Mobile operation robot

Abstract

The embodiment of the invention provides a mobile operation robot which comprises a movable platform, a height adjusting assembly, a displacement assembly and a tail end executing part, the height adjusting assembly is arranged on the movable platform, the fixed end of the displacement assembly is coupled to the height adjusting assembly, and the tail end executing part is arranged on the movable platform. The free end of the displacement assembly can generate space displacement relative to the fixed end, and the tail end executing part is coupled to the free end of the displacement assembly and used for executing preset operation. When the mobile operation robot runs, the movable platform moves according to a preset route or a dynamic planning path, meanwhile, the height adjusting assembly, the displacement assembly and the tail end execution part are carried to move synchronously, the space position and the space angle of the free end of the displacement assembly are adjusted, and then the tail end execution part is moved to the target position. The tail end execution part can execute preset operation, can execute physical operation or interaction tasks, and can meet the use requirements of scenes such as families or warehousing.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to the field of robotics, and more particularly, to a mobile operating robot. Background Art

[0002] With increasing intelligence, inspection robots have found widespread application in warehousing, computer rooms, industrial manufacturing, public security, and other fields. Delivery robots have also appeared in places like hotels and restaurants. Inspection robots are intelligent, automated devices designed specifically for inspection and monitoring tasks. They can accurately locate and avoid obstacles in complex environments, and move along preset or dynamically planned routes. Inspection robots are typically equipped with high-definition cameras and various detection instruments, which can collect and analyze image data in real time to identify potential faults, anomalies, or safety hazards. Delivery robots can transport express deliveries, takeouts, and other items to designated locations and prompt users to manually remove them. In related technologies, robots' functions are relatively specialized and focused, primarily limited to inspection or transportation. In other words, robots lack the ability to pick up objects, handle them, or directly control other systems. They cannot perform physical operations or interactive tasks, and therefore cannot meet the needs of scenarios like homes and warehouses. Summary of the Invention

[0003] An object of the embodiments of the present disclosure is to provide a mobile operating robot to at least solve the above-mentioned problems and other potential problems.

[0004] The present disclosure provides a mobile operating robot, comprising:

[0005] movable platform;

[0006] a height adjustment component, disposed on the movable platform;

[0007] a displacement assembly, the displacement assembly comprising a fixed end and a free end, the fixed end being coupled to the height adjustment assembly to move with the height adjustment assembly, the free end being capable of spatial displacement relative to the fixed end; and

[0008] The end effector is coupled to the free end of the displacement assembly and is used to perform a predetermined operation.

[0009] In some embodiments, the displacement assembly comprises:

[0010] A multi-joint operating arm comprises two opposite ends, one end of the multi-joint operating arm is the fixed end, and the other end of the multi-joint operating arm is the free end.

[0011] In some embodiments, the height adjustment assembly comprises:

[0012] a supporting portion, disposed on the movable platform; and

[0013] A moving part is supported by the supporting part and coupled to the fixed end of the displacement assembly, and the moving part can perform lifting motion relative to the supporting part to adjust the relative height between the displacement assembly and the movable platform.

[0014] In some embodiments, the mobile manipulation robot further comprises:

[0015] A camera assembly is coupled to at least one of the movable platform and the height adjustment assembly.

[0016] In some embodiments, the mobile manipulation robot further comprises:

[0017] An angle adjustment component is arranged on the top of the support part and coupled to the camera assembly. The angle adjustment component is used to adjust at least one of the horizontal viewing angle and the pitch viewing angle of the camera assembly.

[0018] In some embodiments, the mobile manipulation robot further comprises:

[0019] The shell is sleeved on the outside of the height adjustment component and coupled to the movable platform; the side wall of the shell is vertically provided with an opening, the displacement component passes through the opening, the fixed end is located on the inner side of the shell, and the free end is located on the outer side of the shell.

[0020] In some embodiments, the shell includes a main body and a base located below the main body, the cross-sectional area of the main body along the horizontal direction is adapted to the cross-sectional area of the height adjustment assembly along the horizontal direction, the main body is connected to the base, and the base is connected to the top edge of the movable platform.

[0021] In some embodiments, the mobile manipulation robot further comprises:

[0022] A counterweight component is provided on the movable platform, and is used for balancing the bending moment when the displacement assembly and the end effector are extended.

[0023] In some embodiments, the fixed end of the displacement assembly is detachably connected to the height adjustment assembly.

[0024] In some embodiments, the end effector is detachably connected to the free end of the displacement assembly.

[0025] In some embodiments, the movable platform comprises a two-wheel differential chassis.

