Adaptive mounting and service system

Abstract

The utility model discloses a kind of self-adapting mounting seat and service system, self-adapting mounting seat includes base, magnetic attraction module, movable seat and leveling mechanism.Magnetic attraction module has magnetic attraction state and release state, and when switching to magnetic attraction state, base is magnetically attracted and fixed on the surface to be installed;Movable seat is installed for robot and can be multi-directional overturning;Leveling mechanism connects movable seat.Compared with conventional installation deployment scheme, zero-damage installation, zero requirement for the surface to be installed and zero residue can be achieved by the present application.And with the help of magnetic attraction module, extremely high installation reliability is achieved, and with the help of leveling mechanism, extremely high self-adapting leveling capability is achieved, which helps to improve the use reliability of self-adapting mounting seat and robot as a whole.

Description

Technical Field

[0001] This utility model relates to the field of service robot technology, specifically to an adaptive mounting base and service system. Background Technology

[0002] The deployment and installation of existing home service robots has always been a key factor affecting user experience. Existing deployment and installation solutions each have their drawbacks:

[0003] For example, when fixing the appliance with drilled screws, holes need to be drilled in the washing machine casing or wall, and expansion screws are used for fixing. This can easily cause permanent damage to the appliance or the wall surface; it requires professional tools and skills; and once installed, it is difficult to adjust the position or disassemble and move it as needed, resulting in poor flexibility.

[0004] Secondly, when using high-strength adhesives for fixing, the adhesive is susceptible to environmental temperature and humidity, as well as corrosion from cleaning agents, posing a significant risk of detachment after long-term use, potentially causing the robot to fall and be damaged. Disassembly leaves difficult-to-clean adhesive residue on the electrical surface, affecting its appearance. Furthermore, it requires extremely high cleanliness and smoothness of the bonding surfaces and is not suitable for all surface materials.

[0005] Thirdly, when fixed by ballast, stability is maintained by the weight and friction of the base itself. The drawback is its large size and bulkiness, and it is still susceptible to slippage due to vibrations during robot operation.

[0006] Therefore, existing deployment and installation solutions are all limited by the installation environment, requiring the environment to adapt to the machine. This results in a drawback of being unable to balance assembly flexibility and assembly stability. Utility Model Content

[0007] The main purpose of this invention is to propose an adaptive mounting base and service system, which aims to solve the problem that traditional technologies cannot simultaneously achieve both assembly flexibility and assembly stability.

[0008] To achieve the above objectives, this utility model proposes an adaptive mounting base for assembling a robot onto a surface to be mounted. The adaptive mounting base includes:

[0009] A base for placing on the surface to be installed;

[0010] A magnetic module is provided on the base. The magnetic module has a magnetic attraction state and a release state. When switching to the magnetic attraction state, the base is magnetically fixed to the surface to be installed.

[0011] A movable base for mounting the robot, the movable base being rotatable and adaptable to the base in multiple directions; and...

[0012] A leveling mechanism is connected to the movable seat to drive the movable seat to rotate.

[0013] Optionally, the magnetic module includes:

[0014] At least one electromagnetic component is disposed at the base, the electromagnetic component switching to the magnetic attraction state when energized and switching to the release state when de-energized; and,

[0015] The power supply module is electrically connected to each of the electromagnetic components to control the energization or de-energization of the electromagnetic components.

[0016] Optionally, the gravity corresponding to the sum of the robot's own mass and its maximum load capacity is the first gravity.

[0017] The sum of the maximum magnetic attraction forces of all the electromagnetic components is not less than twice the first gravity.

[0018] Optionally, the magnetic attraction module further includes a magnetically conductive structure;

[0019] The magnetically conductive structure is provided in a one-to-one correspondence with each of the electromagnetic components; and / or,

[0020] The magnetically conductive structure is disposed at the bottom of the corresponding electromagnetic component; and / or,

[0021] The magnetically conductive structure is disposed between the base and the corresponding electromagnetic component; and / or,

[0022] The magnetically conductive structure covers the periphery of the corresponding electromagnetic component.

[0023] Optionally, the electromagnetic component is disposed inside the base; and / or,

[0024] The electromagnetic component is located on the base at a position away from the movable seat.

