the handle spring is abutted against the front drive bottom plate; the rebound force of the handle spring can make the clutch pin tightly attached to the groove.

[0008] In some embodiments, the transmission mechanism includes a driving gear, a passive gear, a driving sprocket and a passive sprocket; the driving gear is transmission-connected to the output end of the motor; the driving gear and the passive gear are meshed for transmission; the driving sprocket is transmission-connected to the passive gear; the driving sprocket and the passive sprocket are transmission-connected via a transmission chain; the passive sprocket is coaxially fixed to the axial side of the front drive wheel.

[0009] In some embodiments, the motor is connected to the driving gear through a reducer; the reducer is fixedly connected to the front drive bottom plate. The driving gear is fixedly connected to the transmission shaft of the reducer, axially positioned by bolt compression, and radially positioned by set screws.

[0010] In some embodiments, the transmission mechanism also includes a reset spring; the reset spring is sleeved on the outer side of the rotating shaft, located on the axial side of the passive gear and away from the side of the motor; when the manual clutch mechanism is in the engaged position, the passive gear is meshed with the active gear under the elastic force of the reset spring; when the manual clutch mechanism is in the disengaged position, the passive gear is separated from the active gear under the control of the manual clutch mechanism.

[0011] In some embodiments, the clutch elbow is located on the axial side of the passive gear and close to the outer circumference of the passive gear; when the clutch stop pin is embedded in the engagement groove, the passive gear is meshed with the driving gear, and the transmission mechanism realizes transmission; when the clutch stop pin is rotated and embedded in the clutch groove under the drive of the clutch handle, the clutch elbow drives the passive gear to translate along its axial direction until it disengages from the driving gear, and the transmission mechanism cannot transmit.

[0012] In some embodiments, the front drive wheel is mounted on the front drive bottom plate via a front wheel axle seat; a front wheel axle is mounted on the front wheel axle seat, and the front drive wheel is sleeved on the front wheel axle. Two locating bearings are also mounted on the front wheel axle seat, and the two locating bearings are mounted on both sides of the axial direction of the front drive wheel.

[0013] In some embodiments, the movable base further comprises a foot brake device; a friction layer is provided on the bottom end surface of the foot brake device; the friction layer can be in contact with the ground to achieve braking of the foot brake device. Preferably, the friction layer is a rubber layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0015] Figure 1 is a schematic diagram of the structure of a movable base according to some embodiments of this specification;

[0016] Figure 2 is a front view of a manual clutch mechanism of a movable base according to some embodiments of the present specification when the manual clutch mechanism is in an out-of-gear position;

[0017] Figure 3 yes Figure 2 The enlarged schematic diagram of point A in the middle;

[0018] Figure 4 is a bottom view of a manual clutch mechanism of a movable base in an out-of-gear position according to some embodiments of the present specification;

[0019] Figure 5 yes Figure 4 The enlarged schematic diagram of point B in the middle;

[0020] Figure 6 yes Figure 5 The enlarged schematic diagram of the center C;

[0021] Figure 7 is a front view of a manual clutch mechanism of a movable base in some embodiments of the present specification when the manual clutch mechanism is in a gear-engaging position;

[0022] Figure 8 yes Figure 7 The enlarged schematic diagram of point D in the middle;

[0023] Fig. 9 is a bottom view of the manual clutch mechanism of the movable base shown in some embodiments of this specification when it is in a gear-engaging position;

[0024] Fig.10 yes Fig. 9 The enlarged schematic diagram of point E in the middle;

[0025] Fig.11 yes Fig.10 Enlarged schematic diagram of point F in the middle. DETAILED DESCRIPTION

[0026] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0027] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0028] With the continuous development of medical technology and modern science and technology, the use of surgical robots to perform surgery on patients is becoming more and more widespread. When performing surgery, surgical robots need a more stable base to ensure the accuracy of the surgical end, and a more flexible movement method to put the surgical robot in a position that is more conducive to the operation, and to facilitate medical staff to push and stop. Therefore, this specification proposes a movable base that is flexible in movement and stable in stopping.

[0029] Figure 1 1 is a schematic diagram of the structure of the movable base shown in some embodiments of this specification. The movable base involved in the embodiments of this specification will be described in detail below. It should be noted that the following embodiments are only used to explain this application and do not constitute a limitation on this application.