[0026] In an embodiment of the present disclosure, the mobile operating robot includes a movable platform, a height adjustment component, a displacement component, and an end effector. The height adjustment component and the displacement component are installed on the movable platform. The displacement component moves with the height adjustment component, and the free end of the displacement component can undergo spatial displacement relative to the fixed end. The end effector is coupled to the free end of the displacement component to perform a predetermined operation. When the mobile operating robot is running, the movable platform moves according to a preset route or a dynamically planned path, while carrying the height adjustment component, the displacement component, and the end effector to move synchronously, adjusting the spatial position and spatial angle of the free end of the displacement component, and then moving the end effector to the target position. The end effector can perform predetermined operations, physical operations, or interactive tasks, and can meet the usage requirements of scenarios such as home or warehousing.

[0027] It should be understood that the content described in this content section is not intended to limit the key features or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0029] Figure 1 A schematic structural diagram of a mobile operating robot according to an embodiment of the present disclosure is shown, wherein the housing is removed;

[0030] Figure 2 Shown Figure 1 A schematic structural diagram of the mobile operating robot shown, wherein the housing is shown;

[0031] Figure 3 Shows a schematic structural diagram of the displacement assembly and the movable platform;

[0032] Figure 4 A structural schematic diagram showing the coordination relationship between the support portion and the moving portion of the height adjustment assembly;

[0033] Figure 5 A structural diagram showing the connection relationship between the camera assembly and the angle adjustment assembly is shown.

[0034] Description of reference numerals:

[0035] 10. Movable platform;

[0036] 20. Displacement assembly; 21. Fixed end; 22. Free end;

[0037] 30. Terminal execution unit;

[0038] 40. Height adjustment assembly; 41. Support unit; 42. Moving unit; 43. Lead screw; 44. Lead screw motor; 45. Lead screw controller; 46. Transformer; 47. Drag chain;

[0039] 50. Camera assembly;

[0040] 60. Angle adjustment assembly; 61. PTZ control unit; 62. Head rotation component; 63. Connecting flange; 64. Head pitch component;

[0041] 70. Housing; 71. Opening; 72. Main body; 73. Base;

[0042] 80. Counterweight components;

[0043] 91. Central control unit; 92. Voltage converter; 93. Intelligent sensing unit. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0045] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0046] It is understandable that before using the technical solutions disclosed in the various embodiments of this disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0047] In order to make the technical solution of the present disclosure clearer and easier to understand, the mobile operating robot provided by the embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

[0048] As mentioned in the background section, current robots have relatively specialized and focused functions, primarily limited to patrol and transportation. In other words, robots lack operational capabilities like picking up objects, handling them, or directly controlling other systems. They cannot perform physical manipulation or interactive tasks, and thus cannot meet the needs of scenarios like homes and warehouses.

[0049] In view of this, the present disclosure provides a mobile operating robot, see Figures 1 to 5 The mobile operating robot includes a movable platform 10 , a displacement component 20 , an end effector 30 and a height adjustment component 40 .

[0050] The movable platform 10 is a key component of the robot system. It is responsible for the robot's movement and positioning functions, ensuring that the robot can move efficiently and accurately to the preset position in complex environments. The structural form of the movable platform 10 directly affects the robot's maneuverability, flexibility, and adaptability to different scenarios. The movable platform 10 includes a wheeled platform, a tracked platform, a multi-legged / bionic platform, a track-type platform (for specific applications), or a flying platform, etc. The movable platform 10 can be determined according to actual usage requirements.

[0051] Wheeled platforms, including two-wheel differential drive, three-wheel independent drive, or four-wheel independent drive, use electric motors to drive the wheels for both straight-line travel and turning. Wheeled platforms are suitable for fast movement on flat surfaces, offering high speeds and low energy consumption. A two-wheel differential drive platform consists of a two-wheel differential chassis and multiple universal wheels mounted on the chassis' bottom. A two-wheel differential chassis uses a differential to coordinate the speed differences between the two drive wheels, enabling flexible motion control. The differential allows the left and right wheels to rotate at different speeds. When the robot turns, the inner wheel must rotate slower than the outer wheel to accommodate the change in turning radius. The differential automatically adjusts the wheel speeds on both sides through an internal gear train, ensuring smooth and stable steering. Each drive wheel is driven by an independent power source (such as a motor) and connected by a differential. This enables the robot to not only travel in a straight line but also turn in place or perform flexible, large-radius turns. For some two-wheel differential chassis with suspension systems, at least one drive wheel maintains good contact with the ground, even on uneven surfaces, maintaining good traction and stability. Robots used in scenarios such as indoor navigation and item delivery often adopt a two-wheel differential chassis design to enable them to move freely in narrow passages.

