Integrated mechanical arm and mobile robot

Abstract

The utility model provides an integrated mechanical arm and a mobile robot, which comprises a base, a rotating seat is arranged on the base, and the rotating seat is connected with a multi-shaft mechanical arm and can drive the multi-shaft mechanical arm to rotate around a central shaft of the rotating seat; the multi-axis mechanical arm comprises a plurality of connecting rods and a joint module; and the joint module is used for driving the connecting rod to rotate in the axial direction or pitch. The rotating seat is arranged on the base, and the rotating seat is connected with the multi-shaft mechanical arm, so that the multi-shaft mechanical arm is driven to rotate around the central shaft of the rotating seat; the joint module in the multi-axis mechanical arm can drive the connecting rod to rotate in the axial direction or pitch, and the accessibility and flexibility of the mechanical arm are improved.

Description

Technical Field

[0001] The utility model relates to a robot, and more particularly to an integrated robotic arm and a mobile robot. Background Art

[0002] Industrial robots refer to robots used in industrial fields such as manufacturing. They are usually dedicated, heavy-duty, and high-speed, capable of completing high-precision and high-efficiency production and processing tasks. Collaborative robots, on the other hand, are a new type of robot that can work collaboratively with humans in the same workspace to complete tasks that require collaboration, such as assembly, handling, labeling, and so on.

[0003] Industrial robots are usually large and bulky, with characteristics such as high load capacity, high precision, and high speed. Collaborative robots, in contrast, are relatively small and lightweight, usually in the form of robotic arms, with lower load capacity and speed, thus greatly enhancing their ability to work with human employees.

[0004] Therefore, it is necessary to provide a robot that can combine the advantages of industrial robots and collaborative robots, thereby expanding the application scenarios of robots and solving problems such as material handling and transportation in complex scenarios. Summary of the Utility Model

[0005] Aiming at the deficiencies in the prior art, the purpose of the present utility model is to provide an integrated robotic arm and a mobile robot.

[0006] The integrated robotic arm provided by the present utility model includes:

[0007] A base, on which a rotating seat is provided. The rotating seat is connected to a multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating seat.

[0008] The multi-axis robotic arm includes multiple connecting rods and joint modules; the joint modules are used to drive the connecting rods to rotate axially or perform pitching motions.

[0009] Preferably, the multi-axis robotic arm adopts a six-degree-of-freedom robotic arm.

[0010] Preferably, the rotating seat includes a driving motor and a speed reducer;

[0011] The output end of the driving motor is drivingly connected to the input end of the speed reducer;

[0012] The speed reducer is provided with an output end cover; the outer edge of the output end cover extends to form a mounting chassis; a first joint module is provided on the mounting chassis.

[0013] The speed reducer is provided with a hollow structure; a wire passing pipe is arranged in the hollow structure.

[0014] Preferably, the multi-axis robotic arm includes three pitching joints, a rotating joint, and a wrist with two degrees of freedom, which are connected in sequence.

[0015] Preferably, the pitching joint includes: a first joint, a second joint, and a third joint;

[0016] The first joint includes a first joint module and a first connecting rod. The first joint module is used to drive the first connecting rod to rotate for pitching motion;

[0017] The second joint includes a second joint module and a second connecting rod. The second joint module is arranged at the distal end of the first connecting rod and is used to drive the second connecting rod to rotate for pitching motion; and

[0018] The third joint includes a third joint module and a third connecting rod. The third joint module is arranged at the distal end of the second connecting rod and is used to drive the third connecting rod to rotate for pitching motion.

[0019] Preferably, the rotating joint includes a fourth joint module and a fourth connecting rod;

[0020] The third connecting rod includes an upper bracket and a lower bracket; the root end of the lower bracket is connected to the third joint module, and the distal end is connected to the upper bracket; the fourth joint module and the fourth connecting rod are sequentially arranged on the upper bracket along a direction;

[0021] The fourth joint module is used to drive the fourth connecting rod to rotate along the axial direction and further drive the wrist to rotate.

[0022] Preferably, the wrist includes a fifth joint module, a sixth joint module, a mounting bracket, a hollow bracket, and a hollow flange;

[0023] The mounting bracket is arranged at the distal end of the fourth connecting rod; the fifth joint module is arranged on the mounting bracket and is used to drive the hollow bracket to perform rotational motion;

[0024] The hollow flange and the sixth joint module are sequentially arranged on the hollow bracket along a direction; the sixth joint module is used to drive the hollow flange to rotate, and the hollow flange is used for the installation of the end effector.

