Mobile robot

Abstract

The utility model provides a mobile robot. The mobile robot comprises a mobile base; the mechanical arm is arranged on the movable base and used for grabbing the materials on the material taking position and moving and placing the materials on a material placing position; the mechanical arm comprises a base and a multi-axis mechanical arm; the base is arranged on the movable base, a rotating seat is arranged on the base, and the rotating seat is connected with the multi-axis mechanical arm; a mounting bottom plate is connected to the outer wall of the rotating seat, a camera support is arranged on the mounting bottom plate, and a visual perception module is arranged on the camera support; the multi-shaft mechanical arm comprises a large arm rod piece and a small arm rod piece. The small arm rod piece is connected with the rotating seat through the large arm rod piece; the small arm rod piece is located on one side of the large arm rod piece, and the camera support is located on the other side of the large arm rod piece. The forearm rod piece and the camera support are arranged on the two sides of the big arm rod piece respectively, so that the forearm rod piece is prevented from visually shielding the visual perception module, the imaging range of the visual perception module is widened, and the imaging quality of the visual perception module is improved.

Description

Technical Field

[0001] This utility model relates to intelligent devices, specifically, to a mobile robot. Background Technology

[0002] Mobile robots are intelligent devices equipped with sensors, lenses, and electro-optical systems that can quickly sort and move goods.

[0003] More and more visual and force sensors will be used in mobile robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] In order to expand the application scenarios and scope of mobile robots, existing technologies manufacture robots by installing them on mobile bases, thereby enabling the mobile robots to move and perform functions such as mobile depalletizing and mobile picking.

[0005] Container loading is a core component of warehousing and factory logistics, and its level of automation and efficiency are crucial to the overall efficiency of factory and warehouse operations. Robots are increasingly replacing manual labor in loading containers into smart factories. Utility Model Content

[0006] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a mobile robot.

[0007] The mobile robot provided by this utility model includes:

[0008] A movable base, used to move to any position or pause at any position and determine the orientation angle according to received control commands;

[0009] A robotic arm, mounted on the movable base, is used to grab materials from the picking position and move them to a discharging position;

[0010] The robotic arm includes a base and a multi-axis robotic arm; the base is disposed on the movable base, and a rotating seat is disposed on it, the rotating seat being connected to the multi-axis robotic arm; a mounting base plate is connected to the outer wall of the rotating seat, a camera bracket is disposed on the mounting base plate, and a visual perception module is disposed on the camera bracket;

[0011] The multi-axis robotic arm includes a large arm member and a small arm member; the small arm member is connected to the rotating base through the large arm member; the small arm member is located on one side of the large arm member, and the camera bracket is located on the other side of the large arm member.

[0012] Preferably, the multi-axis robotic arm includes a first joint module, a second joint module, an upper arm link, a lower arm link, and a multi-degree-of-freedom wrist.

[0013] The output end of the first joint module is connected to the connection end of the rotating seat, and the connection end of the first joint module is connected to the lower end of the boom member.

[0014] The upper end of the upper arm member is connected to the connecting end of the second joint module, and the output end of the second joint module is connected to one end of the forearm member; the other end of the forearm member is connected to the multi-degree-of-freedom wrist.

[0015] Preferably, the movable base is equipped with an elevator;

[0016] The base is mounted on the elevator;

[0017] The lifting platform is used to raise and lower the robotic arm to achieve material loading and unloading at different heights.

[0018] Preferably, the wrist includes a third joint module, a fourth joint module, a fifth joint module, and a hollow flange;

[0019] The other end of the forearm member is connected to the connection end of the third joint module, and the output end of the third joint module is connected to the connection end of the fourth joint module.

[0020] The output end of the fourth joint module is connected to the connection end of the fifth joint module; the output end of the fifth joint module is connected to the hollow flange.

[0021] Preferably, the camera bracket includes a mounting base and a support column;

[0022] The mounting base is connected to the rotating seat via a mounting base plate;

[0023] The support column is mounted on the mounting base, and the mounting base is used to drive the support column to rotate.