[0030] A movable base, such as Figure 1As shown, it includes a base 100 and a front drive assembly 200 and a rear wheel 300 installed at the lower end of the base 100; the rear wheel 300 is a universal wheel. The front drive assembly 200 has two groups, which are two independently moving active wheels of the movable base and a power assembly that drives the two active wheels respectively. Each group of the front drive assembly 200 includes a motor 201, a front drive wheel 202, a transmission mechanism 203, a manual clutch mechanism 204 and a front drive bottom plate 205. The motor 201, the front drive wheel 202, the transmission mechanism 203, and the manual clutch mechanism 204 are fixedly connected to the base 100 through the front drive bottom plate 205. The manual clutch mechanism 204 includes a gear-off position and a gear-on position. When the manual clutch mechanism 204 is in the gear-on position, the motor 201 is connected to the front drive wheel 202 through the transmission mechanism 203, and the front drive wheel 202 of each group of the front drive assembly 200 can move under the drive of its corresponding motor 201. The motor 201 is controlled by the control system of the movable base. The control system is connected to the two motors 201 respectively. The rotation speed of the front drive wheel 202 is controlled by the motor 201. The two front drive wheels 202 can be controlled to rotate at the same speed, so that the movable base can move forward or backward as a whole. The motor drive assist can reduce the burden of medical staff pushing the movable base. The two motors 201 can also be controlled to output different rotation speeds to control the different rotation speeds of the two front drive wheels 202, so as to control the turning direction and turning speed of the movable base. The front wheels can turn differentially and turn flexibly. The motor 201 is equipped with an encoder, which can record motor data, monitor the running status and speed of the motor, facilitate maintenance and clarify whether the motor is operating normally. The motor is powered on to start and powered off to brake. When the manual clutch mechanism 204 is in the out-of-gear position, the motor 201 is disconnected from the transmission connection with the front drive wheel 202, and the front drive wheel 202 can be pushed by external force. Therefore, even when the motor 201 is completely powered off, the movable base can be separated from the front drive wheel 202 by the manual clutch mechanism 204, switching to a mode where the movable base is manually pushed, thus solving the problem of being unable to move due to power failure of the motor.

[0031] Figure 2 is a front view of a manual clutch mechanism of a movable base according to some embodiments of the present specification when the manual clutch mechanism is in an out-of-gear position; Figure 3 yes Figure 2 The enlarged schematic diagram of point A in the middle; Figure 4 is a bottom view of a manual clutch mechanism of a movable base in an out-of-gear position according to some embodiments of the present specification; Figure 5 yes Figure 4 The enlarged schematic diagram of point B in the middle; Figure 6 yes Figure 5 The enlarged schematic diagram of the center C; Figure 7 is a front view of a manual clutch mechanism of a movable base in some embodiments of the present specification when the manual clutch mechanism is in a gear-engaging position; Figure 8 yes Figure 7 The enlarged schematic diagram of point D in the middle; Fig. 9 is a bottom view of the manual clutch mechanism of the movable base shown in some embodiments of this specification when it is in a gear-engaging position; Fig.10 yes Fig. 9 The enlarged schematic diagram of point E in the middle; Fig.11 yes Fig.10 Enlarged schematic diagram of point F in the middle.

[0032] In some embodiments, as shown in the attached Figure 3 and 8 As shown, the manual clutch mechanism 204 includes a clutch handle 2041, a connecting column 2042, a clutch elbow 2043, a clutch stop pin 2044 and a groove. The clutch handle 2041 is located at the upper end of the base 100, which is convenient for the user to operate. The connecting column 2042 penetrates the base 100 from top to bottom and is fixedly connected to the clutch elbow 2043 below. The upper half of the clutch elbow 2043 penetrates the front drive bottom plate 205, and its lower end extends out of the lower end surface of the front drive bottom plate 205; the clutch stop pin 2044 is fixedly connected to the clutch elbow 2043. In some embodiments, the clutch stop pin 2044 is arranged horizontally, perpendicular to the upper end of the clutch elbow 2043, and the clutch stop pin 2044 is attached to the lower end surface of the front drive bottom plate 205. The groove is opened on the front drive bottom plate 205, and the clutch stop pin 2044 can be embedded in the groove. The groove is a limiting mechanism, which is used to ensure that the manual clutch mechanism 204 is shifted into place during the gear shifting operation (the manual clutch mechanism 204 is switched from the gear-on position to the gear-off position, or from the gear-off position to the gear-on position), and to ensure that the manual clutch mechanism 204 will not be out of gear during the movement of the movable base. In some embodiments, the groove can also be replaced with a limiting block, etc., and is not limited to the structural form of the groove, as long as it can realize the limiting function.

