Robot base and robot

Abstract

The utility model discloses a robot base and a robot. The robot base comprises a shell, a connecting base, a mounting base and a driver. An accommodating cavity is formed in the shell; the connecting seat is arranged in the accommodating cavity and is rotatably connected with the cavity wall of the accommodating cavity through a bearing; the mounting seat is connected with the connecting seat and is used for mounting the mechanical arm; the driver is arranged in the containing cavity and connected with the connecting base. In the robot base, a driver is in transmission connection with a mounting seat through a connecting seat, and the connecting seat is arranged in a containing cavity of a shell and is rotationally connected with the cavity wall of the containing cavity through a bearing; when the mechanical arm is mounted on the mounting base, even if the gravity center of the mechanical arm is located on one side of the preset axis, the load applied to the mounting base by the mechanical arm can be transmitted to the shell sequentially through the connecting base and the bearing, so that the influence of the load applied to the mounting base by the mechanical arm on the driver is reduced, and the damage probability of the driver is reduced; and therefore, the service life of the whole robot base is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot base and a robot. Background Art

[0002] With the popularization of modern industrial robots, various industries have increasing requirements for the end-load capacity of articulated robots, especially in the fields of heavy-load industrial robots, military robots, engineering machinery, mechanical exoskeletons and other equipment, where the end-load capacity requirements reach tons.

[0003] In the related art, a robot includes a robot base and a robotic arm. The robot base includes a driver. The output end of the driver is connected to the robotic arm. The driver is used to drive the robotic arm to rotate around a vertical axis.

[0004] However, when the robot is working, the overall center of gravity of the robotic arm often deviates from the rotation axis of the robotic arm. In this case, the robotic arm will drive the output end of the driver to deflect toward the horizontal side, causing damage to the driver and reducing the service life of the robot base. Utility Model Content

[0005] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art. In a first aspect, the present invention provides a robot base with a longer service life. In a second aspect, the present invention provides a robot.

[0006] According to the embodiment of the first aspect of the present utility model, the robot base provided includes a shell, a connecting seat, a mounting seat and a driver; a accommodating cavity is provided in the shell; the connecting seat is provided in the accommodating cavity and is rotatably connected to the cavity wall of the accommodating cavity through a bearing; the mounting seat is connected to the connecting seat, and the mounting seat is used to install a robotic arm; the driver is provided in the accommodating cavity and connected to the connecting seat, and the driver is used to drive the connecting seat and the mounting seat to rotate synchronously around a preset axis.

[0007] The robot base described in the present utility model has at least the following beneficial effects: in the robot base of the present application, the driver is connected to the mounting seat through a connecting seat, the connecting seat is arranged in the accommodating cavity of the shell, and is rotatably connected to the cavity wall of the accommodating cavity through a bearing; when a robotic arm is installed on the mounting seat, even if the center of gravity of the robotic arm is located on one side of the preset axis, at this time, the load applied by the robotic arm to the mounting seat can be transmitted to the shell through the connecting seat and the bearing in turn, so as to reduce the influence of the load applied by the robotic arm to the mounting seat on the driver, thereby reducing the probability of damage to the driver, and thus improving the service life of the entire robot base.

[0008] According to the robot base described in the embodiment of the first aspect of the present utility model, the connecting seat and the mounting seat are fixedly connected by a first threaded connection member; a first abutment structure is provided on the connecting seat, and a second abutment structure is provided on the mounting seat. The first abutment structure abuts against the second abutment structure to prevent the connecting seat and the mounting seat from rotating relative to each other around a preset axis.

[0009] According to the robot base described in the embodiment of the first aspect of the present utility model, the mounting seat is provided with a connecting protrusion located on a preset axis, a protrusion is formed on the circumferential surface of the connecting protrusion, and the protrusion forms a first abutment structure; the connecting seat is provided with a connecting groove adapted to the connecting protrusion, an abutment groove is formed on the groove side wall of the connecting groove, the protrusion is inserted into the abutment groove, and the groove wall of the abutment groove forms a second abutment structure.

