Mobile collaborative robot with stability function

Abstract

The application discloses a mobile collaborative robot with a stability maintaining function, and relates to the technical field of robots.The mobile collaborative robot comprises a mobile arm, wherein the mobile arm is arranged on a stability maintaining part, the stability maintaining part is arranged on a moving part, the moving part is provided with a moving wheel, and the stability maintaining part is provided with an inspection opening.The stability maintaining part is arranged between the mobile arm and the moving part, the unstable state of the moving wheel when passing through an uneven road is filtered through the stability maintaining part, the posture information of the stability maintaining part is collected to control the corresponding movement of the mobile arm, the influence of the road on the mobile arm is reduced, and the problem that the instability of the mobile collaborative robot is transmitted to the collaborative mechanical arm when the mobile collaborative robot passes through an uneven road due to the rigid connection between the mobile collaborative robot and the collaborative mechanical arm, thereby affecting the stability of the collaborative mechanical arm is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a mobile collaborative robot with stability maintaining function. BACKGROUND

[0002] With the development of society and the improvement of productivity, more and more industries use robots to replace manual work. Although traditional industrial robots have solved many production problems, there are still many deficiencies in the use of many scenes. For example, the existing mobile collaborative robot and the collaborative robot arm are rigidly connected. When the mobile collaborative robot passes through an uneven road, the unstable state of the mobile collaborative robot will be transmitted to the collaborative robot arm, affecting the stability of the collaborative robot arm. SUMMARY

[0003] In view of the deficiencies of the prior art, the present application provides a mobile collaborative robot with stability maintaining function, which solves the problem that the existing mobile collaborative robot transmits its unstable state to the collaborative robot arm when passing through an uneven road due to the rigid connection between the mobile collaborative robot and the collaborative robot arm, affecting the stability of the collaborative robot arm.

[0004] To achieve the above purpose, the present application is realized by the following technical scheme:

[0005] A mobile collaborative robot with stability maintaining function, comprising a mobile arm, the mobile arm is arranged on a stability maintaining part, the stability maintaining part is arranged on a moving part, the moving part is provided with a moving wheel, and the stability maintaining part is provided with an access hole.

[0006] Preferably, the mobile arm comprises a connecting section, the connecting section is provided with a plurality of groups, the plurality of groups of connecting sections are connected in sequence, and the first and last ends of the plurality of connecting sections are connected with a fixed seat and a connecting seat respectively, the plurality of connecting sections are connected through a rotating part, and the connecting section, the fixed seat and the connecting seat are connected through the rotating part.

[0007] Preferably, the rotating part comprises a driving shaft, the driving shaft is fixedly connected with a motor, the driving shaft is fixedly connected with the connecting section, a first gear is fixedly connected on the driving shaft, a third gear is arranged on the outer periphery of the first gear, a second gear is arranged between the first gear and the third gear, the second gear is engaged with the third gear and the first gear, a first limiting groove is arranged on the third gear, the second gear is partially located in the first limiting groove, and the third gear is fixedly connected with another connecting section.

[0008] Preferably, the stabilizing part comprises a second shell and a pose sensor arranged in the second shell, the pose sensor being used to detect the attitude of the stabilizing part, a processor being arranged in the stabilizing part, the processor being electrically connected with the pose sensor, the processor being used to receive the signal sent by the pose sensor and control the motor of the rotating part according to the received signal, and the attitude is changed through the motor driving the connecting section.

[0009] The second shell is fixedly connected with the moving part, a support column is fixedly connected on the second shell, a top plate is fixedly connected on the support column, a stabilizing frame is arranged on the top plate, a first rotating shaft is rotatably connected through the side of the top plate, a first connecting rod is connected on the first rotating shaft, and the lower end of the first connecting rod is rotatably connected with the lower end of the stabilizing frame.

[0010] The stabilizing frame is in the shape of “ ”.

[0011] Preferably, a placing plate is arranged above the stabilizing frame, a first stabilizing rod, a second stabilizing rod and a third stabilizing rod are fixedly connected below the placing plate, and the first stabilizing rod, the second stabilizing rod and the third stabilizing rod are located between the stabilizing frame and the placing plate.

[0012] The stabilizing frame is fixedly connected with the fixing seat.