[0025] Optionally, the magnetic module further includes:

[0026] A triggering device, exposed on the outside of the adaptive mounting base, generates a trigger signal upon external triggering; and,

[0027] The control device is electrically connected to the power supply module and the triggering device respectively. When the triggering signal is received, the control device controls the power supply module to work according to the triggering signal, so as to switch each of the electromagnetic components to be energized or de-energized.

[0028] Optionally, the magnetic module further includes:

[0029] A sensing device, acting on the electromagnetic component and / or the power supply module, triggers a sensing signal when it senses a corresponding abnormality in the electromagnetic component and / or the power supply module; and...

[0030] A control device is electrically connected to the power supply module and the sensing device respectively. The control device is used to control the power supply module to switch each of the electromagnetic components to de-energize when it receives the sensing signal.

[0031] Optionally, the adaptive mounting base further includes:

[0032] A universal ball joint mechanism is disposed between the movable seat and the base; and / or,

[0033] A three-dimensional damping connector is disposed between the movable seat and the base.

[0034] Optionally, the leveling mechanism includes:

[0035] A driver is disposed between the base and the movable seat, and is velocally connected to the movable seat;

[0036] An angle sensor is disposed between the base and the movable seat, and is used to sense the angle value of the movable seat; and,

[0037] A control device is electrically connected to the driver and the tilt sensor respectively. The control device is used to control the driver to work according to the angle value when the angle value is received.

[0038] Optionally, the adaptive mounting base further includes a mechanical connector, which is at least located on the base and connects the base and the surface to be mounted after the base is placed on the surface to be mounted.

[0039] In addition, to achieve the above objectives, this utility model also provides a service system, including a robot and the adaptive mounting base as described above.

[0040] In the technical solution provided by this utility model, after the base is placed on the surface to be installed, the magnetic module switches to the magnetic state, which generates a magnetic force and uses this magnetic force to magnetically fix the base to the surface to be installed. Conversely, when it is necessary to remove the self-adaptive mounting base from the surface to be installed, simply switch the magnetic module to the release state, which has the characteristics of more flexible and convenient assembly and disassembly.

[0041] The movable seat is for robot installation, and under the precise drive of the leveling mechanism, the movable seat can be rotated relative to the base, which in turn causes the robot to rotate relative to the surface to be mounted, allowing the robot's orientation relative to the surface to be mounted to be flexibly adjusted.

[0042] Compared to conventional installation and deployment methods, this application achieves zero-damage installation, zero requirements on the surface to be installed, and zero installation residue. Furthermore, it utilizes a magnetic suction module to achieve extremely high installation reliability and a leveling mechanism to achieve extremely high self-leveling capability, contributing to an overall improvement in the reliability of the adaptive mount and the robot. Attached Figure Description

[0043] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0044] Figure 1 A perspective view of an embodiment of the adaptive mounting bracket provided by this utility model from a top view.

[0045] Figure 2 for Figure 1 A three-dimensional schematic diagram of the adaptive mounting bracket from a side view.

[0046] Figure 3 for Figure 1 A three-dimensional schematic diagram of the adaptive mounting bracket from a downward viewing angle;

[0047] Figure 4 for Figure 3 A three-dimensional schematic diagram of part of the structure of the magnetic suction module.

[0048] Explanation of icon numbers:

[0049] 100 Base; 200 Magnetic Module; 210 Electromagnetic Components; 220 Magnetic Conductive Structure; 300 Movable Seat; 400 Leveling Mechanism; 410 Universal Ball Joint Mechanism; 420 Three-Dimensional Damping Connector.

[0050] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0052] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0053] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0054] Please see Figures 1 to 4 This utility model provides an adaptive mounting base and its applicable service system.

[0055] It should be noted that, for ease of understanding, the following embodiments are all illustrated using the example of a service system and its internal components having a unified vertical and horizontal direction. The vertical and horizontal directions are intersecting and can be mutually perpendicular or nearly perpendicular. The two horizontal directions can specifically be represented as lateral and longitudinal. Similarly, lateral and longitudinal directions are intersecting and can be mutually perpendicular or nearly perpendicular. In practical applications, the vertical direction can correspond to the direction of gravity, having opposite upward and downward directions.