[0025] Preferably, the end effector includes a vacuum source, a conduit, and a suction cup assembly;

[0026] The vacuum source is connected to the suction cup assembly through the conduit and is used to provide vacuum to the suction cup assembly;

[0027] The conduit sequentially passes through the inner cavity of the fourth connecting rod and the inner cavity of the hollow flange to connect the suction cup assembly.

[0028] Preferably, the hollow flange and the fourth connecting rod are coaxially arranged.

[0029] The mobile robot provided by the present utility model includes: the integrated robotic arm as described above, and further includes a mobile base;

[0030] The mobile base is configured to move to any position or pause at any position according to a received control instruction and determine the orientation angle;

[0031] The integrated robotic arm is arranged on the mobile base and is configured to move a target box conveyed by a conveyor to a discharging position, or move the target box on the discharging position onto the conveyor;

[0032] The end effector is arranged at the end of the integrated robotic arm.

[0033] Compared with the prior art, the present utility model has the following beneficial effects:

[0034] In the present utility model, a rotating seat is arranged on the base. The rotating seat is connected to a multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating seat; the multi-axis robotic arm includes multiple connecting rods and joint modules; the joint modules are configured to drive the connecting rods to rotate axially or perform pitching actions, improving the reachability and flexibility of the robotic arm; in the present utility model, the joints are mainly harmonic modules. By cooperating the joint modules with the connecting rods having a circular cross-section, the overall weight of the robotic arm is reduced; in the present utility model, the rotating seat is arranged as a hollow structure. Through gear transmission, the corresponding hollows of the fourth connecting rod and the hollow flange are realized, so that the conduit cable can pass through the inner cavities of the rotating seat, the fourth connecting rod, and the hollow flange, facilitating the installation of cable conduits and the like. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present utility model will become more obvious:

[0036] Figure 1 It is a schematic structural diagram of the integrated robotic arm in the embodiment of the present utility model;

[0037] Figure 2 It is a schematic structural diagram of the mechanical wrist arm in the embodiment of the present utility model;

[0038] Figure 3 Schematic diagram of the drive for the rotation of the robotic arm in the embodiment of the present utility model;

[0039] Figure 4 Exploded view of the wrist arm of the robotic arm in the embodiment of the present utility model;

[0040] Figure 5 Schematic diagram of the structure of the camera bracket in the embodiment of the present utility model;

[0041] Figure 6 Schematic diagram of the conduit connection of the end effector in the embodiment of the present utility model;

[0042] Figure 7 Schematic cross-sectional view of the fourth connecting rod in the embodiment of the present utility model; and

[0043] Figure 8 Schematic diagram of the structure of the mobile robot in the embodiment of the present utility model.

[0044] In the figure:

[0045] 1 is the base; 2 is the rotating seat; 201 is the driving motor; 202 is the mounting chassis; 3 is the camera bracket; 301 is the bracket motor; 302 is the mounting base plate; 303 is the camera support rod; 304 is the sensing module; 4 is the first joint module; 5 is the first connecting rod; 6 is the second joint module; 7 is the second connecting rod; 8 is the third joint module; 9 is the third connecting rod; 901 is the fixed bracket; 10 is the fourth joint module; 11 is the fourth connecting rod; 1101 is the second transmission gear; 1102 is the gear output connection mechanism; 1103 is the first bearing; 1104 is the short forearm tube; 12 is the fifth joint module; 13 is the mounting bracket; 14 is the hollow bracket; 15 is the hollow flange; 1501 is the third transmission gear; 16 is the sixth joint module; 1601 is the fourth transmission gear; 100 is the integrated robotic arm; 200 is the mobile base; 300 is the end effector. Specific embodiments

[0046] The present utility model will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can be made. These all fall within the protection scope of the present utility model.

[0047] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for electrical connection.

[0048] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0049] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0050] The present invention provides an integrated robotic arm, comprising:

[0051] a base, on which a rotating seat is provided, the rotating seat is connected to a multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating seat;

[0052] a multi-axis robotic arm, comprising a plurality of connecting rods and joint modules; the joint modules are used to drive the connecting rods to rotate axially or to perform pitching motions.

[0053] In the present invention, a rotating seat is provided on the base, the rotating seat is connected to the multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating seat; the multi-axis robotic arm comprises a plurality of connecting rods and joint modules; the joint modules are used to drive the connecting rods to rotate axially or to perform pitching motions, improving the reachability and flexibility of the robotic arm.

[0054] The above is the core idea of the present utility model. To make the above-mentioned objects, features, and advantages of the present utility model more obvious and understandable, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present utility model.

