Modular robotic mobile unit

Abstract

The application discloses a modular robot moving unit, comprising a steering assembly, a driving assembly and a connecting assembly, wherein the steering assembly comprises a double fork arm, a rotating shaft arranged on the double fork arm and a steering wheel arranged on the rotating shaft; the driving assembly comprises a power unit arranged on the upper end of the double fork arm, a casing arranged outside the power unit and a steering flange plate arranged on the lower end of the casing; and the connecting assembly is arranged between the double fork arm and the driving assembly and adopts a modular design, and a through-shaft outer rotor wheel hub servo driving motor is matched with an electromagnetic brake, so that the modular robot moving unit has the functions of emergency braking and slope parking, is safe and reliable, and the robot driving platform can select the number of driving units according to actual requirements of a scene, and the assembled flange plate is assembled to the driving platform base, so that the modular robot moving unit has flexible structure and variable form.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a modular robotic mobile unit. Background Technology

[0002] Currently, mobile transport platforms are divided into two types: wheeled transport vehicles, which are mostly used in relatively closed factory areas or roads within closed parks; and AGV robots, which are mostly used in production workshops, warehouses, and between production workshops and warehouses. The main drawbacks of this method are:

[0003] 1) Defects of wheeled transport vehicles: They adopt the traditional Ackerman chassis design, which results in insufficient driving flexibility, large turning radius, complex structure, and invariable structural dimensions.

[0004] 2) AGV robot defects: It adopts a steering wheel design, which has poor maneuverability and can only travel on smooth surfaces. Its structural dimensions cannot be changed. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the problems existing in the above-mentioned modular robot mobile units, the present invention is proposed.

[0007] Therefore, the object of this invention is to provide a modular robot mobile unit.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a modular robot mobile unit, comprising: a steering assembly including a double fork arm, a rotating shaft disposed on the double fork arm, and a steering wheel disposed on the rotating shaft; a drive assembly including a power unit disposed on the upper end of the double fork arm, a housing disposed outside the power unit, and a steering flange disposed on the lower end of the housing; and a connecting assembly disposed between the double fork arm and the drive assembly.

[0009] As a preferred embodiment of the modular robot mobile unit of the present invention, the double fork arm includes a supporting body, a first support rod disposed at one end of the supporting body, and a second support rod disposed at the other end of the supporting body. A base plate is disposed at the lower end of the second support rod. The rotating shaft is connected between the rotating shaft and the base plate. A braking component is disposed between the steering wheel and the base plate.

[0010] As a preferred embodiment of the modular robot mobile unit of the present invention, the braking component includes a connecting box connected to the base plate, a storage cavity opened in the connecting box, and an electromagnetic brake disposed in the storage cavity. The electromagnetic brake is directly connected to the steering guide wheel, and a driving component is disposed between the connecting box and the steering guide wheel.

[0011] As a preferred embodiment of the modular robot mobile unit of the present invention, the driving component includes a connecting housing connected to the connecting box and a through-shaft hub motor disposed within the connecting housing.

[0012] The rotating shaft has connecting threads at both outward-extending ends, and locking nuts are threaded onto the connecting threads.

[0013] In a preferred embodiment of the modular robot mobile unit of the present invention, the connecting assembly includes a lower connecting flange, a cross bearing connected to the lower connecting flange, and an upper connecting flange connected to the cross bearing. The lower connecting flange is connected to the support body, the upper connecting flange is connected to the steering flange, and the output shaft of the power unit extends downward and is sleeved with the cross bearing.

[0014] In a preferred embodiment of the modular robot mobile unit of the present invention, the housing is provided with a locking component, which includes a connecting cylinder disposed at the lower end of the housing, an abutment cylinder slidably connected to the connecting cylinder, and a connecting ring disposed at the lower end of the abutment cylinder. The connecting ring is connected to a steering flange, and the abutment cylinder and the connecting cylinder are provided with a linkage.

[0015] The inner wall of the abutting cylinder is slidably connected to the outer wall of the connecting cylinder.

[0016] As a preferred embodiment of the modular robot mobile unit of the present invention, the linkage includes several sets of linkage rods arranged in a ring along the inner wall of the connecting cylinder. Each linkage rod set includes a first connecting rod rotatably connected to the inner wall of the connecting cylinder and a second connecting rod rotatably connected to the inner wall of the abutting cylinder. The first connecting rod and the second connecting rod are hinged to each other, and a locking plate is provided at the end of the first connecting rod near the second connecting rod.