[0013] Preferably, a fixing plate is fixedly connected on the side wall of the stabilizing frame, a second connecting rod is rotatably connected on the fixing plate, and the other end of the second connecting rod is rotatably connected with the first stabilizing rod.

[0014] A third connecting rod and a stabilizing spring are arranged between the first stabilizing rod and the second stabilizing rod, one end of the third connecting rod is rotatably connected with the first stabilizing rod, the third connecting rod is fixedly connected with the first stabilizing rod, the other end of the first stabilizing rod is fixedly connected with the stabilizing spring, and the stabilizing spring is rotatably connected with the second stabilizing rod.

[0015] A first sliding rod is fixedly connected on the third stabilizing rod, the first sliding rod is slidingly connected in a sliding groove, and the sliding groove is arranged on a limiting plate fixedly connected with the stabilizing frame.

[0016] Preferably, the moving part comprises a shell and an inner supporting block, the shell is arranged outside the inner supporting block, and the shell is slidingly connected with the inner supporting block.

[0017] The inner supporting block is fixedly connected with an axle, and a moving wheel is rotatably connected on the axle.

[0018] A second sliding rod is fixedly connected on the inner supporting block.

[0019] A second limiting groove is arranged on the shell, and the second sliding rod is slidingly connected in the second limiting groove.

[0020] Preferably, the inner support block is fixedly connected with a first support rod and a second support rod, and the shell inner wall is fixedly connected with a third support rod, and the first support rod, the second support rod and the third support rod are located between the shell and the inner support block.

[0021] The first support rod is rotationally connected with the middle section of the guide rod, the upper end of the guide rod is rotationally connected with one end of the guide plate, and the other end of the guide plate is rotationally connected with the third support rod.

[0022] The guide plate is provided with a guide groove.

[0023] The second support rod is fixedly connected with a third sliding rod, and the third sliding rod is slidingly connected with the guide groove.

[0024] Preferably, the lower surface of the inner support block is fixedly connected with a fourth support rod, a spring is arranged between the fourth support rod and the guide rod, and the two ends of the spring are fixedly connected with the fourth support rod and the guide rod, respectively.

[0025] Preferably, the shell is provided with an opening.

[0026] Compared with the prior art, the present application has at least the following beneficial effects:

[0027] The stabilizing part is arranged between the moving arm and the moving part, the unstable state of the moving wheel when passing through the uneven road surface is filtered through the stabilizing part, and the posture information of the stabilizing part is collected to control the moving arm to make corresponding movement, thereby reducing the influence of the road surface on the moving arm and solving the problem that the instability of the mobile collaborative robot is transmitted to the collaborative mechanical arm due to the rigid connection between the mobile collaborative robot and the collaborative mechanical arm when the mobile collaborative robot passes through the uneven road surface, thereby affecting the stability of the collaborative mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a front view of the structure of the collaborative robot of the present application.

[0029] Figure 2 It is a structure schematic view of the collaborative mechanical arm of the present application.

[0030] Figure 3 It is a front view of the structure of the rotating part of the collaborative mechanical arm of the present application.

[0031] Figure 4 It is a structure schematic view of the rotating part of the collaborative mechanical arm of the present application.

[0032] Figure 5 It is a front view of one state of the structure of the moving part of the present application.

[0033] Figure 6It is another state front view schematic diagram of the moving part structure of the application.

[0034] Figure 7 It is a left view schematic diagram of the shell structure of the application.

[0035] Figure 8 It is a front view schematic diagram of the stability part structure of the application

[0036] Figure 9 It is a left view schematic diagram of the stability part structure of the application.

[0037] In the figure: 1, moving arm; 11, connecting section; 12, fixed seat; 13, rotating part; 14, connecting seat; 131, drive shaft; 132, first gear; 133, second gear; 134, third gear; 135, first limiting groove; 2, stability part; 3, access hole; 4, moving part; 5, moving wheel; 201, second shell; 202, support column; 203, top plate; 204, first rotating shaft; 205, first connecting rod; 206, second rotating shaft; 207, stability frame; 208, fixed plate; 209, second connecting rod; 210, first stability rod; 211, installation plate; 212, third connecting rod; 213, second stability rod; 214, stability spring; 215, third stability rod; 216, first sliding rod; 217, limiting plate; 218, sliding groove; 401, first shell; 402, inner support block; 403, opening; 404, second limiting groove; 405, second sliding rod; 406, wheel shaft; 407, first support rod; 408, second support rod; 409, guide plate; 410, third sliding rod; 411, guide rod; 412, third support rod; 413, guide groove; 414, fourth support rod; 415, spring. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the application will be apparently and completely described below with the accompanying drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application.