[0056] It is understood that the service system provided in this application can be applied in any suitable setting, such as homes, shopping malls, and businesses. In addition to the aforementioned adaptive mounting base, the service system may also include a robot (not shown in the accompanying drawings). This robot can be used with any suitable carrier device (not shown in the accompanying drawings) to intelligently and automatically provide service and assist the carrier device in completing preset tasks.

[0057] The specific form of the carrier device can be adjusted according to actual needs and adapted to the occasion in which it is applied. For example, when the carrier device is used in the home and is set to meet cleaning needs, the carrier device can be, but is not limited to, washing equipment, drying equipment, multi-functional cleaning equipment, and other washing and care equipment.

[0058] Correspondingly, the robot can be configured to assist the carrier equipment in performing operations such as opening and closing doors, picking up materials such as clothing, and triggering function buttons. The following explanation of the service system will use this configuration as an example.

[0059] Specifically, the carrier device defines a mounting surface at a certain surface on its body and / or at a certain surface located within the periphery of its body. The adaptive mount enables the robot to be mounted onto the mounting surface.

[0060] It is important to emphasize that the adaptive mounting base in this application primarily achieves adaptive connection through magnetic attraction. Therefore, the surface to be mounted for use with the adaptive mounting base is generally designed to be a surface of a magnetically adsorbable material, such as a surface containing iron, cobalt, or nickel. Specifically, for example, the surface to be mounted could be a pre-installed steel surface on the carrier device's body.

[0061] As can be seen from the above, the self-adaptive mounting bracket primarily has an installation function:

[0062] The adaptive mount and robot can be pre-assembled into a modular unit. This facilitates the overall installation, disassembly, transfer, and storage of the module consisting of the adaptive mount and robot.

[0063] Alternatively, the adaptive mount and robot can be kept separately configured, transferred, and stored. Then, when needed, the adaptive mount and robot can be installed and removed sequentially.

[0064] In addition to the aforementioned installation functions, the adaptive mounting base can also be pre-configured with various other functions according to actual needs. These include functions such as charging, movement adjustment, rotation adjustment, and storage. The adaptive mounting base can also be pre-configured with control devices, such as control chips. Through the control functions of these devices, the adaptive mounting base and / or the robot can achieve automatic and intelligent operation. In this case, the adaptive mounting base constitutes the robot's service base station.

[0065] Furthermore, the specific form of the robot is not limited. When the carrier device is a washing and care device as described above, the robot can be, but is not limited to, a movable end effector. This end effector can be, but is not limited to, a robotic arm. The degrees of freedom of the end effector can specifically be any one or more translational degrees of freedom and / or any one or more rotational degrees of freedom, without limitation.

[0066] Regarding the specific installation function settings of the adaptive mounting bracket, please refer to... Figures 1 to 4 The adaptive mounting base in this application includes a base 100, a magnetic module 200, a movable seat 300, and a leveling mechanism 400.

[0067] The base 100 is placed on the surface to be installed.

[0068] The magnetic module 200 is disposed on the base 100. The magnetic module 200 has a magnetic attraction state and a release state. When switching to the magnetic attraction state, it magnetically fixes the base 100 to the surface to be mounted.

[0069] The movable base 300 is for robot mounting. The movable base 300 can be mounted on the base 100 in multiple directions by flipping.

[0070] The leveling mechanism 400 is connected to the movable seat 300 to drive the movable seat 300 to rotate.

[0071] In the technical solution provided by this utility model, when the base 100 is placed on the surface to be mounted, the magnetic module 200 switches to the magnetic state, which generates a magnetic force and uses this magnetic force to magnetically fix the base 100 to the surface to be mounted. Conversely, when it is necessary to remove the self-adaptive mounting base 100 from the surface to be mounted, simply switch the magnetic module 200 to the release state, which has the characteristics of more flexible and convenient assembly and disassembly.

[0072] The movable seat 300 is for robot installation, and under the precise drive of the leveling mechanism 400, the movable seat 300 can be rotated relative to the base 100, which means that the robot can be rotated relative to the surface to be mounted, so that the position of the robot relative to the surface to be mounted can be flexibly adjusted.