[0024] The visual perception module is located at the top of the support column so that it rotates with the support column.

[0025] Preferably, the visual perception module includes a 2D camera and a LiDAR;

[0026] The 2D camera and the lidar are used together to acquire image information of the target box or the stack of boxes formed by the target box;

[0027] The lidar includes a first lidar and a second lidar;

[0028] The first and second lidars are symmetrically arranged back-to-back on the support column;

[0029] The 2D camera is positioned between the first lidar and the second lidar.

[0030] Preferably, the mounting base includes a hollow shaft rotating platform and a support motor;

[0031] The power output end of the bracket motor is connected to the motor connection port of the hollow shaft rotating platform;

[0032] The support column is mounted on the rotating platform of the hollow shaft rotating platform;

[0033] The bracket motor is used to drive the support column to rotate via the hollow shaft rotating platform.

[0034] Preferably, the mobile base includes a mobile chassis and a mounting base;

[0035] The mounting base is mounted on the mobile chassis, and the mobile chassis is used to move the mounting base.

[0036] The robotic arm is mounted on the mounting base;

[0037] Safety radars are installed on multiple sides of the mounting base, and a warning radar is installed at the front end of the mobile chassis.

[0038] Preferably, the end of the robotic arm is provided with a material gripping fixture;

[0039] The material gripping fixture includes:

[0040] The mounting motherboard has a cavity structure inside, and the front side of the mounting motherboard has a plurality of first mounting holes arranged in a matrix, and the back side has a plurality of second mounting holes arranged in a matrix.

[0041] A suction cup, wherein the suction cup is disposed within the first mounting hole;

[0042] A solenoid valve is disposed in the second mounting hole; wherein the air hole of the suction cup is connected or disconnected from the cavity structure through the solenoid valve.

[0043] Preferably, it further includes a rotation drive module; the rotation drive module is disposed on the mounting base plate;

[0044] The rotation drive module is used to drive the camera bracket to rotate along its axial direction.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] The robotic arm of this invention includes a base and a multi-axis robotic arm. The base is disposed on a movable base, and a rotating seat is disposed on the base. The rotating seat is connected to the multi-axis robotic arm. A mounting plate is connected to the outer wall of the rotating seat, and a camera bracket is disposed on the mounting plate. A vision perception module is disposed on the camera bracket. The multi-axis robotic arm includes a large arm member and a small arm member. The small arm member is connected to the rotating seat through the large arm member. The small arm member is located on one side of the large arm member, and the camera bracket is located on the other side of the large arm member. That is, the small arm member and the camera bracket are respectively disposed on both sides of the large arm member, avoiding visual obstruction of the vision perception module by the small arm member, and improving the imaging range and imaging quality of the vision perception module.

[0047] In this utility model, a lifting platform is installed on the mobile base, and the base of the robotic arm is placed on the lifting platform. This allows the robotic arm to be raised and lowered by the lifting platform, thereby enabling the picking and placing of materials at different heights and expanding the applicable scenarios of the mobile robot. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0049] Figure 1 This is a schematic diagram of the structure of a robotic arm in an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of another structure of the robotic arm in an embodiment of this utility model;

[0051] Figure 3 This is a schematic diagram of the camera bracket in an embodiment of the present utility model;

[0052] Figure 4 This is a schematic diagram of the structure of the mobile robot in an embodiment of this utility model;

[0053] Figure 5 This is a schematic diagram of the inner structure of the mobile robot in an embodiment of this utility model;

[0054] Figure 6 This is a schematic diagram of the elevator structure in an embodiment of the present utility model;

[0055] Figure 7This is a schematic diagram of the material gripping fixture in an embodiment of the present invention; and

[0056] Figure 8 This is a schematic diagram of the inner structure of the material gripping fixture in an embodiment of this utility model.