[0017] As a preferred embodiment of the modular robot mobile unit of the present invention, the connecting cylinder is provided with a shock-absorbing component, the shock-absorbing component includes a first locking block provided on the first connecting rod, a second locking block provided on the second connecting rod, and an elastic element provided between the first locking block and the second locking block, the elastic element includes a spring and connecting strips provided at both ends of the spring, the first locking block and the second locking block are each provided with a mating groove that mates with the connecting strip, and the first connecting rod is provided with a swinging component.

[0018] As a preferred embodiment of the modular robot mobile unit of the present invention, the swinging component includes a swing rod rotatably connected to a first connecting rod, a pawl rotatably connected to the end of the swing rod, and a gear disposed at the rear end of the pawl. Two pawls are provided. A rack is slidably connected inside the swing rod. The rack meshes with the two gears. The front end of the pawl is connected to both ends of a spring.

[0019] In a preferred embodiment of the modular robot mobile unit of the present invention, a drive gear meshing with a rack is rotatably connected inside the swing arm. A rotating component is provided between the drive gear and the first connecting rod. The rotating component includes a first rotating rod connected to the drive gear, a second rotating rod connected to the rotating shaft of the first connecting rod and the second connecting rod, and a transfer component provided between the first rotating rod and the second rotating rod.

[0020] The transfer component includes a plurality of first transfer rods connected to a first rotating rod and a second transfer rod connected to a second rotating rod, wherein the plurality of first transfer rods and the second transfer rods are arranged to abut against each other in an alternating manner.

[0021] The beneficial effects of this invention are as follows: It adopts a modular design, combining a through-shaft external rotor hub servo drive motor with an electromagnetic brake, providing emergency braking and ramp parking capabilities, ensuring safety and reliability; it is fixed to the double fork arm via screws, nuts, support rings, and washers, resulting in a simple structure and convenient assembly; it uses honeycomb tires, providing shock absorption and strong passability; it employs a single cross bearing instead of the traditional two pairs of tapered roller bearings, resulting in a compact structure and convenient installation; the robot drive platform can select the number of drive units according to actual needs of the scenario, and the assembly flange is assembled onto the drive platform base, offering a flexible structure and versatile form. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0023] Figure 1 This is a schematic diagram of the overall structure of the modular robot mobile unit of the present invention.

[0024] Figure 2 This is an exploded view of the connecting component structure of the modular robot mobile unit of the present invention.

[0025] Figure 3 This is a schematic diagram of the braking component structure of the modular robot mobile unit of the present invention.

[0026] Figure 4 This is a cross-sectional view of the locking component structure of the modular robot mobile unit of the present invention.

[0027] Figure 5 This is a schematic diagram of the shock-absorbing component structure of the modular robot mobile unit of the present invention.

[0028] Figure 6 The modular robot mobile unit described in this invention Figure 5 Enlarged diagram of part A in the middle.

[0029] Figure 7 This is a schematic diagram of the swinging component structure of the modular robot mobile unit of the present invention. Detailed Implementation

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0033] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0034] Example 1

[0035] Reference Figure 1-3This invention discloses a modular robot mobile unit, including a steering component 100. In this embodiment, the steering component 100 includes a double fork arm 101, which serves as the main structure of the entire mobile unit. The overall cross surface is similar to a "door". A rotating shaft 102 is also provided on the double fork arm 101, which passes through the lower end of the double fork arm 101 and is horizontally arranged. A steering wheel 103 is also provided on the rotating shaft 102, which is located within the semi-enclosed space formed by the double fork arm 101. The rotation of the steering wheel 103 can drive the movement of the robot.

[0036] Furthermore, the present invention also includes a drive assembly 200. In this embodiment, the drive assembly 200 includes a power unit 201 disposed on the upper end of the double wishbone 101. The power unit 201 serves as the main power component for driving the entire double wishbone 101 to turn, and plays a role in controlling the turning of the double wishbone 101. A housing 202 is also disposed outside the power unit 201. The housing 202 is cylindrical in shape, and the power unit 201 is directly installed inside the housing 202. The housing 202 protects the power unit 201. At the same time, a steering flange 203 is disposed at the lower end of the housing 202. The steering flange 203 can directly connect the housing 202 to the robot, thereby enabling the installation of the entire mobile unit.

[0037] Furthermore, the present invention also includes a connecting component 400. In this embodiment, the connecting component 400 is disposed between the double fork arm 101 and the driving component 200, thereby connecting the double fork arm 101 and the driving component 200 to ensure control of the double fork arm 101.

