Motion base of robot and composite motion type robot system

Abstract

The utility model discloses a motion base of a robot and a composite motion type robot system, relates to the technical field of robots, and aims to relieve the technical problem that the motion base of the robot is difficult to flexibly and stably support the robot. The motion base of the robot comprises a carrying chassis, a motion part, a supporting part and a locking part. Wherein the carrying chassis is used for carrying a robot, and the moving part is connected with the carrying chassis and can drive the carrying chassis to move; one end of the supporting part is movably connected to the carrying chassis, and the other end of the supporting part is used for limiting the robot from shaking; the locking component is connected with the supporting component, and the locking component can lock the form of the supporting component on the carrying chassis. Therefore, the robot supporting device has the advantages of improving the supporting stability and flexibly adapting to different robots.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a motion base for a robot and a composite motion robot system. Background Technology

[0002] Humanoid robots, as an important branch of robotics, achieve human-like walking through a bipedal locomotion structure. Compared to traditional wheeled locomotion, their movement is more flexible, allowing them to adapt to more complex terrains and perform complex functions such as climbing stairs and overcoming obstacles. However, humanoid walking suffers from speed limitations on flat terrain. To balance mobility and efficiency, related technologies combine humanoid robots with motion bases. This allows independently walking robots to move quickly by mounting on the motion base, and also enables the motion base to carry robots without mobility capabilities, facilitating efficient transportation.

[0003] In related technologies, some motion bases attempt to solve the problem of robots swaying and tipping over during acceleration, deceleration, and turning by setting a fixed connecting rod at the top. However, most mainstream connecting rods currently adopt a single, fixed, and immovable integrated structure design. They cannot be adaptively adjusted according to the differences in the center of gravity distribution and docking positions of different robot sizes. Therefore, motion bases still struggle to achieve compatibility with multiple robot models and cannot stably support robots.

[0004] The above statements are for the purpose of providing background information related to this application only, and do not necessarily constitute prior art. Utility Model Content

[0005] The purpose of this application is to provide a robot motion base and a composite motion robot system, which can alleviate the technical problem that the robot motion base is difficult to flexibly and stably support the robot.

[0006] The embodiments of this application are implemented as follows:

[0007] The first aspect of this application provides a robot motion base, including a mounting chassis, a moving component, a supporting component, and a locking component. The mounting chassis carries the robot, the moving component is connected to the mounting chassis and can drive the mounting chassis to move; one end of the supporting component is movably connected to the mounting chassis, and the other end of the supporting component is used to limit the robot's swaying; the locking component is connected to the supporting component and can lock the supporting component in its position on the mounting chassis.

[0008] In some embodiments, the support member includes a retractable first bracket and a second bracket, one end of the first bracket being movably connected to the mounting chassis, and the first bracket and the second bracket being movably connected; in the retracted state, the second bracket is nested within the first bracket; in the extended state, the second bracket extends or unfolds relative to the first bracket toward the outside of the first bracket.

[0009] In some embodiments, the second support is pivotally connected to the first support, and the second support can be folded into the first support or unfolded relative to the first support.

[0010] In some embodiments, the second bracket is movably nested within the first bracket, and the other end of the first bracket has a telescopic opening. The second bracket can extend out of the first bracket or retract into the first bracket along the axial direction of the first bracket via the telescopic opening.

[0011] In some embodiments, the locking component includes a length locking assembly, which includes a sleeve and a plurality of clamps. The plurality of clamps are arranged around the central axis of the first bracket at the edge of the telescopic opening, and the sleeve is fitted around the outer periphery of the clamps to restrict the movement of the second bracket by pressing the clamps.

[0012] In some embodiments, the locking member includes at least one joint locking assembly disposed on at least one movable joint of the support member. The movable joint includes a hinged first joint portion and a second joint portion. The joint locking assembly includes a cam handle and a constraint slider. The first joint portion has a stop hole adapted to the constraint slider, and the constraint slider is movably embedded in the stop hole. The second joint portion is disposed on one side of the stop hole, and the cam handle is rotatably disposed on the other side of the stop hole. When the cam handle is in the locked position, the protrusion of the cam handle abuts the constraint slider against the second joint portion, so as to restrict the rotation of the first joint portion relative to the second joint portion by the cooperation of the constraint slider and the stop hole.

[0013] In some embodiments, the support component includes a support body and a docking joint. One end of the support body is hinged to the mounting chassis, and the other end of the support body is hinged to the docking joint, which is used to connect the robot. A locking component is located at the hinge position between the support body and the docking joint to limit the relative rotation between the docking joint and the support body.

[0014] In some embodiments, the robot's motion base also includes a flexible electrical connector and a control module. The control module is mounted on the mounting chassis, the flexible electrical connector is housed within the support body, one end of the flexible electrical connector is connected to the control module, and the other end of the flexible electrical connector is integrated into a docking joint.

[0015] In some embodiments, a mounting chassis is used to mount an independently walking robot, and the mounting chassis has a mounting surface for placing the robot's feet; the mounting surface is provided with at least one fastener for engaging the robot's feet.