[0057] In the picture:

[0058] 1 is the mobile base; 101 is the mobile chassis; 102 is the mounting base; 2 is the robotic arm; 201 is the base; 202 is the rotating base; 203 is the first joint module; 204 is the second joint module; 205 is the upper arm link; 206 is the lower arm link; 207 is the wrist; 2071 is the third joint module; 2072 is the fourth joint module; 2073 is the fifth joint module; 3 is the safety radar; 4 is the early warning radar; 5 is the material gripping fixture; 501 502 is a suction cup; 503 is a depth camera module; 504 is a mounting motherboard; 505 is a solenoid valve; 6 is a camera bracket; 601 is a bracket motor; 602 is a hollow shaft rotating platform; 603 is a support column; 604 is a mounting base; 605 is a 2D camera; 606 is a first LiDAR; 607 is a second LiDAR; 7 is a control console; 8 is a lift; 801 is a fixed base plate; 802 is a drive motor; 803 is a base tube; 804 is a lifting tube. Detailed Implementation

[0059] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0060] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0061] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model 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 utility model.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0063] Figure 4 This is a schematic diagram of the structure of the mobile robot in an embodiment of the present invention, as shown below. Figure 4 As shown, the mobile robot provided by this utility model includes:

[0064] The movable base 1 is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0065] Robotic arm 2, mounted on the movable base 1, is used to grab the material at the picking position and move it to a discharging position;

[0066] In this embodiment of the utility model, the movable base 1 includes a movable chassis 101 and a mounting base 102;

[0067] The mounting base 102 is disposed on the movable chassis 101, and the movable chassis 101 is used to drive the mounting base 102 to move.

[0068] The robotic arm 2 is mounted on the mounting base 102;

[0069] Safety radars 3 are provided on multiple sides of the mounting base 102, and a warning radar 4 is provided at the front end of the mobile chassis 101.

[0070] Early warning radar 4 is used to collect point cloud information around the mobile base 1 for safety early warning;

[0071] Safety radar 3 is used to collect point cloud information around the mobile base 1 to form a safe working area.

[0072] In this embodiment of the utility model, the early warning radar 4 is a 3D lidar. When the early warning radar 4 detects a moving object, it controls the robotic arm 2 to reduce its operating speed.

[0073] The safety radar 3 is a 2D lidar. When the safety radar 3 detects a moving object, it controls the robotic arm 2 to stop moving.

[0074] In this embodiment of the utility model, the number of security radars 3 is three, one of which is located on the side of the mounting base 102 near the console 7, and the other two are located on the left and right sides of the mounting base 102.

[0075] Figure 1 This is a schematic diagram of one structure of the robotic arm in an embodiment of this utility model. Figure 2 This is a schematic diagram of another structure of the robotic arm in an embodiment of this utility model, as shown below. Figure 1 , Figure 2 As shown, the robotic arm 2 includes a base 201 and a multi-axis robotic arm; the base 201 is disposed on the movable base 1, and a rotating seat 202 is disposed on it, the rotating seat 202 is connected to the multi-axis robotic arm; a mounting base plate is connected to the outer wall of the rotating seat 202, a camera bracket 6 is disposed on the mounting base plate, and a visual perception module is disposed on the camera bracket 6.

[0076] The multi-axis robotic arm includes a large arm link 205 and a small arm link 206; the small arm link 206 is connected to the rotating base 202 through the large arm link 205; the small arm link 206 is located on one side of the large arm link 205, and the camera bracket 6 is located on the other side of the large arm link 205.

[0077] In one embodiment of the present invention, the multi-axis robotic arm includes a first joint module 203, a second joint module 204, an upper arm link 205, a lower arm link 206, and a multi-degree-of-freedom wrist 207.

[0078] The output end of the first joint module 203 is connected to the connection end of the rotating seat 202, and the connection end of the first joint module 203 is connected to the lower end of the boom member 205.

[0079] The upper end of the upper arm member 205 is connected to the connecting end of the second joint module 204, and the output end of the second joint module 204 is connected to one end of the forearm member 206; the other end of the forearm member 206 is connected to the multi-degree-of-freedom wrist 207.