[0052] The tracked platform imitates the design of tank tracks, providing better terrain adaptability and traction, and is especially suitable for complex, uneven or soft ground environments.

[0053] Multi-legged / bionic platforms simulate the walking methods of organisms, such as hexapods and octapods, and can move stably in complex and rugged environments and cross large obstacles.

[0054] The track-based platform can be adapted to specific applications and uses a specially designed track wheel train to ensure that the robot can move safely and accurately along the track.

[0055] Flying platforms (such as drones), using rotary or fixed-wing technology, can perform missions in the air without being restricted by terrain, but issues such as endurance, control, and safety need to be considered.

[0056] The mobile platform 10 typically integrates a variety of sensors and control systems, such as an inertial measurement unit (IMU), an odometer, GPS, and a visual navigation system. These sensors are used to obtain real-time information about the robot's position and posture, and to control its autonomous navigation and obstacle avoidance through motion planning algorithms. Furthermore, the mobile platform 10 must have sufficient payload capacity to carry various inspection equipment and tools to perform tasks.

[0057] The height adjustment component 40 is disposed on the movable platform 10 and can move synchronously with the movable platform 10 .

[0058] The mobile manipulation robot also includes at least one displacement assembly 20, which can be one or more as needed. The displacement assembly 20 is the core structure that performs the actual displacement operation. The displacement assembly 20 includes a fixed end 21 and a free end 22. The fixed end 21 is coupled to the height adjustment assembly 40 and can move with the height adjustment assembly 40. The fixed end 21 is relatively fixed and acts as a support and reference. The free end 22 is the movable portion, and its range of motion is determined by the design of the displacement assembly 20.

[0059] In some embodiments, a mounting base is provided on the height adjustment assembly 40 or other stable structure on the height adjustment assembly 40, and the fixed end 21 is connected to the mounting base. This facilitates positioning, installation, and removal of the fixed end 21 of the displacement assembly 20. Furthermore, a circuit interface can be provided on the mounting base, which is compatible with the circuit interface of the displacement assembly 20. When the fixed end 21 is mechanically connected to the mounting base, an electrical connection is also completed.

[0060] The fixed end 21 of the displacement assembly 20 is coupled to the height adjustment assembly 40. Specifically, the fixed end 21 of the displacement assembly 20 is tightly coupled to a fixed point or frame of the height adjustment assembly 40 through mechanical, electrical, hydraulic, or magnetic means. The fixed end 21 and the height adjustment assembly 40 move synchronously with the movable platform 10, which can transport the displacement assembly 20 to a predetermined position. The torque or power of the displacement assembly 20 is effectively transmitted to the free end 22, enabling the free end 22 to perform translational or rotational motion in a predetermined manner.

[0061] The movement of the displacement assembly 20 is driven by instructions issued by a control system (such as an industrial computer). For example, after receiving the electrical signal from the industrial computer, the lead screw motor 44 will rotate and drive the lead screw 43, gears or other transmission mechanisms, thereby causing the free end 22 of the displacement assembly 20 to undergo spatial displacement (such as linear or curved motion) along a designed path. The displacement assembly 20 can be driven by a hydraulic cylinder, a servo motor, etc., and the transmission components of the displacement assembly 20 can be composed of a connecting rod, a crank arm, a gear, a rack, a conveyor belt, a drive wheel, a slider, a slide rail, etc., which can realize spatial displacement of the free end 22 relative to the fixed end 21. The displacement assembly 20 can realize changes in spatial position such as pitch, front and back, left and right, and can also realize the adjustment of the spatial angle of the central axis of the free end 22. Based on the complexity of the interactive operation, the above-mentioned transmission components can be arbitrarily matched.

[0062] The free end 22 of each displacement assembly 20 may be provided with one or more end effectors 30 , which may be of the same or different types. The number of displacement assemblies 20 may also be provided as needed.

[0063] The end effector 30 refers to a component or device with a specific function in the system, such as a grasping tool, a laser cutting head, a camera, a sensor, a medical device, etc. The end effector 30 has the ability to independently perform specific tasks. The end effector 30 is coupled to the free end 22 of the displacement component 20, that is, the end effector 30 is tightly connected to the free end 22 of the displacement component 20 by physical or electrical control means (such as mechanical interface, magnetic adsorption, electric drive, etc.). When the free end 22 of the displacement component 20 changes its spatial position, the end effector 30 coupled thereto will also move accordingly to achieve dynamic positioning. The end effector 30 works in conjunction with the displacement component 20. By controlling the movement of the displacement component 20, the position of the end effector 30 can be precisely adjusted so that it can perform corresponding operations in the required position and direction, such as material grasping, fine processing, detection and measurement, etc.