[0010] According to the robot base described in the embodiment of the first aspect of the present invention, the connecting protrusion is prismatic, and the side corners of the connecting protrusion form the protrusion; the connecting groove is prismatic, and the side corners of the connecting groove form the abutment groove.

[0011] According to the robot base described in the embodiment of the first aspect of the present utility model, a third abutment structure is provided on the mounting seat, and a fourth abutment structure and a fifth abutment structure are provided on the shell. The third abutment structure can abut against the fourth abutment structure to prevent the mounting seat from continuing to rotate forward relative to the shell, and the third abutment structure can abut against the fifth abutment structure to prevent the mounting seat from continuing to rotate reversely relative to the shell.

[0012] According to the robot base described in the embodiment of the first aspect of the present utility model, abutment protrusions are provided on the mounting seat, and the abutment protrusions form a third abutment structure; an arc-shaped groove extending circumferentially along a preset axis is provided on the shell, and the groove walls at the opposite ends of the arc-shaped groove in its own extension direction respectively form a fourth abutment structure and a fifth abutment structure, and the abutment protrusions can be slidably passed through the arc-shaped groove.

[0013] According to the robot base described in the embodiment of the first aspect of the present utility model, the bearing is a cross roller bearing.

[0014] The robot provided in accordance with the embodiment of the second aspect of the present invention includes the robot base provided in the embodiment of the first aspect of the present invention; the robot also includes a robotic arm, which is installed on the mounting base.

[0015] According to the robot described in the embodiment of the second aspect of the utility model, the mechanical arm includes a driving structure and a connecting arm, the driving structure includes a motor and an ear plate, the motor and the ear plate are both arranged on the mounting seat, the connecting arm is rotatably arranged on the ear plate, the motor is connected to the connecting arm, and is used to drive the connecting arm to rotate relative to the ear plate.

[0016] According to the robot described in the embodiment of the second aspect of the present invention, the ear plate includes a connecting portion, and a plug-in slot is provided on the mounting seat. The connecting portion is inserted into the plug-in slot and abuts against the slot wall of the plug-in slot; the connecting portion and the slot wall of the plug-in slot are fixedly connected by a second threaded connecting member.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic structural diagram of a robot according to an embodiment of the present invention;

[0020] Figure 2 for Figure 1 A schematic structural diagram of a robot base of the robot shown;

[0021] Figure 3 for Figure 2 A schematic structural diagram of the mounting base of the robot base shown;

[0022] Figure 4 for Figure 3 A partial enlarged view of the structure at position A of the mounting base shown;

[0023] Figure 5 for Figure 1 A schematic structural diagram of a portion of the robot base of the robot shown;

[0024] Figure 6 for Figure 5 A partial enlarged view of the structure at position B of the robot base is shown;

[0025] Figure 7 This is a schematic structural diagram of a driving structure and a robot base according to an embodiment of the present invention.

[0026] Reference numerals:

[0027] Robot base 10;

[0028] Housing 100; accommodating cavity 110; bearing 120; arc-shaped groove 130; fourth abutting structure 131; fifth abutting structure 132;

[0029] Connecting seat 200; connecting groove 210; abutting groove 211;

[0030] Mounting seat 300; connecting protrusion 310; protrusion 311; abutting protrusion 320; connecting section 321; plug section 322; plug slot 330;

[0031] Driver 400;

[0032] Robotic arm 500 ; driving structure 510 ; motor 511 ; ear plate 512 ; connecting portion 512 a ; connecting arm 520 . DETAILED DESCRIPTION

[0033] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0035] In the description of this utility model, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0036] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0037] Reference below Figures 2 to 6 The robot base 10 according to the first aspect of the present invention will be described in detail.

[0038] refer to Figure 2 According to the first embodiment of the present utility model, the robot base 10 includes a shell 100, a connecting seat 200, a mounting seat 300 and a driver 400.

[0039] A accommodating cavity 110 is provided in the shell 100; the connecting seat 200 is provided in the accommodating cavity 110 and is rotatably connected to the cavity wall of the accommodating cavity 110 through a bearing 120; the mounting seat 300 is connected to the connecting seat 200, and the mounting seat 300 is used to install the robotic arm 500; the driver 400 is provided in the accommodating cavity 110 and is connected to the connecting seat 200, and the driver 400 is used to drive the connecting seat 200 and the mounting seat 300 to rotate synchronously around a preset axis.