[0073] Compared to conventional installation and deployment methods, this application achieves zero-damage installation, zero requirements on the surface to be installed, and zero installation residue. Furthermore, it utilizes the magnetic suction module 200 to achieve extremely high installation reliability and the leveling mechanism 400 to achieve extremely high self-leveling capability, contributing to an overall improvement in the reliability of the adaptive mount and the robot.

[0074] Specifically, please refer to Figures 1 to 4 The specific shape, size, structure and material of the base 100 are not limited, as long as sufficient assembly space is reserved as needed and a stable connection is achieved with the movable base 300.

[0075] The assembly space can be formed on any outer surface of the base 100, providing a stable mounting area for the magnetic module 200. Since the magnetic module 200 primarily attaches magnetically to the surface to be mounted, it's generally better for the magnetic module 200 to be positioned as close to the surface as possible. Therefore, in a specific application, the assembly space can be directly defined on the bottom surface of the base 100 using either a visual or non-visual structure. The visual structure can be, but is not limited to, various markings such as graphics, text symbols, color blocks, and raised or recessed surfaces, indicating the precise position of the magnetic module 200. The non-visual structure allows the magnetic module 200 to be placed arbitrarily within the reserved space, providing sufficient freedom and flexibility in its placement.

[0076] Alternatively, the assembly space can be formed inside the base 100, thereby accommodating the magnetic module 200. For this purpose, the base 100 is generally formed with sufficient thickness vertically. Specifically, it can be a block shape, a box shape, or a similar structure. The interior of the base 100 defines an assembly cavity. This assembly cavity constitutes the assembly space. At least one side of the assembly cavity can be open, allowing the magnetic module 200 to enter and exit the assembly cavity through the opening.

[0077] Of course, a cover plate can also be provided specifically for this opening, depending on actual needs. The cover plate is movably installed on the base 100, and can open and close the opening during its movement. When closed, together they form a relatively closed assembly cavity at the bottom, thereby providing sufficient protective space for the magnetic module 200 housed in the assembly cavity, preventing external environmental factors such as dirt and moisture from affecting the magnetic attraction effect of the magnetic module 200.

[0078] In one specific embodiment, the magnetic module 200 may include a magnetic element. This magnetic element can be any component containing a magnet structure. When the adaptive mounting base is placed on the surface to be mounted, the magnetic element directly attracts the surface using magnetic force, achieving a stable assembly between the adaptive mounting base and the surface. Of course, when it is necessary to detach the adaptive mounting base from the surface, a larger external force must be applied to the adaptive mounting base, or it must be removed using other tools.

[0079] In another specific embodiment, the magnetic module 200 may include an electromagnetic component 210 and a power supply module (not shown in the attached drawings).

[0080] The electromagnetic component 210 can be configured as one or at least two. When only one electromagnetic component 210 is used, its volume can be appropriately increased to appropriately increase its magnetic attraction strength. The electromagnetic component 210 can be directly positioned at the center line of the adaptive mounting base, or it can be positioned adjacent to the center line of the adaptive mounting base.

[0081] When at least two electromagnetic components 210 are provided, each electromagnetic component 210 is distributed within the assembly space of the base 100. Specifically, each electromagnetic component 210 can be distributed around the periphery of the center line of the adaptive mounting base. And as much as possible, each electromagnetic component 210 can be arranged symmetrically about the center line of the adaptive mounting base. In this way, each electromagnetic component 210 can provide a uniform and strong magnetic attraction force.

[0082] In practical applications, the electromagnetic component 210 can be configured as four or more. Furthermore, in actual applications, the electromagnetic component 210 should ideally be configured as a high-power, high-efficiency DC electromagnetic structure.

[0083] The electromagnetic component 210 has a magnetic attraction state when energized and a release state when de-energized. The power supply module is electrically connected to each electromagnetic component 210, which can control the electromagnetic component 210 to switch between energized and de-energized states.

[0084] There are no restrictions on the specific form of the power supply module; it can be an integrated chip structure, circuit structure, etc.

[0085] The power supply module can be electrically connected to the control device described above. Alternatively, the power supply module can be directly integrated into the control device. The control device can control the power supply module, thereby enabling the electromagnetic component 210 to be powered on and off more automatically and intelligently.

[0086] It is understandable that when the adaptive mount places the robot onto the surface to be mounted, and the robot performs preset actions as required, the robot is movable relative to the base 100. In particular, when the robot's end effector is specifically a robotic arm, and the robotic arm is foldable and extendable, its folding and extending actions will cause a certain shift in the center of gravity of the adaptive mount and the robot as a whole.