[0016] The second aspect of this application provides a composite motion robot system, which includes an independently walking robot and a motion base for the robot provided in any embodiment of the first aspect of this application. The independently walking robot is configured to be mounted on the motion base, which is used to support the independently walking robot.

[0017] The advantages of this application compared to related technologies are:

[0018] The robot motion base provided in this application, through the cooperation of the mounting chassis and moving components, can support the robot and drive it to move more efficiently. Furthermore, by setting up a support component that is movably connected to the mounting chassis and can limit the robot's swaying, the motion base can flexibly adjust the support posture of the support component to more flexibly adapt to and support robots of different specifications or with different docking positions, thereby improving the application flexibility and applicability of the motion base. Furthermore, by setting up a locking component connected to the support component, the motion base can fix and maintain the shape of the support component on the mounting chassis, reducing the probability of the robot tipping over, improving the reliability of the motion base's support for the robot, and improving the stability of the motion base driving the robot to move. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 The following are schematic diagrams illustrating the structure of a composite motion robot system according to some embodiments of this application;

[0021] Figure 2 This is a schematic diagram of the structure of a composite motion robot system shown in some other embodiments of this application;

[0022] Figure 3 This is a schematic diagram of the structure of the robot's motion base when the support component is in an extended state, as shown in some embodiments of this application;

[0023] Figure 4 This is a schematic diagram of the structure of the robot's motion base when the support component is in a retracted state, as shown in some embodiments of this application;

[0024] Figure 5 This is an exploded view of the motion base of a robot shown in some embodiments of this application;

[0025] Figure 6 The following are schematic diagrams illustrating the structure of the joint locking assembly in some embodiments of this application;

[0026] Figure 7 This is a partial cross-sectional schematic diagram of the motion base of a robot shown in some embodiments of this application;

[0027] Figure 8 This is a partial structural schematic diagram of the support component shown in some embodiments of this application;

[0028] Figure 9 This is a schematic diagram of the structure of the robot's motion base when the support component is in an extended state, as shown in some other embodiments of this application;

[0029] Figure 10 This is a schematic diagram of the structure of the robot's motion base when the support component is in a retracted state, as shown in some other embodiments of this application;

[0030] Figure 11 This is a schematic diagram of the overall structure of the support component shown in some other embodiments of this application;

[0031] Figure 12 This is an exploded view of the support component shown in some other embodiments of this application;

[0032] Figure 13 This is a partial structural schematic diagram of a support component shown in some other embodiments of this application.

[0033] Icons: 1- Composite motion robot system; 2- Humanoid robot; 3- Motion base; 4- Mounting chassis; 40- Mounting surface; 41- Snap-on position; 42- Mounting base plate; 43- Supporting base plate; 430- Hardware storage space; 44- Connecting frame; 5- Motion component; 51- Driving wheel; 52- Driven wheel; 6- Support component; 60- Movable joint; 601- First joint; 6010- Stop hole; 602- Second joint; 603- Joint pivot; 61- Support body; 611- First bracket; 6110-Telescopic port; 612-Second bracket; 6121-Limiting block; 62-Matching joint; 620-Snap-fit ​​groove; 7-Locking component; 71-Joint locking assembly; 711-Cam handle; 7111-Protrusion; 7112-Base circle; 712-Constraint slider; 713-Handle pivot; 72-Length locking assembly; 721-Clamping piece; 722-Clip; 73-Turning locking assembly; 81-Flexible electrical connector; 82-Control module; A-Central axis of the first bracket. Detailed Implementation

[0034] The terms “first,” “second,” “third,” etc., are used only for distinguishing descriptions and do not indicate a sequence number, nor should they be interpreted as indicating or implying relative importance.

[0035] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of this application, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0038] The technical solution of this application will now be described in detail with reference to the accompanying drawings.

[0039] In the field of robotics, to enable robots to move or be transported quickly and smoothly, wheeled motion bases are typically designed to support and propel the robot. However, in related technologies, when the robot's motion base accelerates, decelerates, brakes, or turns, the robot mounted on the base is prone to swaying or even tipping over due to inertia or a high center of gravity, making it difficult for the motion base to move the robot stably. To address these issues, this application provides a robot motion base that uses movable support components to limit robot swaying, providing more stable support and adapting to robots of different sizes. Furthermore, this application uses locking components to fix the support components' position on the mounting chassis, further improving the stability of the motion base in moving the robot and the reliability of the motion base in supporting the robot.

[0040] Please see Figures 1 to 2 , Figure 1 This is a schematic diagram of the structure of a composite motion robot system 1 shown in some embodiments of this application; Figure 2This is a schematic diagram illustrating the structure of a composite motion robot system 1 as shown in other embodiments of this application. Figures 1 to 2 As shown, this application provides a composite motion robot system 1, which may include an independently walking robot (e.g., a humanoid robot 2) and a motion base 3 for the robot. The independently walking robot is configured to be mounted on the motion base 3 (or the motion base 3 is connected to the independently walking robot). The motion base 3 supports the independently walking robot and enables it to move rapidly.