[0055] Figure 1 is a schematic structural diagram of the integrated robotic arm in the embodiment of the present utility model. As Figure 1 shown, the integrated robotic arm provided by the present utility model includes:

[0056] A base 1, on which a rotating base 2 is provided. The rotating base 2 is connected to a multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating base 2;

[0057] The multi-axis robotic arm includes multiple connecting rods and joint modules; the joint modules are used to drive the connecting rods to rotate axially or perform pitching motions.

[0058] In the embodiment of the present utility model, the joint modules can achieve rapid production and rapid assembly of robots, and can save the labor and time costs of selecting, designing, purchasing, and assembling hundreds of mechanical and electronic devices.

[0059] The joint modules include:

[0060] An encoder for motor end absolute value, used to adopt joint speed, placed at the end of the motor to collect the speed of the motor.

[0061] An encoder for output end multi-turn absolute value, which can memorize the single-turn and multi-turn power-off positions and perform full-closed-loop control;

[0062] A frameless torque motor, used to output torque to the reducer;

[0063] A precision harmonic reducer, including a reduction ratio of 50, 80, 100, or 120.

[0064] A DC driver, used to change the motor voltage to control the speed of the brushless DC motor;

[0065] A friction-type brake retainer, used for braking and position holding of the joint module, and can achieve zero-speed start under full load and full-speed heavy-load emergency stop;

[0066] A torque sensor, used to measure torque and rotational speed.

[0067] In the embodiment of the present utility model, the multi-axis robotic arm adopts a six-degree-of-freedom robotic arm.

[0068] The rotating base 2 includes a driving motor 201 and a speed reducer;

[0069] The output end of the driving motor 201 is drivingly connected to the input end of the speed reducer;

[0070] The speed reducer is provided with an output end cover; an installation chassis 202 extends out from the outer edge of the output end cover; a first joint module 4 is arranged on the installation chassis 202.

[0071] The speed reducer is arranged in a hollow structure; a wire passing pipe is arranged in the hollow structure.

[0072] In the embodiment of the present utility model, the multi-axis robotic arm includes three pitching joints, a rotating joint and a two-degree-of-freedom wrist which are connected in sequence.

[0073] The pitching joint includes: a first joint, a second joint and a third joint;

[0074] The first joint includes a first joint module 4 and a first connecting rod 5, and the first joint module 4 is used for driving the first connecting rod 5 to rotate for pitching motion;

[0075] The second joint includes a second joint module 6 and a second connecting rod 7, the second joint module 6 is arranged at the distal end of the first connecting rod 5 and is used for driving the second connecting rod 7 to rotate for pitching motion; and

[0076] The third joint includes a third joint module 8 and a third connecting rod 9, the third joint module 8 is arranged at the distal end of the second connecting rod 7 and is used for driving the third connecting rod 9 to rotate for pitching motion.

[0077] In the embodiment of the present utility model, the axial directions of the first joint module 4, the second joint module 6 and the third joint module 8 are parallel to each other.

[0078] Figure 2 For the structural schematic diagram of the mechanical wrist arm in the embodiment of the present utility model, as Figure 2 shown, the rotating joint includes a fourth joint module 10 and a fourth connecting rod 11;

[0079] The third connecting rod 9 includes an upper bracket and a lower bracket; the root end of the lower bracket is connected to the third joint module 8, and the distal end is connected to the upper bracket; the fourth joint module 10 and the fourth connecting rod 11 are sequentially arranged on the upper bracket along a direction;

[0080] The fourth joint module 10 is used for driving the fourth connecting rod 11 to rotate along the axial direction and further driving the wrist to rotate.

[0081] In the embodiment of the present utility model, the axis of the fourth joint module 10 is perpendicular to the axes of the first joint module 4, the second joint module 6, and the third joint module 8.

[0082] Figure 3 It is a driving schematic diagram of the rotation of the robotic arm in the embodiment of the present utility model, as Figure 3 shown, a first transmission gear 1001 is provided on the output flange of the fourth joint module 10, and a second transmission gear 1101 is provided at the root end of the fourth connecting rod 11; the first transmission gear 1001 and the second transmission gear 1101 are meshed, so that the fourth joint module 10 drives the fourth connecting rod 11 to rotate through the first transmission gear 1001 and the second transmission gear 1101 in sequence.