[0087] Therefore, during the selection and matching process of the electromagnetic component 210, it is necessary to ensure as much as possible that the magnetic attraction force generated by the electromagnetic component 210 can stably limit the adaptive mounting base and the robot as a whole to the surface to be mounted during any movement of the robot.

[0088] Therefore, if the gravity corresponding to the sum of the robot's own mass and its maximum load capacity is defined as the first gravity, then during the selection process, the sum of the maximum magnetic attraction forces of each electromagnetic component 210 should not be less than twice the first gravity. Preferably, the sum of the maximum magnetic attraction forces of each electromagnetic component 210 can be set to four to five times or more the first gravity to provide an extremely high safety factor for the assembly of the adaptive mounting base and the robot.

[0089] Next, the magnetic module 200 may also include a magnetically conductive structure 220. The magnetically conductive structure 220 is disposed on the outer surface of the electromagnetic component 210. The magnetically conductive structure 220 is generally made of a soft magnetic material. Its specific shape can be selected to suit its installation orientation, etc.

[0090] When there are at least two electromagnetic components 210, the same magnetic conductive structure 220 can correspond to all electromagnetic components 210 simultaneously, a few magnetic conductive structures 220 can correspond to more electromagnetic components 210, or the magnetic conductive structures 220 can be set one-to-one with each electromagnetic component 210. When they are set one-to-one, it can be ensured that each electromagnetic component 210 can obtain a sufficient and more comprehensive magnetic conductive effect with the help of its own magnetic conductive structure 220.

[0091] The magnetically conductive structure 220 can be disposed on a partial outer surface of the electromagnetic component 210: for example, when the electromagnetic component 210 is disposed on the bottom surface of the base 100, the magnetically conductive structure 220 is disposed at least on the bottom surface of the electromagnetic component 210, that is, located between the electromagnetic component 210 and the surface to be mounted. And / or, for example, the magnetically conductive structure 220 can be disposed between the electromagnetic component 210 and the base 100.

[0092] Of course, the magnetic conductive structure 220 can also be set on all the outer surfaces of the electromagnetic component 210, that is, the magnetic conductive structure 220 covers the periphery of the corresponding electromagnetic component 210, so that each side of the outer surface of the electromagnetic component 210 is provided with a corresponding magnetic conductive structure 220.

[0093] The magnetic guiding structure 220 helps to concentrate the magnetic lines of force of the electromagnetic component 210 to the surface to be mounted, reducing magnetic circuit loss and significantly improving magnetic attraction efficiency. It also helps to shield the magnetic field from the surrounding environment to a certain extent.

[0094] Based on any of the above embodiments, the controller can further control the power supply module to operate directly according to its preset program. Alternatively, the magnetic module 200 also includes a trigger device (not shown in the figures). The trigger device is exposed on the outside of the adaptive mounting base. And when the trigger device is externally triggered, it can generate a trigger signal.

[0095] The controller is electrically connected to both the power supply module and the triggering device. Upon receiving a trigger signal, the controller controls the power supply module to operate, thereby switching the energization or de-energization of each electromagnetic component 210.

[0096] Specifically, the triggering device can be, but is not limited to, external devices such as mechanical buttons, virtual buttons, human-computer interaction interfaces, voice recognition devices, and posture recognition devices. Correspondingly, external triggers can be, but are not limited to, external force pressing on mechanical buttons, virtual buttons, human-computer interaction interfaces, etc.; preset voice for voice recognition devices; preset posture for posture recognition devices, etc. When the triggering device is triggered, it will respond and generate a corresponding trigger signal.

[0097] When the controller receives the trigger signal, it can confirm that it needs to switch the electromagnetic component 210 to the attraction state or to the release state. This allows for one-button triggering of the magnetic module 200, further facilitating its intelligent operation.

[0098] In addition, the magnetic module 200 may also include a sensing device (not shown in the figures). The sensing device operates at the electromagnetic component 210 and / or the power supply module. The sensing device triggers a sensing signal when it senses an abnormality in the corresponding electromagnetic component 210 and / or the power supply module.