[0064] When the mobile manipulation robot provided by the disclosed embodiments operates, the movable platform 10 moves along a preset route or a dynamically planned path, simultaneously transporting the height adjustment assembly 40, the displacement assembly 20, and the end effector 30 to a designated location. The end effector 30 is moved to the target location by adjusting the spatial position and spatial angle of the free end 22 of the displacement assembly 20. The displacement assembly 20 precisely controls the spatial position of the end effector 30, enabling it to accurately complete predetermined tasks at different locations, thereby performing physical operations or interactive tasks, meeting the needs of use in scenarios such as homes and warehouses.

[0065] In some embodiments, the displacement assembly 20 includes a multi-joint operating arm having two opposite ends, one end of the multi-joint operating arm being a fixed end 21 and the other end of the multi-joint operating arm being a free end 22 .

[0066] See also Figure 1 The displacement component 20 includes a multi-joint operating arm. The multi-joint operating arm is a single-arm structure that can move flexibly and realize multi-dimensional position transformation, and is used to perform various actions in space. The multi-joint operating arm is formed with two opposite ends. The multi-joint operating arm is designed to extend from one end to the other end without an additional branch structure. The structure is relatively streamlined, which can reduce space occupation and increase the flexibility of the multi-joint operating arm. One end of the multi-joint operating arm is a fixed end 21, which is mechanically connected, supported by a bearing, or directly mounted on the height adjustment component 40 or other stable structures on the height adjustment component 40. The other end of the multi-joint operating arm opposite to the fixed end 21 is the free end 22, which can move or rotate freely within a certain range. The free end 22 carries the end execution part 30, such as a clamp, a welding head, a nozzle, etc., to complete a specific operating function.

[0067] In some embodiments, the multi-joint manipulator arm is a seven-joint arm. In this case, the multi-joint manipulator arm has seven rotational joints, each of which allows a degree of freedom of movement in a specific direction, so that the end effector 30 can achieve flexible and precise positioning and posture adjustment in three-dimensional space. The seven-joint arm can move and position in all directions on the three rectangular coordinate axes of X, Y, and Z, as well as the yaw, pitch, roll and other angles around these three axes, greatly improving its ability to adapt to various tasks, including assembly, handling, welding, spraying, inspection, clamping, touch and other application scenarios. It should be understood that fewer or more joint arms can be used depending on the complexity of the interactive task.

[0068] In some embodiments, the height adjustment assembly 40 includes a support portion 41 and a moving portion 42 that performs a lifting motion relative to the support portion 41. The support portion 41 is disposed on the movable platform 10. The moving portion 42 is supported by the support portion 41 and coupled to the fixed end 21 of the displacement assembly 20. The moving portion 42 can perform a lifting motion relative to the support portion 41 to adjust the relative height between the displacement assembly 20 and the movable platform 10.

[0069] See also Figure 1 and Figure 3 The height adjustment assembly 40 includes a support portion 41 and a moving portion 42, wherein the support portion 41 refers to a fixed and sufficiently strong basic structure that provides a stable basic support for the entire lifting mechanism, and the moving portion 42 is the part that realizes vertical movement on the support portion 41. The moving portion 42 is driven by a drive device (such as a screw, an electric cylinder, a hydraulic system, a pneumatic system or a linear motor, etc.) to enable it to perform precise rising or falling movements relative to the support portion 41. The support portion 41 of the height adjustment assembly 40 is connected to the movable platform 10, and the fixed end 21 is installed on the moving portion 42 that can be raised and lowered. When the moving portion 42 is raised or lowered, the displacement assembly 20 fixed thereon will also change its height position accordingly.

[0070] The height adjustment component 40 is used to adjust the relative height between the displacement component 20 and the movable platform 10, that is, the height adjustment component 40 flexibly adjusts the displacement component 20 to different heights according to actual application requirements, so as to perform various tasks more widely and flexibly in three-dimensional space, such as adapting to work surfaces of different heights, crossing obstacles or operating on target objects of different sizes.