[0083] The fourth connecting rod 11 and the fourth joint module 10 are connected through a fixed bracket 901;

[0084] Figure 7 It is a cross-sectional schematic diagram of the fourth connecting rod in the embodiment of the present utility model, as Figure 7 shown, the fourth connecting rod 11 includes a small arm short tube 1104, a first bearing 1103, and a gear output connection mechanism 1102; the first transmission gear 1101 is connected to the root end of the small arm short tube 1104 through the gear output connection mechanism 1102, and the tip end of the small arm short tube 1104 is connected to the mounting bracket 13.

[0085] Figure 4 It is an exploded view of the wrist arm of the robotic arm in the embodiment of the present utility model, as Figure 4 shown, the wrist part includes a fifth joint module 12, a sixth joint module 16, a mounting bracket 13, a hollow bracket 14, and a hollow flange 15;

[0086] The mounting bracket 13 is arranged at the tip end of the fourth connecting rod 11; the fifth joint module 12 is arranged on the mounting bracket 13 and is used for driving the hollow bracket 14 to perform a rotational motion;

[0087] The hollow flange 15 and the sixth joint module 16 are sequentially arranged on the hollow bracket 14 along one direction; the sixth joint module 16 is used for driving the hollow flange 15 to rotate, and the hollow flange 15 is used for the installation of the end effector.

[0088] In the embodiment of the present utility model, a third transmission gear 1501 is provided on the hollow flange 15; a fourth transmission gear 1601 is provided on the output flange of the sixth joint module 16; the fourth transmission gear 1601 is meshed with the third transmission gear 1501;

[0089] The sixth joint module 16 drives the hollow flange 15 to rotate through the fourth transmission gear 1601 and the third transmission gear 1501 in sequence, and then drives the end effector on the hollow flange 15 to rotate.

[0090] In the embodiment of the present invention, the axes of the fifth joint module 12 and the sixth joint module 16 are perpendicular to each other;

[0091] The axis of the fourth joint module 10 is perpendicular to the axis of the fifth joint module 12 and parallel to the axis of the sixth joint module 16.

[0092] The axis of the fifth joint module 12 is parallel to the axes of the first joint module 4, the second joint module 6, and the third joint module 8;

[0093] The axis of the sixth joint module 16 is perpendicular to the axes of the first joint module 4, the second joint module 6, and the third joint module 8.

[0094] Figure 5 It is a schematic structural diagram of the camera bracket in the embodiment of the present invention. As Figure 5 shown, in the embodiment of the present invention, a mounting base plate 302 is connected to the outer wall of the rotating seat 2; a camera bracket 3 is provided on the mounting base plate 302; the camera bracket 3 includes a bracket motor 301, a mounting base plate 302, a camera support rod 303, and a sensing module 304; the mounting base plate 302 is connected to the outer wall surface of the rotating seat 2; a transmission mechanism is provided on the mounting base plate 302, the output end of the bracket motor 301 is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is connected to the camera support rod 303 to drive the axial rotation of the camera support rod 303; a sensing module 304 is provided at the top of the camera support rod 303;

[0095] In the embodiment of the present invention, the transmission mechanism adopts a gear transmission assembly, such as two meshing gears; the sensing module 304 includes a fish-eye camera, a first lidar, and a second lidar; the first lidar and the second lidar are arranged back to back, the fish-eye camera is arranged on the first lidar and the second lidar, and the fish-eye camera is associated with the first lidar and the second lidar through calibration for the field of view. A plurality of circumferentially distributed light sources are arranged around the fish-eye camera.

[0096] Figure 6 It is a schematic diagram of the conduit connection of the end effector in the embodiment of the present invention. As Figure 6 shown, in the embodiment of the present invention, the end effector includes a vacuum source, a conduit, and a suction cup assembly;

[0097] The vacuum source is connected to the suction cup assembly through the conduit for providing vacuum to the suction cup assembly.

[0098] The conduit sequentially passes through the inner cavity of the fourth connecting rod 11 and the inner cavity of the hollow flange 15 to connect the suction cup assembly.

[0099] In the embodiment of the present utility model, the hollow flange 15 and the fourth connecting rod 11 are coaxially arranged.

[0100] Figure 8 This is a schematic structure of the mobile robot in the embodiment of the present utility model. As Figure 8 shown, in the embodiment of the present utility model, the mobile robot provided by the present utility model includes: the integrated robotic arm 100, and further includes a mobile base.

[0101] The mobile base 200 is configured to move to any position or pause at any position according to the received control instruction and determine the orientation angle.

[0102] The integrated robotic arm 100 is disposed on the mobile base 200 for moving the target box conveyed by the conveyor to a discharging position, or moving the target box on the discharging position to the conveyor.

[0103] The end effector 300 is disposed at the end of the integrated robotic arm 100 and is connected to the hollow flange 15.