[0099] The controller is electrically connected to both the power supply module and the sensing device. Upon receiving a sensing signal, the controller controls the power supply module to de-energize each electromagnetic component 210.

[0100] It is understood that the sensing device can detect in real time whether the operation of the electromagnetic component 210 and / or the power supply module is abnormal. Specifically, for the electromagnetic component 210, the sensing device installed thereon can be, but is not limited to, a temperature sensor, a resistance detector, etc., which can detect whether the operating temperature of the electromagnetic component 210 is abnormal, whether its power-on state is abnormal, etc. Similarly, for the power supply module, the sensing device installed thereon can be, but is not limited to, the aforementioned temperature sensor, resistance detector, etc., and can also be an overcurrent protector, etc.

[0101] The sensing device is configured to trigger a sensing signal to indicate an abnormality when, for example, the current in the power supply module is abnormal or the temperature of the electromagnetic component 210 is too high. Upon receiving the sensing signal, the controller can directly control the power supply module to disconnect and / or control the electromagnetic component 210 to lose power.

[0102] Based on one or more of the above embodiments, the movable seat 300 is then mounted on the base 100 in a multi-directional flip-up configuration. Since the movable seat 300 is for robot mounting, it also allows the robot to be mounted on the base 100 in a multi-directional flip-up configuration. This allows the base 100 to be stably assembled to the surface to be mounted, but if the mounting orientation is not ideal for the robot and unsuitable for performing actions, the leveling mechanism 400 can assist in smoothly flipping the movable seat 300 and the robot into position, achieving leveling.

[0103] To achieve stable assembly between the movable seat 300 and the base 100, in a further embodiment, the adaptive mounting seat may also include a universal ball joint mechanism 410 and / or a three-dimensional damping connector 420.

[0104] The universal ball joint mechanism 410 is disposed between the movable seat 300 and the base 100. The universal ball joint mechanism 410 provides a relatively greater degree of rotational freedom between the movable seat 300 and the base 100 through the rotational engagement between the ball joints. Simultaneously, it ensures that the movable seat 300 and the base 100 remain connected and do not detach.

[0105] A three-dimensional damping connector 420 is disposed between the movable seat 300 and the base 100. The three-dimensional damping connector 420 is, for example, a three-dimensional damping joint, which can be directly connected between the movable seat 300 and the base 100, which have relative rotational travel. Alternatively, it can be indirectly connected between the movable seat 300 and the base 100, based on one or more intermediate adapters.

[0106] The three-dimensional damping connector 420 has a certain damping function. For example, after the leveling mechanism 400 actively drives the movable seat 300 to rotate relative to the base 100 in one direction to its final position, the driving force on the movable seat 300 is removed. At this time, the three-dimensional damping connector 420 can use its damping function to prevent the movable seat 300 from continuing to rotate in that direction, or from rotating back to its original position in the opposite direction. The three-dimensional damping connector 420 can maintain the movable seat 300 in its current rotated state.

[0107] Correspondingly, the leveling mechanism 400 may include a driver (not shown in the figures) and a tilt sensor (not shown in the figures). The driver is disposed between the base 100 and the movable seat 300, and is drivenly connected to the movable seat 300. The driver is, for example, a miniature servo motor. The tilt sensor is disposed between the base 100 and the movable seat 300, and is used to sense the angle value of the movable seat 300. A controller is electrically connected to both the driver and the tilt sensor. The controller is used to control the driver to operate according to the angle value received.

[0108] When the base 100 is detected to be improperly installed, the tilt sensor can sense the current angle value of the movable seat 300. The controller can then control the driver to operate based on the current angle value and the acquired target angle value, driving the movable seat 300 to adjust from the current angle value to the target angle value, achieving, for example, leveling.

[0109] Furthermore, based on one or more of the above embodiments, in a further embodiment, the adaptive mounting base also includes a mechanical connector (not shown in the figures). The mechanical connector is at least provided on the base 100, and after the base 100 is placed on the surface to be mounted, the mechanical connector connects the base 100 and the surface to be mounted.

[0110] There are no restrictions on the specific type of mechanical connectors; they can be specifically configured according to the inherent external characteristics of the carrier equipment to which the adaptive mounting base is assembled.