[0033] In some embodiments, as shown in the attached Figure 6 and 11As shown, the groove includes a disengagement groove 2051 and a closing groove 2052 corresponding to the disengagement position and the closing gear position respectively; when the movable base is in use, when the clutch stop pin 2044 is embedded in the closing groove 2052, the manual clutch mechanism 204 is in the closing gear position, and the motor 201 drives the assist, thereby reducing the burden of the medical staff in pushing the movable base. When the motor 201 is completely powered off, the clutch elbow 2043 is rotated until the clutch stop pin 2044 is embedded in the disengagement groove 2051, and the manual clutch mechanism 204 is in the disengagement position, and the movable base is switched to the manual pushing mode. In some embodiments, the angle between the disengagement groove 2051 and the closing groove 2052 is 90°; accordingly, when the clutch handle 2041 is used to shift gears, the clutch handle 2041 rotates 90° to drive the clutch elbow 2043 to rotate 90°. The angle between the separation groove 2051 and the closing groove 2052 is designed to be 90°, which can better design and arrange the assembly relationship between the mechanical structures of the manual clutch mechanism 204. In some embodiments, the angle between the separation groove 2051 and the closing groove 2052 can also be designed to be other angles, such as 45°, 60°, etc.

[0034] As attached Figure 3 and 8 As shown, the clutch handle 2041 is located on the upper end surface of the base 100; rotating the clutch handle 2041 can control the clutch stop pin 2044 to be embedded in the clutch groove 2051 or the clutch groove 2052. In some embodiments, the rotation of the clutch handle 2041 can be controlled manually or by an electric mechanism such as a motor or a cylinder. For example, a stepper motor is used to control the rotation of the clutch handle 2041. The rotation angle of the clutch handle 2041 is calculated in advance according to the structure and the corresponding number of rotations of the stepper motor is set, and the gear shifting operation can be realized by the forward and reverse rotation of the stepper motor.

[0035] In some embodiments, as shown in the attached Figure 3 , 8As shown, the manual clutch mechanism 204 also includes a handle spring 2045. The handle spring 2045 is sleeved on the outer side of the upper end of the clutch elbow 2043, one end of the handle spring 2045 is fixedly connected to the connecting column 2042, and the other end of the handle spring 2045 is in contact with the front drive bottom plate 205. The resilience of the handle spring 2045 can make the clutch stop pin 2044 close to the groove. When in use, the operator holds the clutch handle 2041 and presses it downward, at which time the handle spring 2045 is further compressed, and at the same time, the clutch elbow 2043 also moves downward by one end distance so that the clutch stop pin 2044 is separated from one of the grooves, ensuring that the clutch elbow 2043 is smoothly rotated until the clutch stop pin 2044 is below another groove. At this time, the operator releases the clutch handle 2041, and under the action of the resilience of the handle spring 2045, the clutch stop pin 2044 can be close to the other groove. The main function of the handle spring 2045 is to ensure fast and accurate switching when shifting gears, and also to ensure the stability of the manual clutch mechanism 204 when it is in the gear-on or gear-off position, so that there will be no gear deviation problem due to shaking of the movable base when it moves.

[0036] The function of the transmission mechanism 203 is to achieve transmission connection between the motor 201 and the corresponding front drive wheel 202, and the front drive wheel 202 is driven to rotate by the power output by the motor 201, thereby realizing the movement of the movable base. The transmission mechanism 203 can adopt a transmission mode of shaft transmission, gear transmission, chain transmission or a combination of multiple transmission modes to achieve transmission connection between the motor 201 and the corresponding front drive wheel 202.