[0039] Embodiment 1

[0040] Please refer to Figures 1-4 The application provides a technical solution: a mobile collaborative robot with stability function, comprising a moving arm 1, the moving arm 1 is arranged on a stability part 2, the stability part 2 is arranged on a moving part 4, the moving part 4 is provided with a moving wheel 5, and the stability part 2 is provided with an access hole 3.

[0041] The moving arm 1 comprises a plurality of connecting sections 11, the connecting sections 11 are sequentially connected, and the first and last ends of the connecting sections 11 are connected with the fixed seat 12 and the connecting seat 14 respectively, the connecting sections 11 are connected through the rotating part 13, and the connecting section 11, the fixed seat 12 and the connecting seat 14 are connected through the rotating part 13.

[0042] The rotating part 13 comprises a driving shaft 131 fixedly connected with a motor, the driving shaft 131 is fixedly connected with the connecting section 11, the first gear 132 is fixedly connected with the driving shaft 131, the third gear 134 is arranged on the outer periphery of the first gear 132, the second gear 133 is arranged between the first gear 132 and the third gear 134, the second gear 133 is engaged with the third gear 134 and the first gear 132, the first limiting groove 135 is arranged on the third gear 134, the second gear 133 is partially located in the first limiting groove 135, and the third gear 134 is fixedly connected with another connecting section 11.

[0043] The working principle and beneficial effects of the above scheme are as follows:

[0044] The stabilizing part 2 is arranged between the moving arm 1 and the moving part 4, the unstable state of the moving wheel 5 when passing through the uneven road is filtered through the stabilizing part 2, the influence of the road on the moving arm 1 is reduced, and the problem that the instability of the mobile collaborative robot is transmitted to the collaborative mechanical arm when the mobile collaborative robot passes through the uneven road due to the rigid connection between the mobile collaborative robot and the collaborative mechanical arm, thereby affecting the stability of the collaborative mechanical arm is solved.

[0045] The maintenance opening 3 is arranged on the stabilizing part 2 to facilitate maintenance.

[0046] The rotating part 13 of the moving arm 1 is provided with the first limiting groove 135, the position of the first limiting groove 135 is limited, the second gear 133 is always located between the first gear 132 and the third gear 134, and the stability of transmission is ensured.

[0047] Embodiment 2

[0048] Please refer to Figures 8-9 On the basis of embodiment 1, the stabilizing part 2 comprises a second housing 201 and a pose sensor arranged in the second housing 201, the pose sensor is used for detecting the attitude of the stabilizing part 2, a processor is arranged in the stabilizing part 2, the processor is electrically connected with the pose sensor, the processor is used for receiving the signal sent by the pose sensor, and the motor of the rotating part 13 is controlled according to the received signal, and the connecting section 11 is driven to change the attitude through the motor.

[0049] The working principle and beneficial effects of the above scheme are as follows:

[0050] The processor controls the motor-driven connecting section 11 to change according to the attitude of the stabilizing part 2 detected by the attitude sensor. When the stabilizing part 2 detected by the attitude sensor deviates to the left, the processor controls the motor-driven connecting section 11 to move in the opposite direction of the movement of the stabilizing part 2 to the left, thereby ensuring the stability of the end of the moving arm 1, i.e., the stability of the moving arm 1 in grabbing the object.

[0051] Embodiment 3

[0052] Please refer to Figures 8-9 On the basis of embodiments 1-2, the stabilizing part 2 comprises a second housing 201 fixedly connected to the moving part 4, a support column 202 fixedly connected to the second housing 201, a top plate 203 fixedly connected to the support column 202, a stabilizing frame 207 arranged on the top plate 203, a first rotating shaft 204 rotatably connected to the side of the top plate 203, a first connecting rod 205 connected to the first rotating shaft 204, and a lower end of the first connecting rod 205 rotatably connected to a lower end of the stabilizing frame 207.