[0111] For example, when the carrier device has a recessed structure, the mechanical connector can be configured as a snap-fit ​​component. This snap-fit ​​component can precisely engage and secure the recessed structure.

[0112] Alternatively, for example, when the carrier device has a protruding structure, the mechanical connector can be configured as a hanging ring. This hanging ring can be precisely attached and fixed to the protruding structure.

[0113] When the magnetic module 200 functions properly, the mechanical connector helps to reinforce the assembly stability between the self-adaptive mounting base and the surface to be mounted. Even when the magnetic module 200 malfunctions, the mechanical connector still ensures a stable assembly between the self-adaptive mounting base and the surface to be mounted.

[0114] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An adaptive mounting base, characterized in that, The adaptive mounting base is used to assemble the robot onto the surface to be mounted, and the adaptive mounting base includes: A base for placing on the surface to be installed; A magnetic module is provided on the base. The magnetic module has a magnetic attraction state and a release state. When switching to the magnetic attraction state, the base is magnetically fixed to the surface to be installed. A movable base for mounting the robot, the movable base being rotatable and adaptable to the base in multiple directions; and, A leveling mechanism is connected to the movable seat to drive the movable seat to rotate.

2. The adaptive mounting bracket as described in claim 1, characterized in that, The magnetic attraction module includes: At least one electromagnetic component is disposed at the base, the electromagnetic component switching to the magnetic attraction state when energized and switching to the release state when de-energized; and, The power supply module is electrically connected to each of the electromagnetic components to control the energization or de-energization of the electromagnetic components.

3. The adaptive mounting bracket as described in claim 2, characterized in that, The gravity corresponding to the sum of the robot's own mass and its maximum load capacity is the first gravity. The sum of the maximum magnetic attraction forces of all the electromagnetic components is not less than twice the first gravity.

4. The adaptive mounting bracket as described in claim 2, characterized in that, The magnetic suction module also includes a magnetically conductive structure; The magnetically conductive structure is provided in a one-to-one correspondence with each of the electromagnetic components; and / or, The magnetically conductive structure is disposed at the bottom of the corresponding electromagnetic component; and / or, The magnetically conductive structure is disposed between the base and the corresponding electromagnetic component; and / or, The magnetically conductive structure covers the periphery of the corresponding electromagnetic component.

5. The adaptive mounting bracket as described in claim 2, characterized in that, The electromagnetic component is disposed inside the base; and / or, The electromagnetic component is located on the base at a position away from the movable seat.

6. The adaptive mounting bracket as described in claim 2, characterized in that, The magnetic attraction module also includes: A triggering device, exposed on the outside of the adaptive mounting base, generates a trigger signal upon external triggering; and, The control device is electrically connected to the power supply module and the triggering device respectively. When the control device receives the trigger signal, it controls the power supply module to work according to the trigger signal, so as to switch each of the electromagnetic components to be energized or de-energized.

7. The adaptive mounting bracket as described in claim 2, characterized in that, The magnetic attraction module also includes: A sensing device, acting on the electromagnetic component and / or the power supply module, triggers a sensing signal when it senses a corresponding abnormality in the electromagnetic component and / or the power supply module; and... A control device is electrically connected to the power supply module and the sensing device respectively. The control device is used to control the power supply module to switch each of the electromagnetic components to de-energize when it receives the sensing signal.

8. The adaptive mounting bracket as described in claim 1, characterized in that, The adaptive mounting base also includes: A universal ball joint mechanism is disposed between the movable seat and the base; and / or, A three-dimensional damping connector is disposed between the movable seat and the base.

9. The adaptive mounting bracket as described in claim 1, characterized in that, The leveling mechanism includes: A driver is disposed between the base and the movable seat, and is drivenly connected to the movable seat; An angle sensor is disposed between the base and the movable seat, and is used to sense the angle value of the movable seat; and, A control device is electrically connected to the driver and the tilt sensor respectively. The control device is used to control the driver to work according to the angle value when the angle value is received.

10. The adaptive mounting bracket as described in claim 1, characterized in that, The adaptive mounting base also includes a mechanical connector, which is at least located on the base and connects the base and the surface to be mounted after the base is placed on the surface to be mounted.

11. A service system, characterized in that, Includes a robot and an adaptive mount as described in any one of claims 1 to 10.

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