[0041] In this embodiment, the composite motion robot system 1 refers to a robot system capable of multiple motion modes. It integrates various motion functions, such as rapid translation, bending and extending of the robotic arm, or legged obstacle crossing, to adapt to complex task requirements and working environments. An independently walking robot refers to a robot with autonomous mobility, typically capable of humanoid or animal-like locomotion, adapting to complex terrain or environments, crossing obstacles, and moving on non-terrestrial environments or rugged terrain. Figures 1 to 2 The humanoid robot 2 shown is illustrated. The robot's motion base 3 refers to a device capable of supporting and moving the robot. The motion base 3 can support or connect to the robot in different ways. For example, the motion base 3 can connect to the robot by mounting the robot on a chassis 4 (e.g., the robot stands upright, lies down, or stands on the chassis 4); the motion base 3 can also connect to the robot (or support the robot) by supporting the robot and limiting its swaying through a support component 6; the motion base 3 can also achieve data interaction and charging / discharging control with the robot through an electrical connection.

[0042] Please combine Figures 1 to 2 As shown, in some embodiments, the independently walking robot can be a humanoid robot 2. The feet of the humanoid robot 2 can stand on the mounting base 4 of the motion base 3. The motion base 3 can move the humanoid robot 2 through the movement of the motion component 5, and the swaying of the humanoid robot 2 on the mounting base 4 can be limited by the support component 6. Furthermore, the motion base 3 can be mechanically connected to the humanoid robot 2 through the support component 6, or the motion base 3 can also be mechanically connected to the feet of the humanoid robot 2 through the mounting base 4. In other embodiments, the robot's motion base 3 can also be used to carry robots that do not have the ability to walk, so as to realize the transfer function of the robot through the motion component 5.

[0043] Current technical solutions combining robots with motion bases typically eliminate the bipedal structure of the humanoid robot, resulting in a humanoid upper body and a wheeled lower body. This makes the humanoid robot unable to move independently and difficult to adapt to complex terrain. The aforementioned technical solution, which combines a bipedal humanoid robot 2 with a motion base 3, allows the composite motion robot system 1 to simultaneously possess both bipedal and wheeled movement capabilities. These two movement modes can be used in combination or independently, depending on the actual terrain or walking requirements. The humanoid robot 2 and motion base 3 are easy to assemble and detach, balancing walking flexibility (enabling functions such as step climbing and obstacle crossing) with walking efficiency.

[0044] Please see Figures 3 to 5 , Figure 3 This is a schematic diagram of the structure of the robot's motion base 3 when the support component 6 is in an extended state, as shown in some embodiments of this application; Figure 4 This is a schematic diagram of the structure of the robot's motion base 3 when the support component 6 is in a retracted state, as shown in some embodiments of this application; Figure 5 This is an exploded view of the robot's motion base 3 shown in some embodiments of this application. Please refer to... Figures 1 to 5 As shown, the robot's motion base 3 includes a mounting chassis 4, a moving component 5, a supporting component 6, and a locking component 7. The mounting chassis 4 is used to mount the robot; the moving component 5 is connected to the mounting chassis 4 and can move the mounting chassis 4; one end of the supporting component 6 is movably connected to the mounting chassis 4, and the other end of the supporting component 6 is used to limit the robot's swaying; the locking component 7 is connected to the supporting component 6 and can lock the supporting component 6 in its position on the mounting chassis 4.

[0045] In this embodiment, the mounting chassis 4 refers to the basic platform on the motion base 3 that can support, accommodate, or carry the robot; the motion component 5 refers to the power structure that enables the motion base 3 to move, and the motion component 5 is connected to the mounting chassis 4 to drive the mounting chassis 4 and the robot on the mounting chassis 4 to move; the support component 6 refers to the structure connected to the mounting chassis 4 that can limit the robot's swaying, thereby improving the stability of the robot as it moves with the mounting chassis 4; the locking component 7 refers to the structure used to limit or fix the shape of the support component 6 on the mounting chassis 4, such as fixing or locking the length, posture, or position of the support component 6 on the mounting chassis 4.

[0046] Specifically, the moving part 5 can be selected from various structures such as wheeled structure and tracked structure, and can support the moving base 3 to move faster.

[0047] Specifically, one end of the support component 6 is movably connected to the mounting base 4. This can be achieved by hinged or pivotal connection of one end of the support component 6 to the top of the mounting base 4, allowing for flexible changes in the specific support angle and posture of the support component 6 relative to the mounting base 4. Alternatively, one end of the support component 6 can be movably connected to the mounting base 4, for example, through the cooperation of a slide rail and a slider, to flexibly change the specific support position of the support component 6 on the mounting base 4. Alternatively, both of these movable connection methods can be combined. The movable connection of one end of the support component 6 to the mounting base 4 allows for adaptive adjustment of the relative position or angle between the support component 6 and the mounting base 4 (i.e., the specific posture of the support component 6 on the mounting base 4), thus enabling more flexible adaptation to robots of different specifications. The support component 6 can find the most suitable support position or angle based on the center of gravity, shape, or docking position of different robots to limit robot swaying and improve the stability of the robot moving with the motion base 3.