[0037] In some embodiments, as shown in the attached Figure 5 , 10As shown, the transmission mechanism 203 includes a driving gear 2031, a passive gear 2032, a driving sprocket 2033 and a passive sprocket 2034. The driving gear 2031 is connected to the output end of the motor 201. The driving gear 2031 and the passive gear 2032 can be driven by gear meshing. The driving sprocket 2033 and the passive gear 2032 are connected by a rotating shaft. In some embodiments, the rotating shaft can be a spline shaft 2035, which has a large transmission torque and can make the matching gear axially displaced on the spline shaft. The two ends of the spline shaft 2035 are installed on the front drive base plate 205 through two spline shaft seats 2037. The passive gear 2032 is sleeved on the spline shaft 2035 and can move axially on the spline shaft 2035. The driving sprocket 2033 is also sleeved on the spline shaft 2035, and its two ends are axially fixed on the spline shaft 2035 by round nuts. The driving sprocket 2033 and the driven sprocket 2034 are connected in transmission via a transmission chain 2036. The driven sprocket 2034 is coaxially fixedly connected to the axial side of the front drive wheel 202 to achieve a coaxial transmission connection. In some embodiments, the motor 201 is connected in transmission via a reducer 2011 to the driving gear 2031; the motor 201 and the reducer 2011 are both fixedly connected to the front drive bottom plate 205. The driving gear 2031 is fixedly connected to the transmission shaft of the reducer 2011, and is axially positioned by tightening bolts and radially positioned by tightening screws to ensure the transmission stability of the reducer 2011 and the driving gear 2031. The transmission principle of the transmission mechanism 203 is: the motor 201 is running, and the driving gear 2031 is driven to rotate through the reducer 2011, and the driving gear 2031 drives the passive gear 2032 to rotate through the gear meshing transmission, and then drives the driving sprocket 2033 to rotate through the spline shaft 2035, and then drives the passive sprocket 2034 to rotate through the transmission chain 2036 transmission connection, and finally drives the front drive wheel 202 to rotate. In some embodiments, the rotating shaft can also be other rotating shafts, such as a single-key rotating shaft, which is used to realize the coaxial transmission connection between the passive gear 2032 and the driving sprocket 2033 coaxially arranged therewith. In some embodiments, the passive gear 2032 can be fixedly connected to the front drive bottom plate 205, and the driving gear 2031 and the motor 201 connected thereto are moved through the corresponding structural design to realize the transmission connection and disengagement between the passive gear 2032 and the driven wheel 2031.

[0038] In some embodiments, as shown in the attached Fig.10 As shown, the transmission mechanism 203 further includes a return spring 2038; the return spring 2038 is sleeved on the outside of the spline shaft 2035, located on the axial side of the passive gear 2032 and away from the motor 201. Fig.10 , 11 As shown, when the manual clutch mechanism 204 is in the engaged gear position, the clutch stop pin 2044 is embedded in the engaged groove 2052, and the clutch elbow 2043 is in conflict with or disengaged from the passive gear 2032. The passive gear 2032 is meshed with the active gear 2031 for transmission under the elastic force of the lateral return spring 2038. The axial side edges of each tooth of the passive gear 2032 and the active gear 2031 are processed by shaping to ensure that the passive gear 2032 can smoothly mesh with the active gear 2031 along the axial movement of the spline shaft 2035. Preferably, the clutch elbow 2043 does not contact the passive gear 2032, as shown in the attached figure. Fig.11 As shown, there is a certain gap between the side wall of the clutch elbow 2043 and the axial side of the passive gear 2032 to prevent the clutch elbow 2043 from generating friction with the passive gear 2032 and avoid hindering the rotation of the passive gear 2032. Figure 5 As shown, when the manual clutch mechanism 204 is in the gear-off position, the clutch pin 2044 is embedded in the gear-off groove 2051, and the passive gear 2032 is separated from the active gear 2031 under the control of the manual clutch mechanism 204, and the transmission connection is broken. How the manual clutch mechanism 204 is specifically implemented to shift from the gear-on position to the gear-off position is described below.