[0053] The stabilizing frame 207 is in the shape of a “ ” shape.

[0054] A placement plate 211 is arranged above the stabilizing frame 207, and a first stabilizing rod 210, a second stabilizing rod 213, and a third stabilizing rod 215 are fixedly connected below the placement plate 211, and the first stabilizing rod 210, the second stabilizing rod 213, and the third stabilizing rod 215 are located between the stabilizing frame 207 and the placement plate 211.

[0055] The stabilizing frame 207 is fixedly connected to the fixed seat 12.

[0056] A fixing plate 208 is fixedly connected to the side wall of the stabilizing frame 207, a second connecting rod 209 is rotatably connected to the fixing plate 208, and one end of the second connecting rod 209 is rotatably connected to the first stabilizing rod 210.

[0057] A third connecting rod 212 and a stabilizing spring 214 are arranged between the first stabilizing rod 210 and the second stabilizing rod 213, one end of the third connecting rod 212 is rotatably connected to the first stabilizing rod 210, the third connecting rod 212 is fixedly connected to the first stabilizing rod 210, the other end of the first stabilizing rod 210 is fixedly connected to the stabilizing spring 214, and the stabilizing spring 214 is rotatably connected to the second stabilizing rod 213.

[0058] The third stability rod 215 is fixedly connected with a first sliding rod 216, the first sliding rod 216 is slidingly connected in a sliding groove 218, the sliding groove 218 is arranged on a limiting plate 217, and the limiting plate 217 is fixedly connected to the stability frame 207.

[0059] The working principle and beneficial effects of the above scheme are as follows:

[0060] When the moving wheel 5 passes through uneven road surface, the second shell 201 fixedly connected with the moving part 4, the support column 202 and the top plate 203 move with the moving part 4, since the stability frame 207 is rotationally connected with the top plate 203 through the first rotating shaft 204, the first connecting rod 205 and the second rotating shaft 206, and is symmetrically arranged, the stability frame 207 is in a suspended state under the action of its own gravity, the first connecting rod 205 is deflected while the stability frame 207 remains unchanged, thereby avoiding the influence of the left and right deflection of the moving part 4 on the moving arm 1 when the moving wheel 5 passes through uneven road surface;

[0061] When the moving part 4 is deflected forward and backward, the second connecting rod 209 is deflected, the third connecting rod 212 is deflected, the distance between the end of the third connecting rod 212 and the stability spring 214 connected with the second stability rod 213 is lengthened, the stability spring 214 is stretched, and the placement plate 211 is maintained stable under the action of the stability spring 214;

[0062] The limiting plate 217 and the sliding groove 218 are arranged to limit the third stability rod 215 and the first sliding rod 216, thereby further ensuring the stability of the placement plate 211;

[0063] By arranging the stability part 2 between the moving arm 1 and the moving part 4, the unstable state of the moving wheel 5 when passing through uneven road surface is filtered through the stability part 2, the influence of the road surface on the moving arm 1 is reduced, and the problem that the instability of the mobile collaborative robot is transmitted to the collaborative mechanical arm when the mobile collaborative robot passes through uneven road surface due to the rigid connection between the mobile collaborative robot and the collaborative mechanical arm, thereby affecting the stability of the collaborative mechanical arm.

[0064] Embodiment 4

[0065] Please refer to Figures 5-7 On the basis of embodiments 1-3, the moving part 4 comprises a first shell 401 and an inner support block 402, the first shell 401 is arranged outside the inner support block 402, and the first shell 401 is slidingly connected to the inner support block 402.

[0066] The inner support block 402 is fixedly connected with a wheel shaft 406, and the wheel shaft 406 is rotationally connected with the moving wheel 5.

[0067] The inner support block 402 is fixedly connected with a second sliding rod 405;

[0068] The first shell 401 is provided with a second limiting groove 404, and the second sliding rod 405 is slidingly connected in the second limiting groove 404.

[0069] The inner support block 402 is fixedly connected with a first support rod 407 and a second support rod 408, the inner wall of the first shell 401 is fixedly connected with a third support rod 412, and the first support rod 407, the second support rod 408 and the third support rod 412 are located between the first shell 401 and the inner support block 402.