[0048] Specifically, the other end of the support component 6 is used to limit the robot's swaying, which can be achieved in various ways or structural forms. For example, the other end of the support component 6 can be inserted into the docking interface on the robot body in the form of a docking connector 62 to achieve a plug-in connection with the robot; or, the other end of the support component 6 can be in the form of a gripper to grip (press) the robot from both sides or more sides to achieve multi-directional stable support for the robot.

[0049] Specifically, the movable parts of the support component 6 relative to the mounting chassis 4 can be restricted in their movement by the connection of the locking component 7, thereby fixing the shape of the support component 6 on the mounting chassis 4. The shape of the support component 6 on the mounting chassis 4 typically refers to its posture (e.g., the extension direction and bending angle of the support component 6 relative to a reference position on the mounting chassis 4, the included angles and relative extension directions between different parts of the support component 6, etc.), the specific fulcrum connection position of the support component 6 on the mounting chassis 4, or the specific structural form such as the length of the support component 6. Furthermore, the support component 6 can change its shape on the mounting chassis 4 in different ways. For example, the support component 6 can change its support angle or the included angle between two adjacent parts through the movable joint 60, or it can change its length through a telescopic structure, etc.

[0050] In the above technical solution, the robot's motion base 3, through the cooperation of the mounting chassis 4 and the motion component 5, can support the robot and drive it to move faster. Furthermore, the motion base 3, through the setting of the support component 6 movably connected to the mounting chassis 4 and capable of limiting the robot's swaying, can flexibly adjust the support posture of the support component 6 to more flexibly adapt to and support robots of different specifications or docking positions, thereby improving the application flexibility of the motion base 3. Furthermore, the motion base 3, through the setting of the locking component 7 connected to the support component 6, can fix and maintain the shape of the support component 6 on the mounting chassis 4, reduce the probability of the robot tipping over, improve the reliability of the motion base 3 in supporting the robot, and improve the stability of the motion base 3 in driving the robot to move.

[0051] In some embodiments, the moving component 5 may include a drive unit, at least one drive wheel 51, and multiple driven wheels 52. Both the drive wheel 51 and the driven wheels 52 are connected to the mounting chassis 4. The drive unit is driven by the drive wheel 51 to move the mounting chassis 4. Specifically, the drive unit may be a hub motor. The moving base 3 can control the drive wheel 51 through the drive unit to achieve actions such as moving forward, backward, or turning around on the spot.

[0052] Furthermore, the moving component 5 may include two driving wheels 51 and two driven wheels 52. Taking the forward and backward direction of the moving base 3 as the front-back reference direction of the moving base 3, the driving wheels 51 may be respectively located on the left and right sides of the mounting chassis 4. The moving base 3 can achieve turning and turning movements by differentially controlling the left and right driving wheels 51 through the drive unit. The moving base 3 can also achieve accelerated movement, decelerated movement or braking by synchronously controlling the left and right driving wheels 51 through the drive unit. The driven wheels 52 may be respectively located on the front and rear sides of the bottom of the mounting chassis 4. The driven wheels 52 and the driving wheels 51 can share the weight of the mounting chassis 4 and the robot, and help maintain the balance and stability of the moving base 3 and the robot.

[0053] In some embodiments, the mounting chassis 4 may include a mounting base 42, a connecting frame 44, and a supporting base 43 stacked sequentially. The mounting base 42 has a mounting surface 40 and an edge that bends toward the same side (away from the connecting frame 44) and extends outward relative to the mounting surface 40. The bent edge of the mounting base 42 and the mounting surface 40 together form a receiving groove for accommodating the robot (legs) to limit the robot's sliding on the mounting surface 40. The robot's legs or mounting surface can be placed on the mounting surface 40 to enable the mounting chassis 4 to mount the robot.

[0054] Furthermore, the bent edge of the mounting substrate 42 is attached to and connected to one side surface of the connecting frame 44, and the outer peripheral edge of the supporting substrate 43 is connected to the other side surface of the connecting frame 44. The center of the supporting substrate 43 protrudes in a draft shape toward the side away from the connecting frame 44, so as to enclose with the mounting substrate 42 to form a hardware accommodating space 430 for accommodating the control module 82. The hardware accommodating space 430 can be used to place the control module 82.

[0055] In some embodiments, the robot's motion base 3 further includes a control module 82. The control module 82 may include various electrical components such as an energy storage unit (e.g., a battery that can power the robot to increase its range), a control unit, and a communication unit. The control module 82 can be electrically connected to the robot and the drive unit of the drive wheel 51 to realize the control of the motion of the motion base 3, the charging and discharging management between the robot and the robot, or the data interaction between the robot and the robot.