[0080] In this embodiment of the invention, the axial directions of the first joint module 203 and the second joint module 204 are parallel to each other and perpendicular to the axial direction of the rotating seat 202. The rotating seat 202 also employs a joint module.

[0081] In one embodiment of the present invention, the wrist 207 includes a third joint module 2071, a fourth joint module 2072, a fifth joint module 2073, and a hollow flange;

[0082] The other end of the forearm member 206 is connected to the connection end of the third joint module 2071, and the output end of the third joint module 2071 is connected to the connection end of the fourth joint module 2072.

[0083] The output end of the fourth joint module 2072 is connected to the connection end of the fifth joint module 2073; the output end of the fifth joint module 2073 is connected to the hollow flange.

[0084] Figure 5 This is a schematic diagram of the inner structure of the mobile robot in an embodiment of this utility model. Figure 6 This is a schematic diagram of the elevator structure in an embodiment of the present utility model, as shown below. Figure 5 , Figure 6 As shown, an elevator 8 is provided on the movable base 1;

[0085] The base 201 is mounted on the elevator 8;

[0086] The lifting platform 8 is used to lift the robotic arm 2 to achieve material loading and unloading at different heights.

[0087] In this embodiment of the utility model, the elevator 8 includes a fixed base plate 801; a drive motor 802 and a base tube 803 are provided on the fixed base plate 801; at least one lifting tube 804 is provided inside the base tube 803.

[0088] The drive motor 802 is used to drive the lifting tube 804 to move up and down along the inner wall of the base tube 803.

[0089] Figure 3 This is a schematic diagram of the camera bracket structure in an embodiment of the present invention, as shown below. Figure 3 As shown, the camera bracket 6 includes a mounting base 102 and a support column 603;

[0090] The mounting base 102 is connected to the rotating base 202 via a mounting base plate;

[0091] The support column 603 is disposed on the mounting base 102, and the mounting base 102 is used to drive the support column 603 to rotate.

[0092] The visual perception module is located at the top of the support column 603 so that it rotates with the support column 603.

[0093] In this embodiment of the invention, the visual perception module includes a 2D camera 605 and a lidar.

[0094] The 2D camera 605 and the lidar are used in conjunction to acquire image information of the target box or the stack of boxes formed by the target box;

[0095] The lidar includes a first lidar 606 and a second lidar 607;

[0096] The first lidar 606 and the second lidar 607 are symmetrically arranged back-to-back on the support column 603;

[0097] The 2D camera 605 is positioned between the first lidar 606 and the second lidar 607.

[0098] The visual perception module is mounted on the top of the support column 603 via a mounting base 604.

[0099] The mounting base 102 includes a hollow shaft rotary platform 602 and a bracket motor 601;

[0100] The power output end of the bracket motor 601 is connected to the motor connection port of the hollow shaft rotating platform 602;

[0101] The support column 603 is disposed on the rotating platform of the hollow shaft rotating platform 602;

[0102] The bracket motor 601 is used to drive the support column 603 to rotate via the hollow shaft rotating platform 602.

[0103] In a modified embodiment of this utility model, the mobile robot provided by this utility model further includes a rotation drive module; the rotation drive module is disposed on the mounting base plate;

[0104] The rotation drive module is used to drive the camera bracket 6 to rotate along its axial direction.

[0105] Figure 7 This is a schematic diagram of the material gripping fixture in an embodiment of the present invention. Figure 8 This is a schematic diagram of the inner structure of the material gripping fixture in an embodiment of this utility model, as shown below. Figure 7 , Figure 8 As shown, the end of the robotic arm 2 is provided with a material gripping fixture 5; a depth camera module 502 is provided on one side of the material gripping fixture 5.

[0106] The material gripping fixture 5 includes:

[0107] The mounting motherboard 503 has a cavity structure inside. The front side of the mounting motherboard 503 is provided with a plurality of first mounting holes arranged in a matrix, and the back side is provided with a plurality of second mounting holes arranged in a matrix.