[0071] In some embodiments, the height adjustment assembly 40 includes two guide rails arranged vertically in parallel (i.e., the support portion 41 mentioned above) and a slide (i.e., the moving portion 42 mentioned above) slidably connected to the two guide rails. A vertical lead screw 43 (which may be one or multiple in parallel) is provided between the two guide rails. The slide is provided with screw holes (one or multiple correspondingly provided), and the slide is rotatably connected to the vertically arranged lead screw 43. As the lead screw 43 rotates, the slide rises or falls along the two guide rails. The lead screw 43 is transmission-connected to the lead screw motor 44, the lead screw motor 44 is electrically connected to the lead screw controller 45, the lead screw controller 45 is electrically connected to the transformer 46 and the central control unit 91 (industrial computer). Based on the control signal of the central control unit 91, the lead screw 43 can be rotated clockwise or counterclockwise at a preset angle, thereby accurately controlling the height of the moving portion 42.

[0072] In some embodiments, a photoelectric switch or other type of position sensor is provided on the support part 41. The photoelectric switch or position sensor can generate a position signal when the moving part 42 is detected, and the controller can adjust the position and movement speed of the moving part 42 based on the position signal.

[0073] In some embodiments, see Figure 1 and Figure 4 A drag chain 47 is provided on one side of the height adjustment assembly 40. The drag chain 47 is mainly used to protect and manage the various internal lines such as hoses, cables, and wires carried by the moving part 42 during the reciprocating linear motion. On the one hand, the drag chain 47 can prevent the tension and bending stress generated during movement and the external environment (such as dust, cutting fluid, mechanical collision, etc.) from damaging the internal cables, oil pipes, air pipes, etc., thereby extending the service life of these pipelines. On the other hand, the drag chain 47, through the reasonable internal space design, allows multiple pipelines to be arranged in an orderly manner, avoiding mutual entanglement and wear between pipelines, and maintaining the cleanliness and safety during the operation of the equipment. On the other hand, the drag chain 47 has good buffering performance, which can absorb the vibration energy generated during movement, reduce noise, ensure smooth operation of the equipment, and improve the stability of the overall system. Finally, the drag chain 47 structure can be designed to be modular, and each section can be easily opened and closed, which facilitates quick installation and replacement and adjustment of pipelines during subsequent maintenance.

[0074] In some embodiments, the mobile operating robot further includes a camera assembly 50 coupled to at least one of the movable platform 10 and the height adjustment assembly 40 .

[0075] See also Figures 1 to 5A camera assembly 50 is installed at at least one of the movable platform 10 and / or the height adjustment assembly 40. Specifically, the camera assembly 50 may be mounted directly on the movable platform 10 to follow its movements and capture images from different positions. Alternatively, the camera assembly 50 may be mounted on the height adjustment assembly 40, allowing the camera to be raised or lowered as needed to obtain image information from different heights and perspectives, increasing the robot's flexibility and applicability. Alternatively, the camera assembly 50 may be mounted at a higher position on the support 41 to expand its field of view. The camera assembly 50's role in performing tasks is primarily reflected in the following aspects: First, the camera can capture real-time image information inside and outside various facilities, such as rooms and warehouses, for on-site environmental monitoring and timely detection of abnormalities such as fire sources, smoke, leaks, structural damage, and unauthorized intrusion. Second, using high-definition camera technology, the inspection robot can record detailed video data of its environment, providing a basis for subsequent analysis. For example, this can be used to locate and quantitatively analyze corrosion on water pipe walls, cracks in tunnel walls, or water seepage points. Thirdly, the camera component 50, combined with image processing algorithms and SLAM (simultaneous localization and mapping) technology, can help the robot navigate autonomously, identify road signs, obstacles, and its own position in complex environments, and ensure accurate movement to predetermined inspection points. Thirdly, in conjunction with specific visual recognition software, the camera can identify and track specific targets, such as instrument readings, equipment status indicators, etc., to achieve automated reading and recording. Thirdly, the camera component 50 can transmit real-time images back to the control center, allowing managers to remotely view and evaluate the status of facilities without having to visit the site, improve management efficiency, and respond quickly to emergencies. Finally, the image data recorded by the camera component 50 can serve as an important basis for post-investigation, helping to analyze causes, trace processes, and provide a reference for subsequent maintenance and improvement measures.

[0076] In some embodiments, the camera assembly 50 is disposed on the top of the support portion 41 , and an angle adjustment assembly 60 is provided between the support portion 41 and the camera assembly 50 . The angle adjustment assembly 60 is used to adjust at least one of the horizontal viewing angle and the pitch viewing angle of the camera assembly 50 .