[0040] For example, Figure 2 As shown, the robot base 10 includes a shell 100, a connecting base 200, a mounting base 300 and a driver 400. A accommodating cavity 110 with an upward opening is formed in the shell 100. The driver 400 and the connecting base 200 are both arranged in the accommodating cavity 110. The output end of the driver 400 is connected to the connecting base 200. The connecting base 200 is rotatably connected to the cavity wall of the accommodating cavity 110 through a bearing 120. The upper end of the mounting base 300 extends out of the accommodating cavity 110 and is used to connect to the robotic arm 500. The lower end of the mounting base 300 extends into the accommodating cavity 110 and is connected to the upper end of the connecting base 200.

[0041] It should be noted that when the robot base 10 of the present application is applied to the robot, the robotic arm 500 is installed on the mounting seat 300. Driven by the driver 400, the connecting seat 200 can drive the mounting seat 300 to rotate around a vertically extending preset axis to achieve adjustment of the posture of the robotic arm 500.

[0042] It is understandable that during the operation of the robot, the center of gravity of the manipulator 500 may be located on one side of the preset axis. At this time, under the action of the gravity of the manipulator 500, the manipulator 500 will apply a horizontal load to the output end of the driver 400, thereby damaging the driver 400. In the robot base 10 of the present application, the output end of the driver 400 is connected to the connecting seat 200, and the connecting seat 200 is rotatably connected to the cavity wall of the accommodating cavity 110 through the bearing 120. When the center of gravity of the manipulator 500 is located on one side of the preset bearing 120, the load applied by the manipulator 500 to the mounting seat 300 can be transmitted to the housing 100 through the connecting seat 200 and the bearing 120 in sequence, thereby reducing the horizontal load borne by the output end of the driver 400, thereby protecting the driver 400 and extending the service life of the robot base 10 of the present application.

[0043] In order to achieve the connection between the connecting base 200 and the mounting base 300, in some embodiments of the present invention, the connecting base 200 and the mounting base 300 are fixedly connected by a first threaded connection member (not shown in the figure).

[0044] It is understandable that the connection between the connecting base 200 and the mounting base 300 is achieved through the first threaded connection member, which can make the connection between the connecting base 200 and the mounting base 300 simpler and more secure.

[0045] Specifically, the first threaded connection member may be a threaded connection member such as a screw or a bolt.

[0046] It should be noted that after the driver 400 drives the connecting seat 200 to rotate around the preset axis, the connecting seat 200 needs to drive the mounting seat 300 to rotate around the preset axis; if the connecting seat 200 and the mounting seat 300 are only connected through the first threaded connection member, in the process of the connecting seat 200 driving the mounting seat 300 to rotate around the preset axis, the first threaded connection member needs to bear a large horizontal torque. In this case, the first threaded connection member is prone to damage.

[0047] Based on the above situation, in some embodiments of the present invention, a first abutment structure is provided on one of the connecting seat 200 and the mounting seat 300, and a second abutment structure is provided on the other one. The first abutment structure abuts against the second abutment structure to prevent the connecting seat 200 and the mounting seat 300 from rotating relative to each other around a preset axis.

[0048] It is understood that by providing the first abutment structure and the second abutment structure, when the driver 400 drives the connecting base 200 to rotate about the preset axis, the first abutment structure can push the second abutment structure, so that the mounting base 300 can rotate about the preset axis along with the connecting base 200. In this case, the first threaded connector is only used to limit the relative position between the connecting base 200 and the mounting base 300 in the vertical direction, while the horizontal torque generated when the mounting base 300 rotates along with the connecting base 200 is borne by the first abutment structure and the second abutment structure, thereby reducing the horizontal torque borne by the first threaded connector and thereby increasing the service life of the first threaded connector.