[0104] In the embodiment of the present utility model, a rotating base is provided on the base. The rotating base is connected to the multi-axis robotic arm and can drive the multi-axis robotic arm to rotate around the central axis of the rotating base. The multi-axis robotic arm includes multiple connecting rods and joint modules. The joint modules are used to drive the connecting rods to rotate axially or perform pitching motions, improving the reachability and flexibility of the robotic arm. In the present utility model, the joints are mainly harmonic modules. By cooperating the joint modules with the connecting rods having a circular cross-section, the overall weight of the robotic arm is reduced. In the present utility model, the rotating base is provided with a hollow structure, and the corresponding hollowness of the fourth connecting rod and the hollow flange is realized through gear transmission, so that the conduit cable can pass through the inner cavities of the rotating base, the fourth connecting rod and the hollow flange, facilitating the installation of cable conduits and the like.

[0105] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features disclosed herein.

[0106] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present utility model.

Claims

1. An integrated robotic arm, characterized in that: include: A base, wherein a rotating base is provided on the base, the rotating base is connected to the multi-axis mechanical arm, and can drive the multi-axis mechanical arm to rotate around the central axis of the rotating base; Multi-axis robotic arm, including multiple connecting rods and joint modules; The joint module is used to drive the connecting rod to rotate along the axial direction or to perform a pitching motion.

2. The integrated robotic arm according to claim 1, characterized in that: The multi-axis mechanical arm adopts a six-degree-of-freedom robot arm.

3. The integrated robotic arm according to claim 1, characterized in that: The rotating seat includes a driving motor and a reducer; The output end of the driving motor is drivingly connected to the input end of the reducer; The reducer is provided with an output end cover; the outer edge of the output end cover extends out of the mounting chassis; the mounting chassis is provided with a first joint module; The reducer is provided with a hollow structure; a wire passing tube is provided in the hollow structure.

4. The integrated robotic arm according to claim 1, characterized in that: The multi-axis mechanical arm comprises three pitch joints connected in sequence, a rotation joint and a wrist with two degrees of freedom.

5. The integrated robotic arm according to claim 4, characterized in that: The pitch joint comprises: a first joint, a second joint and a third joint; The first joint includes a first joint module and a first connecting rod, and the first joint module is used to drive the first connecting rod to rotate to perform a pitching action; The second joint comprises a second joint module and a second connecting rod, wherein the second joint module is arranged at the tip of the first connecting rod and is used to drive the second connecting rod to rotate to perform a pitching action; The third joint includes a third joint module and a third connecting rod. The third joint module is arranged at the tip of the second connecting rod and is used to drive the third connecting rod to rotate to perform a pitching action.

6. The integrated robotic arm according to claim 5, characterized in that: The rotary joint comprises a fourth joint module and a fourth connecting rod; The third connecting rod comprises an upper bracket and a lower bracket; the root end of the lower bracket is connected to the third joint module, and the tip end is connected to the upper bracket; the fourth joint module and the fourth connecting rod are sequentially arranged on the upper bracket along one direction; The fourth joint module is used to drive the fourth connecting rod to rotate along the axial direction, and then drive the wrist to rotate.

7. The integrated robotic arm according to claim 6, characterized in that: The wrist comprises a fifth joint module, a sixth joint module, a mounting bracket, a hollow bracket and a hollow flange; The mounting bracket is arranged at the tip of the fourth connecting rod; the fifth joint module is arranged on the mounting bracket, and is used to drive the hollow bracket to perform rotational movement; The hollow bracket is provided with the hollow flange and the sixth joint module in sequence along one direction; The sixth joint module is used to drive the hollow flange to rotate, and the hollow flange is used for installing the end effector.

8. The integrated robotic arm according to claim 7, characterized in that: The end effector includes a vacuum source, a conduit, and a suction cup assembly; The vacuum source is connected to the suction cup assembly via the conduit, and is used to provide vacuum to the suction cup assembly; The conduit passes through the inner cavity of the fourth connecting rod and the inner cavity of the hollow flange in sequence to connect with the suction cup assembly.

9. The integrated robotic arm according to claim 8, characterized in that: The hollow flange and the fourth connecting rod are coaxially arranged.

10. A mobile robot, characterized in that: include: The integrated robotic arm of any one of claims 1 to 9, further comprising a mobile base; A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control command; An integrated mechanical arm is arranged on the mobile base and is used to move the target box conveyed by the conveyor to a discharge position, or to move the target box on the discharge position to the conveyor; The end effector is arranged at the end of the integrated mechanical arm.

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