[0038] Furthermore, in this embodiment, the double fork arm 101 includes a support body 101a, which is a horizontally placed plate made of alloy steel. A first support rod 101b is provided at one end of the support body 101a, and the overall shape of the first support rod 101b is an isosceles triangle, with an angle between it and the plane of the support body 101a between 80° and 84°. A second support rod 101c is provided at the other end of the support body 101a, and the overall shape of the second support rod 101c is similar to that of the first support rod 101a. The support rod 101b is consistent with the plane of the support body 101a, and the angle between it and the plane of the support body 101a is also consistent with that of the first support rod 101b. The support body 101a, the first support rod 101b, and the second support rod 101c together form a semi-enclosed space for the placement and installation of the steering wheel 103. A base plate 104 is provided at the lower end of the first support rod 101b and the second support rod 101c. The rotating shaft 102 is connected between the two base plates 104, and the base plate 104 is perpendicular to the plane of the support body 101a.

[0039] Furthermore, a brake component 300 is provided between the steering wheel 103 and the base plate 104. The purpose of the brake component 300 is to brake the steering wheel 103. In this embodiment, the brake component 300 includes a connecting box 301 connected to one of the base plates 104. The connecting box 301 is generally disc-shaped and has a storage cavity inside. An electromagnetic brake 303 is also provided in the storage cavity. The electromagnetic brake 303 is directly connected to the steering wheel 103. When braking is required, the electromagnetic brake 303 works to brake the steering wheel 103. A drive component 304 is provided between the connecting box 301 and the steering guide wheel. The drive component 304 can directly control the guide wheel and drive its rotation, thus serving as the main power source for the robot's forward and backward movement.

[0040] In this embodiment, the driving component 304 includes a connecting housing 304a connected to the connecting box 301. The size of the connecting housing 304a is smaller than that of the connecting box 301, so that it can be installed in the storage cavity. A through-shaft hub motor 304b is also provided in the connecting housing 304a. The through-shaft hub motor 304b drives the guide wheel. The electromagnetic brake 303 is located outside the hub motor and does not affect the operation of the through-shaft hub motor 304b.

[0041] Preferably, both ends of the rotating shaft 102 that extend outward are provided with connecting threads, and locking nuts 304c are threaded onto the connecting threads, thereby locking the rotating shaft 102.

[0042] Furthermore, in this embodiment, the connecting assembly 400 includes a lower connecting flange 401, a cross bearing 402 connected to the lower connecting flange 401, and an upper connecting flange 403 connected to the cross bearing 402. Thus, the rotation of the upper connecting flange 403 can be transmitted to the lower connecting flange 401. The lower connecting flange 401 is connected to the support body 101a, and the upper connecting flange 403 is connected to the steering flange 203. The output shaft of the power unit 201 extends downward and engages with the cross bearing 402, thereby enabling the power unit 201 to control the double wishbone 101.

[0043] Operation process: The modular design integrates a through-shaft external rotor hub servo drive motor with an electromagnetic brake 303, providing emergency braking and ramp parking capabilities, ensuring safety and reliability. It is secured to the double fork arm 101 via screws, nuts, support rings, and washers, resulting in a simple structure and convenient assembly. The honeycomb tires provide shock absorption and excellent maneuverability. A single cross bearing 402 replaces the traditional two pairs of tapered roller bearings, resulting in a compact structure and easy installation. The robot drive platform allows for selection of the number of drive units based on actual scenario requirements, with the assembly flange mounted on the drive platform base, offering a flexible and versatile structure.

[0044] Example 2

[0045] Reference Figure 4-7 This embodiment differs from the first embodiment in that a locking component 500 is provided on the casing 202. In this embodiment, the locking component 500 includes a connecting cylinder 501 located at the lower end of the casing 202, which is directly fixed to the casing 202. An abutment cylinder 502 is slidably connected to the connecting cylinder 501, wherein the inner wall of the abutment cylinder 502 is slidably connected to the outer wall of the connecting cylinder 501. Furthermore, a connecting ring 503 is provided at the lower end of the abutment cylinder 502. The size of the connecting ring 503 is smaller than that of the steering flange 203, and the connecting ring 503 is fixed to the steering flange 203. A linkage is provided inside the abutment cylinder 502 and the connecting cylinder 501.