[0056] In some embodiments, the support member 6 includes a bracket body 61, which includes a retractable first bracket 611 and a second bracket 612. One end of the first bracket 611 is movably connected to the mounting chassis 4, and the other end of the first bracket 611 is movably connected to the second bracket 612. In the retracted state, the second bracket 612 is nested within the first bracket 611; in the extended state, the second bracket 612 extends or unfolds relative to the first bracket 611 towards the outside of the first bracket 611.

[0057] In this embodiment, when the robot needs to move or be transferred quickly, the robot can be placed or connected to the mounting chassis 4 of the motion base 3. The support component 6 is usually in an extended state, that is, the second bracket 612 extends or unfolds outward relative to the first bracket 611 to provide good support for the robot mounted on the mounting chassis 4 and to limit the robot's swaying when the motion base 3 moves the robot, thereby improving the robot's movement stability. When the robot can walk independently, or when the robot does not need to move or be transferred, the robot does not need to be placed or connected to the mounting chassis 4 of the motion base 3. The support component 6 is usually in a retracted state, and the second bracket 612 is housed inside the first bracket 611 to reduce the space occupied.

[0058] Furthermore, the portion of the second bracket 612 that can be nested within the first bracket 611 should be smaller than the first bracket 611 and the accommodating cavity inside the first bracket 611, so as to achieve smooth expansion and contraction of the support component 6.

[0059] In some embodiments, the support member 6 can change the angle between itself and the mounting chassis 4 (mounting surface 40), or change its bending angle, through at least one movable joint 60. Specifically, the movable joint 60 refers to the rotatable position of the support member 6. For example, the position where the support member 6 is hinged to the mounting chassis 4 is a movable joint 60, and a bendable portion of the support member 6 (e.g., the position where the first bracket 611 and the second bracket 612 are hinged) is a movable joint 60.

[0060] In some embodiments, the second bracket 612 can be pivotally connected to the first bracket 611 via a joint pivot 603. The second bracket 612 can be rotated and folded into the first bracket 611 or unfolded relative to the first bracket 611 with the pivot axis as the center of rotation. Furthermore, the first bracket 611 can be pivotally connected to the mounting chassis 4. After the second bracket 612 is folded into the first bracket 611, the first bracket 611 can be further bent to a position close to the mounting surface 40 to reduce the space height occupied by the support member 6 and the motion base 3.

[0061] Please see Figure 6 , Figure 6 This is a schematic diagram of the joint locking assembly 71 shown in some embodiments of this application; Figure 7 This is a partial cross-sectional schematic diagram of the motion base 3 of the robot shown in some embodiments of this application. Please refer to... Figures 3 to 7 As shown, in some embodiments, the locking member 7 includes at least one joint locking component 71, which is disposed on at least one movable joint 60 of the support member 6.

[0062] Specifically, the movable joint 60 includes a first joint portion 601 and a second joint portion 602 that are hinged to each other. When the movable joint 60 is in a movable connection position between the support body 61 and the mounting chassis 4, the first joint portion 601 can refer to the hinged part on the support body 61, and the second joint portion 602 can refer to the hinged part on the mounting chassis 4; when the movable joint 60 is in a movable connection position between the first support 611 and the second support 612, the first joint portion 601 can refer to the hinged part at the end of the first support 611, and the second joint portion 602 can refer to the hinged part at the end of the second support 612.

[0063] Furthermore, the joint locking assembly 71 may include a cam handle 711 and a constraint slider 712. The first joint portion 601 has a stop hole 6010 adapted to the constraint slider 712, and the constraint slider 712 is movably embedded in the stop hole 6010. The second joint portion 602 is located on one side of the stop hole 6010, and the cam handle 711 is rotatably located on the other side of the stop hole 6010. The constraint slider 712 is typically adapted to the shape and size of the stop hole 6010. Thus, when the constraint slider 712 in the stop hole 6010 is limited and fixed, the first joint portion 601 is also restricted from further rotation due to the special shape matching between the stop hole 6010 and the constraint slider 712.

[0064] Specifically, the first joint 601 can be pivotally connected to the second joint 602 via a joint pivot 603. The joint locking assembly 71 also includes a handle shaft 713, on which a cam handle 711 is rotatably mounted. The handle shaft 713 is connected to the joint pivot 603 of the movable joint 60. The central axis of the handle shaft 713 can be perpendicular to the central axis of the joint pivot 603. One end of the joint pivot 603 can pass through the movable joint 60 and be connected to the handle shaft 713, while the other end of the joint pivot 603 is a countersunk end that can be fixed to or abutted against the constraint slider 712.

[0065] The cam handle 711 has a protrusion 7111 and a base circle 7112. The protrusion 7111 is farther from the rotation axis of the cam handle 711 (i.e., the central axis of the handle shaft 713) than the base circle 7112. During rotation, the cam handle 711 can switch the specific cam part on the side of the constraint slider 712. For example, the protrusion 7111 of the cam handle 711 can be switched to the position closest to the constraint slider 712, or the base circle 7112 of the cam handle 711 can be switched to the position closest to the constraint slider 712.