[0077] See also Figure 1 and Figure 5The camera assembly 50 is arranged on the top of the support part 41. At the position where the support part 41 is connected to the camera assembly 50, an angle adjustment assembly 60 for changing the viewing angle of the camera is provided. The angle adjustment assembly 60 can be electric or mechanical, and includes a stepper motor, a rotary joint, a connecting rod or other similar devices, allowing the angle of the camera assembly 50 to be precisely adjusted. The angle adjustment assembly 60 can be a one-dimensional or two-dimensional motion platform. The angle adjustment assembly 60 can flexibly change the angle of the camera's observation direction, and can adjust the horizontal field of view of the camera assembly 50, that is, the left and right scanning range; it can also adjust the pitch field of view, that is, the up and down tilt angle. The angle adjustment assembly 60 can realize adjustment in a single direction or in two directions at the same time to meet the requirements of the monitoring range and the focus target in different scenarios, so that the robot can adjust the direction of the camera in real time as needed to capture the best image information.

[0078] In some embodiments, the angle adjustment assembly 60 is a pan-tilt structure, in which case the angle adjustment assembly 60 includes a pan-tilt control unit 61, a head rotating component 62, a connecting flange 63, and a head pitch component 64. The fixed end 21 of the head rotating component 62 is connected to the support portion 41, and the rotating end of the head rotating component 62 is connected to the connecting flange 63. Under the action of the head rotating component 62, the connecting flange 63 can rotate along the vertical axis. The fixed end 21 of the head pitch component 64 is connected to the connecting flange 63, and the rotating end of the head pitch component 64 is connected to the camera assembly 50. Under the action of the head pitch component 64, the camera assembly 50 can adjust the pitch angle. Under the joint action of the head rotating component 62 and the head pitch component 64, the horizontal and pitch angles of the camera assembly 50 can be adjusted.

[0079] In some embodiments, the mobile manipulation robot further includes a housing 70, which is disposed outside the height adjustment assembly 40 and is coupled to the movable platform 10. A sidewall of the housing 70 is vertically defined with an opening 71, through which the displacement assembly 20 passes. The fixed end 21 is located inside the housing 70, and the free end 22 is located outside the housing 70.

[0080] See also Figure 2In order to protect the height adjustment component 40 and the related electrical circuits and transmission mechanisms, while maintaining the neatness and safety of the overall structure, a shell 70 is wrapped around the outside of the height adjustment component 40. The shell 70 is fixedly connected to the top of the movable platform 10 of the robot to ensure that the height adjustment component 40 moves synchronously with the movable platform 10 and can stably perform the height adjustment task. An opening 71 is provided in the vertical direction on one or more sides of the shell 70 (determined according to the number of displacement components 20). The displacement component 20 passes through the opening 71 of the shell 70 and can be lifted and lowered in the vertical direction under the drive of the height adjustment component 40. The fixed end 21 is located on the inner side of the shell 70, and the free end 22 is located on the outer side of the shell 70. At this time, the shell 70 does not affect the lifting and lowering movement of the displacement component 20 and the spatial displacement of the free end 22.

[0081] In some embodiments, the shell 70 includes a main body 72 and a base 73 located below the main body 72. The cross-sectional area of the main body 72 along the horizontal direction is adapted to the cross-sectional area of the height adjustment assembly 40 along the horizontal direction. The main body 72 is connected to the base 73, and the base 73 is connected to the top edge of the movable platform 10.

[0082] See also Figure 2 The housing 70 is vertically divided into a main body 72 and a base 73. The main body 72 refers to the main portion of the housing 70, which is used to accommodate, support, or protect the height adjustment assembly 40 inside, while the base 73 serves as the foundation of the entire housing 70 structure. The main body 72 of the housing 70 is designed to be sized horizontally to just wrap around the height adjustment assembly 40, allowing the two to be tightly integrated in cross section. This does not hinder the normal operation of the height adjustment assembly 40, while providing good protection for it, thereby simplifying the structure and size of the robot. The transition between the main body 72 and the base 73 of the housing 70 is continuous and has no obvious steps or sudden changes, which helps to improve the stability of the overall structure, reduce stress concentration points, and optimize the appearance. The base 73 is smoothly connected to the top edge of the movable platform 10, without any obvious gaps or discontinuities between the two, thus ensuring the integration of the overall structure and the coordination between components during movement. It also helps to reduce noise and vibration, and improve the smoothness and durability of the system operation. At the same time, the smoothly connected structure has no or fewer sharp corners, which can avoid scratching users and children in home scenarios.

[0083] In some embodiments, the movable platform 10 is provided with a counterweight component 80 , which is used to balance the bending moment when the displacement assembly 20 and the end effector 30 are extended.