[0039] In some embodiments, as shown in the attached Figure 3 , 8 As shown, the lower half of the clutch elbow 2043 is hook-shaped, and the hook-shaped structure of the clutch elbow 2043 is located on the axial side of the passive gear 2032 and close to the outer circumference of the passive gear 2032. Fig.10 , 11 As shown, when the clutch stop pin 2044 is embedded in the clutch groove 2052, the passive gear 2032 is meshed with the active gear 2031 to realize gear transmission, so the transmission mechanism 203 realizes transmission. Figure 5 , 6 As shown, when the clutch handle 2041 is rotated, the clutch elbow 2043 fixedly connected thereto rotates at the same time, thereby driving the clutch stop pin 2044 to rotate, so that the clutch stop pin 2044 is embedded in the clutch groove 2051. At the same time, when the clutch elbow 2043 rotates, it pushes the passive gear 2032 to translate along its axial direction to disengage from the active gear 2031, so that the transmission mechanism 203 cannot transmit, and the gear shifting operation is realized. When the manual clutch mechanism 204 needs to be switched from the gear-off position to the gear-on position, it only needs to rotate the clutch handle 2041 in the opposite direction until the clutch stop pin 2044 is embedded in the gear-on groove 2052.

[0040] In some embodiments, as shown in the attached Figure 5 , 10 As shown, the front drive wheel 202 is mounted on the front drive bottom plate 205 through the front wheel axle seat 2021; the front wheel axle 2022 is mounted on the front wheel axle seat 2021, and the front drive wheel 202 is sleeved on the front wheel axle 2022. Two locating bearings are also mounted on the front wheel axle seat 2021, and the two locating bearings are mounted on both sides of the axial direction of the front drive wheel 202. The front drive wheel 202 with this structural design is responsive and flexible in turning.

[0041] In some embodiments, as shown in the attached Figure 1 , 2 As shown in Figures 7 and 8, the movable base described in this specification also includes a foot brake device 400. In some embodiments, the foot brake device 400 includes a support rod and a pedal. The support rod is hinged on the lower end surface of the base 100 and is located in the middle of the two rear wheels 300. The pedal is fixed on the radial side of the support rod and exposed from the rear side of the base 100. When the movable base needs to brake, the support rod is driven to rotate by human power until the support rod is perpendicular to the ground, and the bottom end surface of the support rod is in contact with the ground, and the rear wheel 300 is slightly lifted, so that the entire movable base is stably stopped. On the contrary, the support rod is driven to rotate by human power to make the support rod out of contact with the ground, which facilitates the movement of the movable base. In some embodiments, a friction layer is provided on the bottom end surface of the support rod of the foot brake device 400; the friction layer can be in contact with the ground to realize the braking function of the foot brake device 400. Preferably, the friction layer is a rubber layer. When the movable base needs to be stopped, the movable base is stopped and the foot brake device 400 is stepped on to make the friction layer fit the ground. Since the medical movable base itself is generally heavy, the friction layer and the ground will generate a strong friction force, making the entire movable base more stable. When the movable base needs to move forward, the foot brake device 400 is gently lifted upward to release the stop, and the motor 201 is started to move.

[0042] Regarding the friction layer in the previous paragraph, it can also be other materials with a higher friction coefficient, such as asbestos materials.

[0043] The beneficial effects that may be brought about by the embodiments of the present application include but are not limited to: 1) When the motor of the movable base is powered, the two motors respectively drive and control the different rotation speeds of the two front drive wheels to achieve differential turning of the front wheels, and the front wheels are responsive and flexible in turning, which reduces the burden on medical staff to push the movable base; 2) It is equipped with a manual clutch mechanism, and the transmission mechanism and the front drive wheels can be clutched even when the motor is completely powered off, and it can also be moved manually, which is easy to use; 3) The design of the foot brake device ensures that the entire movable base has excellent stability after stopping; 4) The motor, transmission mechanism, and front drive wheels of the movable base are all independently fixed and installed, which is convenient for disassembly and assembly, and easy for maintenance and replacement.