[0066] The cam handle 711 has a locked position and an unlocked position. When the protrusion 7111 of the cam handle 711 is closest to the constraint slider 712, the cam handle 711 is in the locked position; when the base circle portion 7112 of the cam handle 711 is closest to the constraint slider 712, the cam handle 711 is in the unlocked position. When the cam handle 711 is in the locked position, the protrusion 7111 of the cam handle 711 tightly abuts the constraint slider 712 against the second joint portion 602. The constraint slider 712 cannot easily rotate under the pressure of the protrusion 7111. On the other side, because the connection position of the joint pivot 603 and the handle pivot 713, and the distance between the countersunk end of the joint pivot 603, are constant, the constraint slider 712 can also be subjected to reverse force and tightly abut against the second joint portion 602, and cannot easily rotate. The limiting engagement between the constraint sliders 712 on both sides of the first joint 601 and the stop hole 6010 further restricts the rotation of the first joint 601 relative to the second joint 602. When the cam handle 711 is in the unlocked position, the base circle portion 7112 of the cam handle 711 is closest to the constraint slider 712. At this time, the constraint sliders 712 are not pressed tightly onto the second joint 602 and can rotate relative to the second joint 602. Therefore, the first joint 601 can still drive the constraint sliders 712 to rotate relative to the second joint 602.

[0067] In the above technical solution, the joint locking assembly 71 makes full use of the structural space of the movable joint 60 by cooperating with the constraint slider 712 and the stop hole 6010, which is conducive to the reduction of the volume and simplification of the structure of the joint locking assembly 71. On this basis, the pressing and releasing of the constraint slider 712 by the cam handle 711 can improve the accuracy and reliability of locking and unlocking the movable joint 60, and also improve the convenience of installation, disassembly and maintenance of the joint locking assembly 71.

[0068] Please see Figure 8 , Figure 8 This is a partial structural schematic diagram of the support member 6 shown in some embodiments of this application. For example... Figure 8 As shown, in some embodiments, the support component 6 includes a support body 61 and a docking joint 62. One end of the support body 61 is hinged to the mounting chassis 4, and the other end of the support body 61 is hinged to the docking joint 62, which is used to connect the robot. A locking component 7 may also be located at the hinge position between the support body 61 and the docking joint 62 to restrict relative rotation between the docking joint 62 and the support body 61.

[0069] Specifically, the hinge position between the support body 61 (i.e., the second support 612) and the docking joint 62 can be regarded as another movable joint 60 of the support component 6. The second support 612 and the docking joint 62 can be rotatably connected through the joint pivot 603. Furthermore, the pivot position between the second support 612 and the docking joint 62 can be locked in a rotating state by a screw-locking assembly 73. The screw-locking assembly 73 can include a screwing member, which is screwed in and out onto the joint pivot 603. One end of the joint pivot 603 can pass through the movable joint 60 and cooperate with the screwing member. The other end of the joint pivot 603 can be fixed to the first joint portion 601 or can be countersunk end that can be used in cooperation with the screwing member. When the screwing member is screwed in toward the first joint 601, the countersunk end of the screwing member and the joint pivot 603 engage to clamp the first joint 601, causing the first joint 601 to press against the second joint 602, making it difficult for it to continue rotating relative to the second joint 602. When the screwing member is screwed out toward the direction away from the first joint 601, the countersunk end of the screwing member and the joint pivot 603 engages to release the first joint 601, restoring the gap between the first joint 601 and the second joint 602. The first joint 601 on the second bracket 612 can then rotate relative to the second joint 602 on the mating joint 62.

[0070] Furthermore, at least one side of the insertion portion of the docking connector 62 may be provided with a snap-fit ​​groove 620, and a corresponding position within the docking interface on the robot body may be provided with a snap-fit ​​protrusion that mates with the snap-fit ​​groove 620. When the docking connector 62 is inserted into the docking interface, the snap-fit ​​protrusion is precisely accommodated within the snap-fit ​​groove 620, thereby achieving reliable positioning and stable connection between the docking connector 62 and the docking interface, i.e., between the support component 6 and the robot, and thus achieving reliable support of the robot by the support component 6.

[0071] Please see Figures 9 to 12 , Figure 9 This is a schematic diagram of the structure of the robot's motion base 3 when the support member 6 is in an extended state, as shown in some other embodiments of this application; Figure 10 This is a schematic diagram of the structure of the robot's motion base 3 when the support component 6 is in a retracted state, as shown in some other embodiments of this application;

[0072] Figure 11 This is a schematic diagram of the overall structure of the support component 6 shown in other embodiments of this application; Figure 12 This is an exploded view of the support member 6 shown in other embodiments of this application. For example... Figures 9 to 12As shown, in some embodiments, the second bracket 612 is movably nested within the first bracket 611. Specifically, one end of the first bracket 611 is movably connected to the mounting chassis 4, and the other end of the first bracket 611 has a telescopic opening 6110. The second bracket 612 can extend out of the first bracket 611 or retract into the first bracket 611 along the axial direction of the first bracket 611 via the telescopic opening 6110.