[0070] The first support rod 407 is rotationally connected with a middle segment of a guide rod 411, one end of the guide rod 411 is rotationally connected with a guide plate 409, and the other end of the guide plate 409 is rotationally connected with the third support rod 412.

[0071] The guide plate 409 is provided with a guide groove 413.

[0072] The second support rod 408 is fixedly connected with a third sliding rod 410, and the third sliding rod 410 is slidingly connected with the guide groove 413.

[0073] The lower surface of the inner support block 402 is fixedly connected with a fourth support rod 414, a spring 415 is arranged between the fourth support rod 414 and the guide rod 411, and the two ends of the spring 415 are fixedly connected with the fourth support rod 414 and the guide rod 411 respectively.

[0074] The first shell 401 is provided with an opening 403.

[0075] The working principle and beneficial effects of the above scheme are as follows:

[0076] When the moving part 4 stops moving, the guide rod 411 is pried to rotate around the first support rod 407, driving the guide plate 409 to move (the guide plate 409 moves under the limitation of the third sliding rod 410 and the guide groove 413), and then driving the first shell 401 to move downward relative to the inner support block 402, and the lower end of the first shell 401 contacts the road surface, increasing the contact area of the moving part 4 with the road surface and ensuring the stability of the moving part 4;

[0077] When the moving part 4 needs to move, the guide rod 411 is pried in the opposite direction, the first shell 401 moves upward relative to the inner support block 402, and the lower end of the first shell 401 is separated from the road surface, and the moving part 4 meets the moving requirement;

[0078] The second limiting groove 404 and the second sliding rod 405 limit the relative movement distance between the first shell 401 and the inner support block 402, so as to avoid excessive movement of the first shell 401 relative to the inner support block 402;

[0079] The spring 415 is arranged to ensure the stability of the moving part 4 during movement;

[0080] When the moving part 4 is stopped or moves, the first shell 401 is located at two extreme positions of the inner support block 402. At the two positions, the force directions of the connecting points of the guide plate 409 and the second support rod 408 and the third support rod 412 are different from the direction in which the third sliding rod 410 is slidable in the guide groove 413, so as to ensure that the first shell 401 can be stably maintained in the two states.

[0081] Embodiment 5

[0082] On the basis of the above-mentioned embodiments 1-4, the moving stability detection device of the moving part 4 is further included, and the moving stability detection device comprises:

[0083] A rotation speed sensor is arranged on the moving wheel 5 and is used to detect the average rotation speed of the moving wheel 5;

[0084] A temperature sensor is arranged on the moving wheel 5 and is used to detect the average temperature of the moving wheel 5 during work;

[0085] A pressure sensor is arranged between the wheel shaft 406 and the moving wheel 5 and is used to detect the average pressure received by the moving wheel 5;

[0086] A timer is arranged on the moving part 4 and is used to record the working time length of the moving wheel 5;

[0087] An alarm is arranged on the moving part 4;

[0088] A controller is electrically connected with the rotation speed sensor, the temperature sensor, the pressure sensor, the timer and the alarm, and the controller controls the work of the alarm based on the rotation speed sensor, the temperature sensor, the pressure sensor and the timer, and the controller comprises:

[0089] Step 1: The controller obtains a moving stability index based on the rotation speed sensor, the temperature sensor, the pressure sensor, the timer and a formula:

[0090] ;

[0091] Wherein, is the moving stability index, is the average rotation speed of the moving wheel 5 detected by the rotation speed sensor, is the average temperature of the moving wheel 5 during work, an average pressure received by the mobile wheel 5 detected by a pressure sensor, a working duration of the mobile wheel 5 recorded by a timer, an average friction coefficient between the mobile wheel 5 and the road surface, a diameter of the mobile wheel 5, a number of the mobile wheel 5, an average ambient temperature, a specific heat capacity of the material of the mobile wheel 5, a weight of the mobile wheel 5, a preset energy required for scrapping the mobile wheel 5, a natural constant based logarithmic function, a circular constant,

[0092] Step 2: When the mobile stability index is lower than a preset range, the controller controls the alarm to send an alarm signal.