[0084] See also Figure 1The counterweight component 80 is a weight module installed on the movable platform 10. Its purpose is to balance the center of gravity distribution of the entire robot and ensure that when the displacement component 20 and the end effector 30 are performing actions, especially when they extend from the body of the movable platform 10 (for example, stretch, expand or rotate), the movable platform 10 will not become unstable or overturn due to changes in torque.

[0085] When the displacement assembly 20 and end effector 30 operate, particularly when they extend outward from the center of the movable platform 10, they generate a moment that can cause the platform to flip or tilt. The counterweight component 80, through its own weight and positioning, generates a moment in the opposite direction, effectively offsetting the imbalance caused by the extension of the components and ensuring stable and safe operation of the platform throughout its entire operating range.

[0086] In some embodiments, a balance adjustment device is also provided on the movable platform 10, and the counterweight component 80 is installed on the balance adjustment device. The balance adjustment device is electrically connected to the industrial computer of the robot. The balance adjustment device can adjust the relative position of the counterweight component 80 on the movable platform 10.

[0087] When the specifications and model of the end effector 30 are determined, its weight can also be determined. When the end effector 30 is a clamper, the weight of the clamped object can be calculated based on the clamping force.

[0088] The extension distance of the end effector 30 relative to the center of the movable platform 10 can be obtained based on the extension state parameters of the displacement assembly 20 .

[0089] The lateral bending moment to which the robot is subjected at this time can be inversely calculated based on the weight of the end effector 30 , the clamping weight acquired by the sensor on the end effector 30 , and the above-mentioned extension distance.

[0090] The balance distance to which the counterweight component 80 needs to be adjusted can be determined based on the lateral bending moment and a preset balance relationship. The controller generates a balance control signal based on the balance distance and transmits the balance control signal to the balance adjustment device. Upon receiving the balance control signal, the balance adjustment device begins operation, adjusting the counterweight component 80 to the other side of the top of the movable platform 10 away from the displacement assembly 20. At this point, the distance between the counterweight component 80 and the center of the movable platform 10 is greater than or equal to the aforementioned balance distance, or the difference between the distance between the counterweight component 80 and the center of the movable platform 10 and the balance distance satisfies a preset safety relationship.

[0091] As can be seen from the above, the end effector 30 will not cause the displacement-operated robot to overturn or become unstable when moving in space or performing an action, and thus has high safety.

[0092] In this embodiment, when a heavier end effector 30 is installed or the end effector 30 bears a larger load, there is no need to increase the size of the movable platform 10, so the structure of the displacement operating robot can be kept light and flexible, and the scope of application is wider.

[0093] In some embodiments, the fixed end 21 of the displacement assembly is detachably connected to the movable platform 10. Figure 1 The fixed end 21 of the displacement assembly is detachably connected to the movable platform 10. That is, the fixed end 21 of the displacement assembly can be connected via screws, clips, latches, or other connection methods that are easy to install and remove. This allows the user to easily remove the original displacement assembly from the movable platform 10 and replace it with a displacement assembly of different specifications or functions according to the actual application scenario or changes in needs. When the work task changes or needs to adapt to a new working environment, the operator can quickly replace the displacement assembly with one that suits the current task requirements, thereby improving the flexibility and adaptability of the robot, reducing the total cost of ownership, and improving work efficiency.

[0094] In some embodiments, the end effector 30 is detachably connected to the free end 22 of the displacement assembly 20. Figure 1 In the displacement manipulation robot, the end effector 30 is detachably connected to the free end 22 of the displacement assembly 20. The design incorporates a modular and highly flexible interface, allowing the end effector 30 to be quickly and easily installed or removed from the displacement assembly 20 and replaced with another type of end effector 30, depending on the specific operational needs. For example, when grasping objects of different shapes and sizes, the original clamping end effector 30 can be quickly replaced with a suction cup or pincer-type end effector 30.

[0095] The interchangeability of the end effector 30 allows the robot to be more adaptable and versatile in different task scenarios. For example, a robot originally used for material handling can be transformed into other tasks such as welding, spraying, or precision assembly by simply replacing the end effector 30, significantly improving the robot's service capabilities and overall operational performance.