[0049] In some embodiments of the present invention, reference Figures 3 to 6 The lower end of the mounting seat 300 is provided with a connecting protrusion 310 located on a preset axis, and a protrusion 311 is formed on the circumferential surface of the connecting protrusion 310, and the protrusion 311 forms a first abutment structure; the upper end of the connecting seat 200 is provided with a connecting groove 210 adapted to the connecting protrusion 310, and an abutment groove 211 is formed on the side wall of the connecting groove 210, and the protrusion 311 is inserted into the abutment groove 211, and the groove wall of the abutment groove 211 forms a second abutment structure.

[0050] When the robot base 10 of the present application is working, the connecting seat 200 can rotate around a preset axis under the drive of the driver 400. During this process, the protrusion 311 abuts against the groove wall of the abutting groove 211 and pushes the mounting seat 300 to follow the connecting seat 200 to rotate around the preset axis.

[0051] In a further embodiment of the present invention, the connecting protrusion 310 is prismatic, and the side corners of the connecting protrusion 310 form the protruding portion 311 ; the connecting groove 210 is prismatic, and the side corners of the connecting groove 210 form the abutting groove 211 .

[0052] Specifically, the connecting protrusion 310 is in the shape of an octagonal prism, and correspondingly, the connecting groove 210 is also in the shape of an octagonal prism.

[0053] Optionally, the shape of the connecting protrusion 310 and the connecting groove 210 only needs to be a polygonal prism, and does not have to be only an octagonal prism. According to needs, the staff can also choose a pentagonal prism, a hexagonal prism, an enneaded prism, etc.

[0054] Optionally, in other embodiments of the present invention, the lower end of the mounting seat 300 is provided on the connecting protrusion 310, and the connecting protrusion 310 is provided on one side of the preset axis. At this time, the upper end of the connecting seat 200 is provided with a connecting groove 210 adapted to the connecting protrusion 310, and the connecting protrusion 310 is passed through the connecting groove 210.

[0055] It should be noted that during the operation of the robot base 10 of the present application, the robotic arm 500 is installed on the mounting seat 300, and under the drive of the driver 400, the connecting seat 200 can drive the mounting seat 300 to rotate around the preset axis, so that the mounting seat 300 can drive the robotic arm 500 to rotate around the preset axis.

[0056] In order to limit the rotation angle of the robot arm 500 around the preset axis to a certain range, in some embodiments of the present invention, reference Figure 5 A third abutment structure is provided on the mounting seat 300, and a fourth abutment structure 131 and a fifth abutment structure 132 are provided on the shell 100. The third abutment structure can abut against the fourth abutment structure 131 to prevent the mounting seat 300 from continuing to rotate forward relative to the shell 100, and the third abutment structure can abut against the fifth abutment structure 132 to prevent the mounting seat 300 from continuing to rotate backward relative to the shell 100.

[0057] It is understood that, when driven by the driver 400, after the mounting base 300 rotates forward by a certain angle, the third abutting structure can abut against the fourth abutting structure 131 to prevent the mounting base 300 from continuing to rotate forward. At this time, the mounting base 300 is in the first state. When the mounting base 300 rotates backward by a certain angle, the third abutting structure can abut against the fifth abutting structure 132 to prevent the mounting base 300 from continuing to rotate backward. At this time, the mounting base 300 is in the second state. By providing the third abutting structure on the mounting base 300 and providing the fourth abutting structure 131 and the fifth abutting structure 132 on the connecting base 200, the mounting base 300 can switch between the first state and the second state. When the robotic arm 500 is mounted on the mounting base 300, the robotic arm 500 can rotate forward and reverse within a certain range under the drive of the driver 400.

[0058] In a further embodiment of the present invention, reference is made to Figure 3 and Figure 5 The mounting seat 300 is provided with abutment protrusions 320, which form a third abutment structure; the shell 100 is provided with an arc-shaped groove 130 extending circumferentially along a preset axis, and the groove walls of the arc-shaped groove 130 at opposite ends of its own extension direction respectively form a fourth abutment structure 131 and a fifth abutment structure 132, and the abutment protrusion 320 can be slidably penetrated into the arc-shaped groove 130.