[0093] The working principle and beneficial effects of the above technical solution are as follows: the rotating speed sensor is arranged on the mobile wheel 5 and used for detecting the average rotating speed of the mobile wheel 5, the temperature sensor is arranged on the mobile wheel 5 and used for detecting the average temperature of the mobile wheel 5 during working, the pressure sensor is arranged between the wheel shaft 406 and the mobile wheel 5 and used for detecting the average pressure received by the mobile wheel 5, the timer is arranged on the mobile part 4 and used for recording the working duration of the mobile wheel 5, then the mobile stability index can be calculated according to the average rotating speed of the mobile wheel 5 detected by the rotating speed sensor, the average temperature of the mobile wheel 5 during working detected by the temperature sensor, the average pressure received by the mobile wheel 5 detected by the pressure sensor, the working duration of the mobile wheel 5 recorded by the timer and the formula, when the mobile stability index is lower than a preset range, the controller controls the alarm to send an alarm signal, so as to remind the operator that the current mobile collaborative robot may appear unstable movement due to the wear of the mobile wheel 5, which may affect the accurate grabbing of the mechanical arm, and the mobile collaborative robot should be repaired as soon as possible, and the intelligence of the equipment is improved by arranging the device.

[0094] In the description of the application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application; the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or equipment.

[0095] Although embodiments of the application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A mobile collaborative robot with stabilization function, characterized in that: Includes a movable arm (1), the movable arm (1) is disposed on a stabilization unit (2), the stabilization unit (2) is disposed on a movable unit (4), the movable unit (4) is provided with a movable wheel (5), and the stabilization unit (2) is provided with an inspection port (3). The movable part (4) includes a first outer shell (401) and an inner support block (402). The first outer shell (401) is disposed on the outside of the inner support block (402) and is slidably connected to the inner support block (402). The inner support block (402) is fixedly connected to a wheel axle (406), and a movable wheel (5) is rotatably connected to the wheel axle (406). A second slide rod (405) is fixedly connected to the inner support block (402); The first outer shell (401) is provided with a second limiting groove (404), and the second slide rod (405) is slidably connected in the second limiting groove (404); It also includes a motion stability detection device for the moving part (4), the motion stability detection device comprising: A speed sensor is installed on the moving wheel (5) to detect the average speed of the moving wheel (5); A temperature sensor is installed on the moving wheel (5) to detect the average temperature of the moving wheel (5) when it is working; A pressure sensor is installed between the axle (406) and the movable wheel (5) to detect the average pressure on the movable wheel (5); A timer is set on the moving part (4) to record the working time of the moving wheel (5); An alarm is installed on the movable part (4); A controller, electrically connected to the speed sensor, temperature sensor, pressure sensor, timer, and alarm, controls the alarm based on the speed sensor, temperature sensor, pressure sensor, and timer, including: Step 1: The controller obtains the motion stability index based on the speed sensor, temperature sensor, pressure sensor, timer, and formula: ； in, For mobile stability index, The average rotational speed of the moving wheel (5) detected by the rotational speed sensor. The average temperature of the moving wheel (5) during operation. The average pressure on the moving wheel (5) detected by the pressure sensor. The timer records the working time of the moving wheel (5). The average coefficient of friction between the moving wheel (5) and the road surface. The diameter of the moving wheel (5) The number of moving wheels (5), The average ambient temperature, For the specific heat capacity of the material of the moving wheel (5), The weight of the moving wheel (5) The energy required for the preset scrapping of the moving wheel (5) Let be a logarithmic function with the natural constant as its base. Pi; Step 2: When the mobility stability index is lower than the preset range, the controller controls the alarm to issue an alarm signal.

2. The mobile collaborative robot with stabilization function according to claim 1, characterized in that: The movable arm (1) includes a connecting section (11), which is provided in several groups. The several groups of connecting sections (11) are connected in sequence, and the beginning and end of the several connecting sections (11) are respectively connected to the fixed seat (12) and the connecting seat (14). The several connecting sections (11) are connected to each other through a rotating part (13). The connecting section (11) is connected to the fixed seat (12) and the connecting seat (14) through the rotating part (13).