[0096] The mobile operating robot provided in the embodiment of the present disclosure includes electrical components such as a movable platform 10, a height adjustment component 40, an angle adjustment component 60, a camera component 50, a displacement component 20, and an end effector 30. In order to achieve precise control of each electrical component, the mobile operating robot also includes a central control unit 91 (industrial computer), a voltage converter 92, a delayed power-on module, a motor driver, a controller, and other electrical control components. The electrical components are electrically connected to the corresponding electrical control components. Under the action of electrical signals, the displacement control of the movable platform 10, the spatial displacement (extension and retraction) of the displacement component 20, the action execution of the end effector 30, the image acquisition of the camera component 50, the lifting and lowering movement of the height adjustment component 40, and the angle control of the angle adjustment component 60 are achieved. The mobile operating robot also includes an intelligent sensing unit 93, such as an inertial measurement unit (IMU), an odometer, a GPS, a visual navigation system, etc., which is used to obtain the robot's position and posture information in real time, and control the robot's autonomous navigation and obstacle avoidance through advanced motion planning algorithms.

[0097] In order to make the structure of the mobile operating robot more streamlined, the embodiments of the present disclosure can integrate electronic control components such as an industrial computer, a step-down module, a delayed power-on module, a motor driver, and a controller, thereby minimizing space occupation while retaining the necessary heat dissipation and ventilation functions.

[0098] In some cases, the number of displacement components 20 is one, and the mobile operating robot is a single-arm mobile operating robot. At this time, the industrial computer, step-down module, delayed power-on module, motor driver, controller and other electronic control components can be integrated on the side of the height adjustment component 40 away from the displacement component 20.

[0099] While various embodiments of the present disclosure have been described above, the above descriptions are illustrative, non-exhaustive, and not intended to be limiting of the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A mobile operating robot comprising: a movable platform (10); a height adjustment assembly (40) disposed on the movable platform (10); a displacement assembly (20), the displacement assembly (20) comprising a fixed end (21) and a free end (22), the fixed end (21) being coupled to the height adjustment assembly (40) to move with the height adjustment assembly (40), and the free end (22) being capable of spatial displacement relative to the fixed end (21); as well as An end execution portion (30) is coupled to the free end (22) of the displacement component (20) for executing a predetermined operation.

2. The mobile operating robot according to claim 1, wherein the displacement assembly (20) comprises: A multi-joint operating arm comprises two opposite ends, one end of the multi-joint operating arm is the fixed end (21), and the other end of the multi-joint operating arm is the free end (22).

3. The mobile operating robot according to any one of claims 1 to 2, wherein the height adjustment assembly (40) comprises: A support portion (41) is provided on the movable platform (10); as well as A moving portion (42) is supported by the supporting portion (41) and coupled to the fixed end (21) of the displacement assembly (20), wherein the moving portion (42) is capable of performing a lifting motion relative to the supporting portion (41) to adjust the relative height between the displacement assembly (20) and the movable platform (10).

4. The mobile operating robot according to claim 3, further comprising: A camera assembly (50) is coupled to at least one of the movable platform (10) and the height adjustment assembly (40).

5. The mobile operating robot according to claim 4, further comprising: An angle adjustment component (60) is arranged on the top of the support portion (41) and is coupled to the camera assembly (50). The angle adjustment component (60) is used to adjust at least one of the horizontal viewing angle and the pitch viewing angle of the camera assembly (50).

6. The mobile operating robot according to claim 3, further comprising: A housing (70) is sleeved on the outside of the height adjustment assembly (40) and coupled to the movable platform (10); The side wall of the housing (70) is vertically provided with an opening (71), the displacement assembly (20) passes through the opening (71), the fixed end (21) is located on the inner side of the housing (70), and the free end (22) is located on the outer side of the housing (70).

7. A mobile operating robot according to claim 6, wherein the shell (70) includes a main body (72) and a base (73) located below the main body (72), the cross-sectional area of the main body (72) in the horizontal direction is adapted to the cross-sectional area of the height adjustment assembly (40) in the horizontal direction, the main body (72) is connected to the base (73), and the base (73) is connected to the top edge of the movable platform (10).

8. The mobile operating robot according to any one of claims 1 to 2, further comprising: A counterweight component (80) is provided on the movable platform (10), and the counterweight component (80) is used to balance the bending moment when the displacement assembly (20) and the end execution part (30) are extended.

9. The mobile operating robot according to any one of claims 1 to 2, wherein the fixed end (21) of the displacement assembly (20) is detachably connected to the height adjustment assembly (40).

10. The mobile operating robot according to any one of claims 1 to 2, wherein the end effector (30) is detachably connected to the free end (22) of the displacement assembly (20).

11. The mobile operating robot according to any one of claims 1 to 2, wherein the movable platform (10) comprises a two-wheeled differential chassis.

Images