[0059] It can be understood that, driven by the driver 400, the mounting seat 300 can rotate around the preset axis, and in the process of the mounting seat 300 rotating around the preset axis, the abutment protrusion 320 can slide along the arc groove 130. When the mounting seat 300 rotates forward until the abutment protrusion 320 abuts against the groove wall of the arc groove 130, the mounting seat 300 is in the first state. When the mounting seat 300 rotates reversely until the abutment protrusion 320 abuts against the groove wall of the arc groove 130, the mounting seat 300 is in the second state.

[0060] It can be understood that the structures of the abutting protrusion 320 and the arc-shaped groove 130 are simple and easy to implement.

[0061] It should be noted that when the abutting protrusion 320 abuts against the groove wall of the slide groove, the abutting protrusion 320 needs to bear a horizontal load. If this continues for a long time, cracks are likely to occur at the connection between the abutting protrusion 320 and the mounting seat 300.

[0062] Based on the above situation, in some embodiments of the present invention, reference Figure 3 The abutment protrusion 320 includes a connecting section 321 and an inserting section 322. The upper and lower ends of the connecting section 321 are respectively connected to the lower end of the mounting seat 300 and the upper end of the inserting section 322. From top to bottom, the cross-sectional size of the connecting section 321 gradually decreases, and the inserting section 322 can be slidably inserted into the arc groove 130.

[0063] It can be understood that since the abutment protrusion 320 includes a connecting section 321, the connecting section 321 is connected to the lower end of the mounting seat 300, and the cross-sectional size of the connecting section 321 gradually decreases from top to bottom, thereby being able to enhance the strength of the connection between the abutment protrusion 320 and the mounting seat 300, so as to enhance the difficulty of cracks forming at the connection between the abutment protrusion 320 and the mounting seat 300.

[0064] In a further embodiment of the present invention, the connecting section 321 is welded to the mounting base 300 .

[0065] In some embodiments of the present invention, the bearing 120 is a cross roller bearing.

[0066] It is understandable that when the robot base 10 of the present application is in use, under the weight of the robot arm 500, the cross roller bearing needs to bear a larger radial load, and the cross roller bearing has a good axial load and radial load bearing capacity.

[0067] Reference below Figure 1 and Figure 7 The robot according to the second aspect of the present invention will be described in detail.

[0068] refer to Figure 1 The robot provided according to the second aspect of the present invention includes the robot base 10 provided by the first aspect of the present invention; the robot also includes a robotic arm 500, which is installed on the mounting base 300.

[0069] In some embodiments of the present invention, the robotic arm 500 includes a driving structure 510 and a connecting arm 520, the driving structure 510 includes a motor 511 and an ear plate 512, the motor 511 and the ear plate 512 are both arranged on the mounting base 300, the connecting arm 520 is rotatably arranged on the ear plate 512, the motor 511 is connected to the connecting arm 520, and is used to drive the connecting arm 520 to rotate relative to the ear plate 512.

[0070] It can be understood that by rotatably arranging the connecting arm 520 on the ear plate 512, the gravity of the connecting arm 520 can be transmitted to the mounting base 300 through the ear plate 512, and the motor 511 only applies torque to the connecting arm 520, thereby reducing the damage to the motor 511 caused by the gravity of the connecting arm 520 itself.

[0071] In a further embodiment of the present invention, the ear plate 512 includes a connecting portion 512a, and a plug-in slot 330 is provided on the mounting base 300. The connecting portion 512a is passed through the plug-in slot 330 and abuts against the slot wall of the plug-in slot 330. The connecting portion 512a and the slot wall of the plug-in slot 330 are fixedly connected by a second threaded connection member.

[0072] For example, Figure 7 As shown, a connecting portion 512a is formed at the lower end of the ear plate 512, and a plug-in slot 330 is provided on the mounting base 300. The connecting portion 512a is inserted into the plug-in slot 330 in a vertical direction, and the connecting portion 512a and the slot wall of the plug-in slot 330 are fixedly connected by a second threaded connector.

[0073] It can be understood that when the motor 511 drives the connecting arm 520 to rotate, the connecting arm 520 will apply a load to the ear plate 512 in reverse. Since the connecting portion 512a of the ear plate 512 is inserted into the plug-in slot 330, the load borne by the ear plate 512 can be transferred to the mounting seat 300 through the slot wall of the plug-in slot 330, thereby reducing the shear force on the second threaded connector and thereby increasing the service life of the second threaded connector.