3. A mobile collaborative robot with stabilization function according to claim 2, characterized in that: The rotating part (13) includes a drive shaft (131), which is fixedly connected to a motor. The drive shaft (131) is fixedly connected to a connecting section (11). A first gear (132) is fixedly connected to the drive shaft (131). A third gear (134) is provided on the outer periphery of the first gear (132). A second gear (133) is provided between the third gear (134) and the first gear (132). The second gear (133) meshes with the third gear (134) and the first gear (132). A first limiting groove (135) is provided on the third gear (134). Part of the second gear (133) is located in the first limiting groove (135). The third gear (134) is fixedly connected to another set of connecting sections (11).

4. A mobile collaborative robot with stabilization function according to claim 2, characterized in that: The stabilization unit (2) includes a second housing (201) and a pose sensor disposed in the second housing (201). The pose sensor is used to detect the posture of the stabilization unit (2). A processor is disposed in the stabilization unit (2). The processor is electrically connected to the pose sensor. The processor is used to receive signals sent by the pose sensor and control the motor of the rotating part (13) according to the received signals, thereby changing the posture by driving the connecting section (11) through the motor.

5. A mobile collaborative robot with stabilization function according to claim 4, characterized in that: The second outer shell (201) is fixedly connected to the moving part (4). A support column (202) is fixedly connected to the second outer shell (201). A top plate (203) is fixedly connected to the support column (202). A stabilization frame (207) is provided on the top plate (203). A first rotating shaft (204) is rotatably connected through the side of the top plate (203). A first connecting rod (205) is connected to the first rotating shaft (204). The lower end of the first connecting rod (205) is rotatably connected to the lower end of the stabilization frame (207). The stability maintenance framework (207) is presented as " "shape.

6. A mobile collaborative robot with stabilization function according to claim 5, characterized in that: A mounting plate (211) is provided above the stabilization frame (207), and a first stabilization rod (210), a second stabilization rod (213), and a third stabilization rod (215) are fixedly connected below the mounting plate (211). The first stabilization rod (210), the second stabilization rod (213), and the third stabilization rod (215) are located between the stabilization frame (207) and the mounting plate (211). The stabilization frame (207) is fixedly connected to the fixed base (12).

7. A mobile collaborative robot with stabilization function according to claim 6, characterized in that: The side wall of the stabilization frame (207) is fixedly connected to a fixing plate (208), and a second connecting rod (209) is rotatably connected to the fixing plate (208). The other end of the second connecting rod (209) is rotatably connected to the first stabilization rod (210). A third link (212) and a stabilizing spring (214) are provided between the first stabilizing rod (210) and the second stabilizing rod (213). One end of the third link (212) is rotatably connected to the first stabilizing rod (210), and the third link (212) is fixedly connected to the first stabilizing rod (210). The other end of the first stabilizing rod (210) is fixedly connected to the stabilizing spring (214), and the stabilizing spring (214) is rotatably connected to the second stabilizing rod (213). The third stabilizing rod (215) is fixedly connected to a first sliding rod (216), which is slidably connected to a sliding groove (218). The sliding groove (218) is set on a limiting plate (217), and the limiting plate (217) is fixedly connected to the stabilizing frame (207).

8. A mobile collaborative robot with stabilization function according to claim 1, characterized in that: The inner support block (402) is fixedly connected with a first support rod (407) and a second support rod (408), and the inner wall of the first outer shell (401) is fixedly connected with a third support rod (412). The first support rod (407), the second support rod (408), and the third support rod (412) are located between the first outer shell (401) and the inner support block (402). The first support rod (407) is rotatably connected to the middle section of the guide rod (411), the upper end of the guide rod (411) is rotatably connected to one end of the guide plate (409), and the other end of the guide plate (409) is rotatably connected to the third support rod (412). The guide plate (409) is provided with a guide groove (413); A third slide rod (410) is fixedly connected to the second support rod (408), and the third slide rod (410) is slidably connected to the guide groove (413).

9. A mobile collaborative robot with stabilization function according to claim 8, characterized in that: The lower surface of the inner support block (402) is fixedly connected to a fourth support rod (414), and a spring (415) is provided between the fourth support rod (414) and the guide rod (411). The two ends of the spring (415) are fixedly connected to the fourth support rod (414) and the guide rod (411) respectively. An opening (403) is provided on the first outer shell (401).

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