[0108] Suction cup 501, wherein the suction cup 501 is disposed in the first mounting hole;

[0109] Solenoid valve 504 is disposed in the second mounting hole; wherein, the air hole of the suction cup 501 is connected or disconnected from the cavity structure through the solenoid valve 504.

[0110] The mobile robot provided by this utility model also includes a control console 7;

[0111] The control console 7 is mounted on the mobile chassis 101;

[0112] A safety barrier may be provided between the console 7 and the mounting base 102;

[0113] A safety radar 3 is provided on the side of the safety barrier 7 facing the control console 7.

[0114] In this embodiment of the utility model, the control console 7 is provided with a human-machine interface, through which the operation of the robotic arm 2 and the mobile base 1 can be realized.

[0115] When using the mobile robot provided by this utility model, the safety light curtain emitted by each of the safety radars 3 is parallel to the three sides of the corresponding mobile base 1; the safety radar adopts 3D safety laser radar, and different monitoring ranges can be customized within its detection range, and different monitoring ranges can be switched according to instructions to realize the safe working area in multiple states.

[0116] The safety warning area formed by the early warning radar 4 is a semi-circle perpendicular to the ground.

[0117] On each side of the mobile robot, a material tray can be provided, and a safety fence is provided on the outside of the material tray; the safety fence is provided with a safety passage to facilitate the entry and exit of the tray; the early warning radar 4 is used to provide safety warnings for the safety passage, and forms a safety warning area for the mobile robot outside the safety passage.

[0118] When the early warning radar 801 detects a moving person entering the safety warning area, the mobile robot 1 is controlled to operate at a reduced speed. When a moving person is detected in the safe operating area, the mobile robot is controlled to stop operating. When no moving person is detected in the safe operating area or the safety warning area, visual information of the material is acquired through the visual perception module on the camera bracket, and the robotic arm is used to pick up and place the material.

[0119] In this embodiment of the invention, the robotic arm includes a base and a multi-axis robotic arm. The base is disposed on the movable base, and a rotating seat is disposed on it. The rotating seat is connected to the multi-axis robotic arm. A mounting plate is connected to the outer wall of the rotating seat, and a camera bracket is disposed on the mounting plate. A vision perception module is disposed on the camera bracket. The multi-axis robotic arm includes a large arm member and a small arm member. The small arm member is connected to the rotating seat through the large arm member. The small arm member is located on one side of the large arm member, and the camera bracket is located on the other side of the large arm member. That is, the small arm member and the camera bracket are respectively disposed on both sides of the large arm member, avoiding visual obstruction of the vision perception module by the small arm member and improving the imaging range and imaging quality of the vision perception module.

[0120] In this embodiment of the invention, an early warning radar is installed at the end of the mobile base. The early warning radar collects point cloud information around the mobile base for preliminary safety warning. Multiple safety radars are installed on multiple sides of the mobile base to collect point cloud information around the mobile base, forming a safe working area. When a safety warning is issued, the mobile robot is controlled to reduce its movement speed. When a moving object is detected in the safe working area, the mobile robot stops moving, achieving effective safety protection during the operation of the mobile robot and avoiding accidental injury to moving personnel due to inertia of the robotic arm. In this embodiment of the invention, a lift is installed on the mobile base, and the base of the robotic arm is placed on the lift, so that the robotic arm can be raised and lowered by the lift, thereby realizing the picking and placing of materials at different heights and expanding the applicable scenarios of the mobile robot.

[0121] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0122] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A mobile robot, characterized by The application relates to a mobile base, a mechanical arm and a lifting machine. The mobile base is used for moving to an arbitrary position or pausing at an arbitrary position and determining a direction angle according to a received control instruction. The mechanical arm is arranged on the mobile base and is used for picking up materials on a material taking position and moving and placing the materials on a material placing position. The mechanical arm comprises a base and a multi-joint mechanical arm. The base is arranged on the mobile base and is provided with a rotating seat.