[0073] Furthermore, the cross-section of the main body of the first support 611 can be square, and the cross-section of the end of the first support 611 with the telescopic opening 6110 can be circular; the cross-section of the main body of the second support 612 can be circular, and the radius of the cross-section of the main body of the second support 612 should be smaller than the radius of the telescopic opening 6110, so as to achieve smooth extension and smooth retraction of the second support 612 through the telescopic opening 6110; a limiting block 6121 is provided at one end of the second support 612 that is always housed in the first support 611, and the outer diameter of the limiting block 6121 is usually larger than the diameter of the telescopic opening 6110, so as to prevent the second support 612 from completely detaching from the first support 611 when it extends through the telescopic opening 6110.

[0074] Furthermore, the first bracket 611 can be pivotally connected to the mounting chassis 4, and the joint locking assembly 71 provided in the above embodiments of this application can be used to fix the deflection angle of the first bracket 611 relative to the mounting surface 40. The second bracket 612 is telescopically disposed inside the first bracket 611, and the first bracket 611 can also fix the length of the second bracket 612 extending through the telescopic port 6110 by the length locking assembly 72.

[0075] In some embodiments, the locking component 7 further includes a length locking assembly 72, which includes a sleeve 722 and a plurality of clamping pieces 721. The plurality of clamping pieces 721 are arranged around the central axis A of the first bracket at the edge of the telescopic opening 6110; there is a gap between adjacent clamping pieces 721 to allow the plurality of clamping pieces 721 to deform radially and approach each other; the clamping pieces 721 can be integrally formed with the first bracket 611, or fixed at the telescopic opening 6110 of the first bracket 611 by means of bonding, screw tightening, etc.; the sleeve 722 is fitted around the outer periphery of all the clamping pieces 721 and can radially press each clamping piece 721 by twisting or linear movement, thereby restricting the movement of the second bracket 612 between the relative clamping pieces 721.

[0076] Please combine Figures 1 to 10 As shown, in some embodiments, the mounting chassis 4 can carry an independently walking robot. The mounting chassis 4 has a mounting surface 40 for placing the robot's feet. The mounting surface 40 is provided with at least one fastener 41 for engaging the robot's feet, thereby improving the connection reliability of the robot on the motion base 3 and the movement stability of the robot and the motion base 3.

[0077] Please combine Figures 3 to 8 As shown, in some embodiments, the robot's motion base 3 further includes a flexible electrical connector 81 and a control module 82. The control module 82 is mounted on the mounting chassis 4, and the flexible electrical connector 81 is housed within the support body 61. One end of the flexible electrical connector 81 is connected to the control module 82, and the other end of the flexible electrical connector 81 is integrated into the docking connector 62. In the above technical solution, the robot's motion base 3 can be electrically connected to the robot through the flexible electrical connector 81 to further realize charging and discharging management and data interaction between the robot and the motion base 3, thereby expanding the functionality of the robot's motion base 3 and making its application more intelligent.

[0078] Furthermore, such as Figures 3 to 8 As shown, when the support body 61 has a foldable structure, the flexible electrical connector 81 can be a bendable wire harness-shaped connector; or, as shown... Figures 9 to 12 As shown, when the support body 61 has a telescopic structure, the flexible electrical connector 81 can be a flexible helical spring-shaped connector. The design of hiding the flexible electrical connector 81 inside the support body 61 not only better protects the electrical connector, but also makes the overall structure of the motion base 3, which can be electrically connected to the robot, more concise.

[0079] Please see Figure 13 , Figure 13 This is a partial structural schematic diagram of the support member 6 shown in other embodiments of this application. For example... Figure 13 As shown, the support component 6 may include a telescopic bracket body 61 and a docking joint 62, which are rotatably connected via a joint pivot 603. Specifically, the pivoting position of the second bracket 612 and the docking joint 62 is another movable joint 60 of the support component 6. The end of the docking joint 62 used for pivoting can be regarded as the first joint portion 601, and the end of the second bracket 612 used for pivoting can be regarded as the second joint portion 602. The relative rotation angle between the first joint portion 601 and the second joint portion 602 can be limited by a screw-locking assembly 73. The screw-locking assembly 73 may include a screwing member, which is screwed in or out onto the joint pivot 603 between the second bracket 612 and the docking joint 62. One end of the joint pivot 603 passes through the movable joint 60 and engages with the screwing member, while the other end of the joint pivot 603 is a countersunk end that can be fixed to the second joint portion 602 or used in conjunction with the screwing member.