[0046] The purpose of the linkage is to control the sliding of the abutment cylinder 502, allowing the operator to select the sliding direction of the abutment cylinder 502. In this embodiment, the linkage includes several sets of linkage rod groups 505 arranged in a ring along the inner wall of the connecting cylinder 501. In this embodiment, there are six linkage rod groups 505, which are equidistantly arranged in a ring. Each linkage rod group 505 includes a first connecting rod 505a rotatably connected to the inner wall of the connecting cylinder 501 and a second connecting rod 505b rotatably connected to the inner wall of the abutment cylinder 502. The first connecting rod 505a and the second connecting rod 505b are connected in a ring. The connecting rods 505b are hinged to each other. When the abutment cylinder 502 slides down, it will drive the second connecting rod 505b to swing, thereby making the position of the second connecting rod 505b and the first connecting rod 505a closer or farther away. When the abutment cylinder 502 moves down, the second connecting rod 505b and the first connecting rod 505a are in a state of being far apart from each other. When the abutment cylinder 502 is in the upper position, the first connecting rod 505a and the second connecting rod 505b are in a state of being close together. A clamping plate 506 is provided at the end of the first connecting rod 505a near the second connecting rod 505b, and a pressing element is provided on the clamping plate 506.

[0047] Because when the first link 505a approaches the second link 505b, it retracts towards the center of the abutment cylinder 502, and the clamping member can cover the downward-extending shaft of the power unit 201, thereby protecting the shaft.

[0048] In this embodiment, the clamping member includes an extension plate rotatably connected to the clamping plate 506. The extension plate extends toward the center of the abutment cylinder 502. An abutment plate is slidably connected to the front end of the extension plate. The abutment plate extends along the length of the extension plate and can slide back and forth. A spring 603a is provided between the abutment plate and the extension plate to control the movement of the abutment plate. A clamping plate is rotatably connected to the abutment plate. The cross surface of the clamping plate is arc-shaped, and the rotation plane of the clamping plate is vertical. When the clamping plate is pushed by the abutment plate, it extends forward and clamps the rotating shaft of the power unit 201.

[0049] Furthermore, a shock-absorbing component 600 is provided inside the connecting cylinder 501. In this embodiment, the shock-absorbing component 600 includes a first locking block 601 disposed on the first connecting rod 505a and a second locking block 602 disposed on the second connecting rod 505b. The first locking block 601 and the second locking block 602 are disposed opposite to each other. When the first connecting rod 505a and the second connecting rod 505b move away from each other, the first locking block 601 also moves away from the second locking block 602. An elastic element 603 is also provided between the first locking block 601 and the second locking block 602. The elastic element 603 includes a spring 603a and connecting strips 603b disposed at both ends of the spring 603a. Both the first locking block 601 and the second locking block 602 are provided with mating grooves 604 that cooperate with the connecting strips 603b, thereby making the spring 603a detachable.

[0050] Furthermore, a swing component 700 is provided on the first connecting rod 505a. In this embodiment, the swing component 700 includes a swing rod 701 rotatably connected to the first connecting rod 505a. The rotation plane of the swing rod 701 is horizontally arranged, so that it can move away from or closer to the first connecting rod 505a after rotation. A pawl 702 is also rotatably connected to the end of the swing rod 701. A gear 703 is also provided at the rear end of the pawl 702. There are two pawls 702, which in turn means there are two gears 703. A rack 704 is slidably connected inside the swing rod 701. The rack 704 meshes with the two gears 703. When the rack 704 slides, it will drive the two gears 703 to rotate, thereby causing the two pawls 702 to rotate accordingly, thereby realizing the grasping and releasing action.

[0051] Furthermore, the front end of the pawl 702 is connected to both ends of the spring 603a, and a drive gear 705 that meshes with the rack 704 is rotatably connected inside the swing rod 701. A rotating component 800 is provided between the drive gear 705 and the first connecting rod 505a. In this embodiment, the rotating component 800 includes a first rotating rod 801 connected to the drive gear 705, a second rotating rod 802 connected to the rotating shaft of the first connecting rod 505a and the second connecting rod 505b, and a transfer component provided between the first rotating rod 801 and the second rotating rod 802.

[0052] In this embodiment, the transfer component includes a plurality of first transfer rods 803 connected to the first rotating rod 801 and a second transfer rod 804 connected to the second rotating rod 802. A hemispherical block is provided at the end of the first rotating rod 801 and the second rotating rod 802, and the first transfer rods 803 are arranged along the spherical surface, and the second transfer rods 804 are also arranged along the spherical surface. The plurality of first transfer rods 803 and second transfer rods 804 are arranged to abut against each other in an alternating manner.

[0053] The rest of the structure is the same as in Example 1.