2. The mobile robot of claim 1, wherein, The rotating seat is connected with the multi-joint mechanical arm. An installation base plate is connected to the outer wall of the rotating seat. A camera support is arranged on the installation base plate.

3. The mobile robot of claim 1, wherein, A visual perception module is arranged on the camera support. The multi-joint mechanical arm comprises a large arm link and a small arm link. The small arm link is connected with the rotating seat through the large arm link.

4. The mobile robot of claim 2, wherein, The small arm link is located on one side of the large arm link. The camera support is located on the other side of the large arm link. The multi-joint mechanical arm comprises a first joint module, a second joint module, a large arm link, a small arm link and a multi-degree-of-freedom wrist.

5. The mobile robot of claim 1, wherein, The output end of the first joint module is connected with the connecting end of the rotating seat. The connecting end of the first joint module is connected with the lower end of the large arm link. The upper end of the large arm link is connected with the connecting end of the second joint module. One end of the second joint module is connected with the other end of the small arm link.

6. The mobile robot of claim 5, wherein, The other end of the small arm link is connected with the multi-degree-of-freedom wrist. The base is arranged on the lifting machine. The lifting machine is used for lifting the mechanical arm to realize material taking and placing at different heights. The wrist comprises a third joint module, a fourth joint module, a fifth joint module and a hollow flange. The other end of the small arm link is connected with the connecting end of the third joint module.

7. The mobile robot of claim 5, wherein, The output end of the third joint module is connected with the connecting end of the fourth joint module. The output end of the fourth joint module is connected with the connecting end of the fifth joint module. The output end of the fifth joint module is connected with the hollow flange. The camera support comprises an installation base and a supporting column.

8. The mobile robot of claim 1, wherein, The installation base is connected with the rotating seat through the installation base plate. The supporting column is arranged on the installation base. The installation base is used for driving the supporting column to rotate. The visual perception module is arranged on the top end of the supporting column. The visual perception module rotates with the supporting column. The visual perception module comprises a 2D camera and a laser radar. The 2D camera and the laser radar are used for cooperating to realize image information collection of a target box or a box stack formed by the target box. The laser radar comprises a first laser radar and a second laser radar. The first laser radar and the second laser radar are arranged on the supporting column in a back-to-back symmetrical mode. The 2D camera is arranged between the first laser radar and the second laser radar. The installation base comprises a hollow shaft rotating platform and a support motor. The power output end of the support motor is connected with the motor connecting port of the hollow shaft rotating platform. The supporting column is arranged on the rotating platform of the hollow shaft rotating platform. The support motor is used for driving the supporting column to rotate through the hollow shaft rotating platform. The mobile base comprises a mobile chassis and an installation base. The mobile chassis is used for moving to an arbitrary position or pausing at an arbitrary position. The installation base is arranged on the mobile chassis. The installation base is used for determining a direction angle according to a received control instruction. The mounting base is arranged on the moving chassis, and the moving chassis is used to drive the mounting base to move; The mechanical arm is arranged on the mounting base; Safety radars are arranged on multiple sides of the mounting base, and a warning radar is arranged at the front end of the moving chassis.

9. The mobile robot of claim 1, wherein, The end of the mechanical arm is provided with a material grabbing clamp; The material grabbing clamp comprises: A mounting main plate, a cavity structure is formed in the mounting main plate, a plurality of first mounting holes arranged in a matrix are arranged on the front side of the mounting main plate, and a plurality of second mounting holes arranged in a matrix are arranged on the back side of the mounting main plate; A suction cup is arranged in the first mounting hole; An electromagnetic valve is arranged in the second mounting hole; wherein the air hole of the suction cup is communicated with or disconnected from the cavity structure through the electromagnetic valve.

10. The mobile robot of claim 1, wherein, Further comprising a rotation driving module; the rotation driving module is arranged on the mounting bottom plate; The rotation driving module is used to drive the camera support to rotate along the axial direction.

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