[0074] Specifically, the second threaded connection member may be a screw, a bolt, or other threaded member used to achieve connection.

[0075] In some embodiments of the present invention, two ear plates 512 are provided, and the two ear plates 512 are distributed along the front-to-back direction. The mounting base 300 is provided with two plug-in slots 330 distributed along the front-to-back direction. The connecting parts 512a of the two ear plates 512 are inserted into the two plug-in slots 330 one by one. The connecting arms 520 are rotatably connected to the two ear plates 512 respectively, and the motor 511 is arranged between the two ear plates 512.

[0076] It is understandable that by providing two ear plates 512 , the load on a single ear plate 512 can be reduced, thereby extending the service life of the ear plate 512 ; at the same time, the two ear plates 512 can cooperate to limit the motor 511 in the front-to-back direction.

[0077] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robot base, characterized in that: include: a housing, wherein a receiving cavity is provided in the housing; a connecting seat, disposed in the accommodating cavity and rotatably connected to the cavity wall of the accommodating cavity via a bearing; A mounting base connected to the connecting base, the mounting base being used for mounting a robotic arm; The driver is arranged in the accommodating cavity and connected to the connecting seat. The driver is used to drive the connecting seat and the mounting seat to rotate synchronously around a preset axis.

2. A robot base according to claim 1, characterized in that: The connecting seat and the mounting seat are fixedly connected by a first threaded connection; a first abutment structure is provided on the connecting seat, and a second abutment structure is provided on the mounting seat, and the first abutment structure abuts against the second abutment structure to prevent the connecting seat and the mounting seat from rotating relative to each other around the preset axis.

3. A robot base according to claim 2, characterized in that: The mounting seat is provided with a connecting protrusion located on the preset axis, and a protrusion is formed on the circumferential surface of the connecting protrusion, and the protrusion forms the first abutment structure; the connecting seat is provided with a connecting groove adapted to the connecting protrusion, and an abutment groove is formed on the groove side wall of the connecting groove, the protrusion is inserted into the abutment groove, and the groove wall of the abutment groove forms the second abutment structure.

4. A robot base according to claim 3, characterized in that: The connecting protrusion is prismatic, and the side corners of the connecting protrusion form the protruding portion; the connecting groove is prismatic, and the side corners of the connecting groove form the abutting groove.

5. The robot base according to claim 1, characterized in that: The mounting seat is provided with a third abutment structure, and the shell is provided with a fourth abutment structure and a fifth abutment structure. The third abutment structure can abut against the fourth abutment structure to prevent the mounting seat from continuing to rotate forward relative to the shell, and the third abutment structure can abut against the fifth abutment structure to prevent the mounting seat from continuing to rotate backward relative to the shell.

6. The robot base according to claim 5, characterized in that: The mounting seat is provided with an abutment protrusion, which forms the third abutment structure; the shell is provided with an arc-shaped groove extending circumferentially along the preset axis, and the groove walls at the opposite ends of the arc-shaped groove in its own extension direction respectively form the fourth abutment structure and the fifth abutment structure, and the abutment protrusion can be slidably inserted into the arc-shaped groove.

7. The robot base according to claim 1, characterized in that: The bearing is a cross roller bearing.

8. A robot, characterized in that: The robot comprises a robot base as described in any one of claims 1 to 7; the robot further comprises a robotic arm, and the robotic arm is installed on the mounting base.

9. A robot according to claim 8, characterized in that: The robotic arm includes a driving structure and a connecting arm, the driving structure includes a motor and an ear plate, the motor and the ear plate are both arranged on the mounting seat, the connecting arm is rotatably arranged on the ear plate, the motor is connected to the connecting arm, and is used to drive the connecting arm to rotate relative to the ear plate.

10. A robot according to claim 9, characterized in that: The ear plate includes a connecting portion, The mounting seat is provided with a plug-in slot, the connecting portion is passed through the plug-in slot and abuts against the slot wall of the plug-in slot; the connecting portion and the slot wall of the plug-in slot are fixedly connected via a second threaded connector.

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