[0044] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0045] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0046] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A movable base, characterized in that: It comprises a base (100) and a front drive assembly (200) and a rear wheel (300) mounted on the lower end of the base (100); There are two groups of front drive assemblies (200); each group of the front drive assemblies (200) comprises a motor (201), a front drive wheel (202), a transmission mechanism (203), a manual clutch mechanism (204) and a front drive bottom plate (205); the motor (201), the front drive wheel (202), the transmission mechanism (203) and the manual clutch mechanism (204) are fixedly connected to the base (100) via the front drive bottom plate (205); The transmission mechanism (203) comprises a driving gear (2031), a driven gear (2032), a driving sprocket (2033) and a driven sprocket (2034); The front-drive wheel (202) is mounted on the front-drive base plate (205) via a front-wheel axle seat (2021); a front-wheel axle (222) is mounted on the front-wheel axle seat (221), and the front-drive wheel (202) is sleeved on the front-wheel axle (222); The manual clutch mechanism (204) comprises an off-gear position and an on-gear position; When the manual clutch mechanism (204) is in the engaged gear position, the motor (201) is in transmission connection with the front drive wheels (202) via the transmission mechanism (203), and the front drive wheels (202) of each group of the front drive components (200) can move under the drive of the corresponding motor (201); When the manual clutch mechanism (204) is in the out-of-gear position, the motor (201) is disconnected from the front-drive wheel (202) in transmission, and the front-drive wheel (202) can be pushed by an external force; The manual clutch mechanism (204) comprises a clutch handle (2041), a connecting column (2042), a clutch elbow (2043), a clutch stop pin (2044) and a groove; The clutch handle (2041) is fixedly connected to the clutch elbow (2043) via the connecting column (2042); the clutch stop pin (2044) is fixedly connected to the clutch elbow (2043); the groove is formed on the front drive bottom plate (205); and the clutch stop pin (2044) is embedded in the groove; The groove comprises an off-gear groove (2051) and a closing groove (2052) corresponding to an off-gear position and a closing gear position respectively; when the clutch pin (2044) is embedded in the closing groove (2052), the manual clutch mechanism (204) is in the closing gear position; when the clutch pin (2044) is embedded in the off-gear groove (2051), the manual clutch mechanism (204) is in the off-gear position.

2. The movable base according to claim 1, characterized in that: The clutch handle (2041) is located on the upper end surface of the base (100); rotating the clutch handle (2041) can control the clutch stop pin (2044) to be embedded in the clutch groove (2051) or the clutch groove (2052).

3. The movable base according to claim 1, characterized in that: The manual clutch mechanism (204) further comprises a handle spring (2045); the handle spring (2045) is sleeved on the clutch elbow (2043), one end of the handle spring (2045) is fixedly connected to the connecting column (2042), and the other end of the handle spring (2045) is in contact with the front drive bottom plate (205); The rebound force of the handle spring (2045) can cause the clutch stop pin (2044) to fit tightly within the groove.

4. The movable base according to claim 1, characterized in that: The driving gear (2031) is transmission-connected to the output end of the motor (201); the driving gear (2031) and the passive gear (2032) are gear-engaged for transmission; the driving sprocket (2033) and the passive gear (2032) are transmission-connected via a rotating shaft (2035); the driving sprocket (2033) and the passive sprocket (2034) are transmission-connected via a transmission chain (2036); and the passive sprocket (2034) is coaxially fixedly connected to the axial side of the front drive wheel (202).

5. The movable base according to claim 4, characterized in that: The transmission mechanism (203) further comprises a return spring (2038); the return spring (2038) is sleeved on the outside of the rotating shaft (2035), located on the axial side of the passive gear (2032) and away from the motor (201); When the manual clutch mechanism (204) is in the gear-engaging position, the passive gear (2032) meshes with the active gear (2031) for transmission under the elastic force of the return spring (2038); when the manual clutch mechanism (204) is in the gear-disengaging position, the passive gear (2032) is separated from the active gear (2031) under the control of the manual clutch mechanism (204).

6. The movable base according to claim 5, characterized in that: The clutch elbow (2043) is located on the axial side of the passive gear (2032) and close to the outer circumference of the passive gear (2032); when the clutch stop pin (2044) is embedded in the engagement groove (2052), the passive gear (2032) meshes with the active gear (2031), and the transmission mechanism (203) realizes transmission; when the clutch stop pin (2044) is driven by the clutch handle (2041) to rotate and embed into the engagement groove (2051), the clutch elbow (2043) drives the passive gear (2032) to translate along its axial direction until it is disengaged from the active gear (2031), and the transmission mechanism (203) cannot transmit.

7. The movable base according to claim 1, characterized in that: It also includes a foot brake device (400); a friction layer is provided on the bottom end surface of the foot brake device (400); The friction layer can be in contact with the ground to achieve braking of the foot brake device (400).

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