[0054] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0055] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0056] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0057] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A modular robot mobile unit, characterized in that: The system includes a steering assembly (100) comprising a double wishbone (101), a rotating shaft (102) mounted on the double wishbone (101), and a steering wheel (103) mounted on the rotating shaft (102); a drive assembly (200) comprising a power unit (201) mounted on the upper end of the double wishbone (101), a housing (202) mounted outside the power unit (201), and a steering flange (203) mounted on the lower end of the housing (202); and a connecting assembly (400) disposed between the double wishbone (101) and the drive assembly (200); a locking member (500) is provided on the housing (202), the locking member (500) comprising a locking member (203) mounted on the housing (201) and a steering wheel (103) mounted on the housing (201). 02) A connecting cylinder (501) at the lower end, an abutment cylinder (502) slidably connected to the connecting cylinder (501), and a connecting ring (503) disposed at the lower end of the abutment cylinder (502). The connecting ring (503) is connected to the steering flange (203). A linkage is provided inside the abutment cylinder (502) and the connecting cylinder (501). The inner wall of the abutment cylinder (502) is slidably connected to the outer wall of the connecting cylinder (501). The linkage includes several sets of linkage rod groups (505) arranged in a ring along the inner wall of the connecting cylinder (501). Each linkage rod group (505) includes a first connecting rod (505a) rotatably connected to the inner wall of the connecting cylinder (501) and a second connecting rod rotatably connected to the inner wall of the abutment cylinder (502). The first connecting rod (505a) and the second connecting rod (505b) are hinged to each other. A retaining plate (506) is provided at the end of the first connecting rod (505a) near the second connecting rod (505b). A shock-absorbing component (600) is provided inside the connecting cylinder (501). The shock-absorbing component (600) includes a first retaining block (601) provided on the first connecting rod (505a), a second retaining block (602) provided on the second connecting rod (505b), and an elastic element (603) provided between the first retaining block (601) and the second retaining block (602). The elastic element (603) includes a spring (603a) and connecting strips (603b) provided at both ends of the spring (603a). Both the first and second locking blocks (601) have a mating groove (604) that mates with the connecting strip (603b). The first connecting rod (505a) is provided with a swinging component (700). The swinging component (700) includes a swinging rod (701) rotatably connected to the first connecting rod (505a), a pawl (702) rotatably connected to the end of the swinging rod (701), and a gear (703) provided at the rear end of the pawl (702). There are two pawls (702). A rack (704) is slidably connected inside the swinging rod (701). The rack (704) meshes with the two gears (703). The front end of the pawl (702) is connected to both ends of the spring (603a).The swing arm (701) is rotatably connected to a drive gear (705) that meshes with a rack (704). A rotating component (800) is provided between the drive gear (705) and the first connecting rod (505a). The rotating component (800) includes a first rotating rod (801) connected to the drive gear (705), a second rotating rod (802) connected to the shafts of the first connecting rod (505a) and the second connecting rod (505b), and an intermediate connecting component provided between the first rotating rod (801) and the second rotating rod (802). The intermediate connecting component includes several first intermediate connecting rods (803) connected to the first rotating rod (801) and several second intermediate connecting rods (804) connected to the second rotating rod (802). The several first intermediate connecting rods (803) and the second intermediate connecting rods (804) are staggered and abut against each other.

2. The modular robot mobile unit as described in claim 1, characterized in that: The double wishbone (101) includes a support body (101a), a first support rod (101b) disposed at one end of the support body (101a), and a second support rod (101c) disposed at the other end of the support body (101a). A base plate (104) is disposed at the lower end of the second support rod (101c). The rotating shaft (102) is connected between the first support rod (101b) and the base plate (104). A brake component (300) is disposed between the steering wheel (103) and the base plate (104).

3. The modular robot mobile unit as described in claim 2, characterized in that: The braking component (300) includes a connecting box (301) connected to the base plate (104), a storage cavity opened in the connecting box (301), and an electromagnetic brake (303) disposed in the storage cavity. The electromagnetic brake (303) is directly connected to the steering guide wheel, and a driving component (304) is disposed between the connecting box (301) and the steering guide wheel.

4. The modular robot mobile unit as described in claim 3, characterized in that: The drive component (304) includes a connecting housing (304a) connected to the connecting box (301) and a through-shaft hub motor (304b) disposed in the connecting housing (304a). The two ends of the rotating shaft (102) extending outward are provided with connecting threads, and locking nuts (304c) are threaded onto the connecting threads.

5. The modular robot mobile unit as described in claim 1, characterized in that: The connecting assembly (400) includes a lower connecting flange (401), a cross bearing (402) connected to the lower connecting flange (401), and an upper connecting flange (403) connected to the cross bearing (402). The lower connecting flange (401) is connected to the support body (101a), and the upper connecting flange (403) is connected to the steering flange (203). The output shaft of the power unit (201) extends downward and engages with the cross bearing (402).

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