[0080] When the screwing component is screwed in toward the first joint portion 601, it can engage with the countersunk end of the joint pivot 603 to clamp the first joint portion 601. The clamped first joint portion 601 is pressed tightly against the second joint portion 602, thus fixing the rotation angle of the first joint portion 601 relative to the second joint portion 602. When the screwing component is screwed out toward the direction away from the first joint portion 601, it can engage with the countersunk end of the joint pivot 603. The screwing component no longer presses against the first joint portion 601, or even separates from the first joint portion 601. The first joint portion 601 and the second joint portion 602 return to a state with a gap, and the first joint portion 601 can continue to rotate relative to the second joint portion 602 to change the included angle between them.

[0081] Please combine Figures 1 to 13 As shown, when the robot's motion base 3 does not need to support the robot or restrict its swaying, it can be folded up and bent close to the mounting surface 40, and its posture can be fixed by various locking components. When the robot's motion base 3 only needs to achieve an electrical connection with the robot, the support component 6 can be extended and adjusted to a suitable position for connecting the robot. The locking components can also be adaptively selected to lock the shape of some moving positions of the support component 6 to reduce the probability of accidental disconnection of the electrical connection. When the robot's motion base 3 needs to support the robot and restrict its swaying, the support component 6 can be extended and adjusted to a suitable position for connecting the robot. The pivot position of the support body 61 and the mounting chassis 4 is locked by the joint locking component 71, the moving position of the second support 612 relative to the first support 611 is locked by the joint locking component 71 or the length locking component 72, and the pivot position of the support body 61 and the docking joint 62 is locked by the screw locking component 73. The overall shape of the support component 6 on the mounting chassis 4 is fixed, achieving more stable support for the robot by the motion base 3.

[0082] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot motion base, comprising a mounting chassis and a moving component, wherein the mounting chassis is used to mount the robot, and the moving component is connected to the mounting chassis and capable of driving the mounting chassis to move, characterized in that, The robot's motion base also includes: A support component, one end of which is movably connected to the mounting chassis, and the other end of which is used to limit the robot's swaying; A locking component is connected to the support component, and the locking component is capable of locking the support component in its position on the mounting chassis.

2. The motion base of the robot according to claim 1, characterized in that, The support component includes a retractable first bracket and a second bracket, one end of the first bracket is movably connected to the mounting chassis, and the first bracket and the second bracket are movably connected; When the support component is in the retracted state, the second bracket is nested inside the first bracket; In its extended state, the second bracket extends or unfolds relative to the first bracket toward the outside of the first bracket.

3. The motion base of the robot according to claim 2, characterized in that, The second bracket is pivotally connected to the first bracket, and the second bracket can be folded into the first bracket or unfolded relative to the first bracket.

4. The motion base of the robot according to claim 2, characterized in that, The second bracket is movably nested within the first bracket, and the other end of the first bracket has a telescopic opening. The second bracket can extend out of the first bracket or retract into the first bracket along the axial direction of the first bracket via the telescopic opening.

5. The motion base of the robot according to claim 4, characterized in that, The locking component includes a length locking assembly, which includes a sleeve and a plurality of clamps. The plurality of clamps are arranged around the central axis of the first bracket along the edge of the telescopic opening. The sleeve is fitted around the outer periphery of the clamps to restrict the movement of the second bracket by pressing the clamps.

6. The motion base of the robot according to any one of claims 1-5, characterized in that, The locking component includes at least one joint locking assembly, which is disposed on at least one movable joint of the support component, and the movable joint includes a hinged first joint portion and a second joint portion. The joint locking assembly includes a cam handle and a constraint slider. The first joint has a stop hole adapted to the constraint slider. The constraint slider is movably embedded in the stop hole. The second joint is located on one side of the stop hole. The cam handle is rotatably located on the other side of the stop hole. When the cam handle is in the locked position, the protrusion of the cam handle abuts the constraint slider against the second joint, thereby restricting the rotation of the first joint relative to the second joint through the cooperation of the constraint slider and the stop hole.

7. The motion base of the robot according to any one of claims 1-5, characterized in that, The support component includes a support body and a docking joint. One end of the support body is hinged to the mounting chassis, and the other end of the support body is hinged to the docking joint. The docking joint is used to connect the robot. The locking component is located at the hinge position between the support body and the docking joint and is used to restrict the relative rotation between the docking joint and the support body.

8. The motion base of the robot according to claim 7, characterized in that, The robot's motion base also includes a flexible electrical connector and a control module. The control module is mounted on the mounting chassis, and the flexible electrical connector is housed within the support body. One end of the flexible electrical connector is connected to the control module, and the other end of the flexible electrical connector is integrated into the docking joint.

9. The motion base of the robot according to any one of claims 1-5, characterized in that, The mounting chassis is used to mount an independently walking robot. The mounting chassis has a mounting surface for placing the robot's feet. The mounting surface is provided with at least one fastener for engaging the robot's feet.

10. A composite motion robot system, characterized in that, The composite motion robot system includes: A robot capable of walking independently; The motion base of the robot according to any one of claims 1-9, wherein the independently walking robot is configured to be disposed on the motion base, the motion base being used to support the independently walking robot.

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