Movable base for a robotic system

A coupling assembly for a robotic system, comprising:

• a housing defining an interior chamber, the housing including a first interface configured to engage a first section of a robotic body;
• a spindle disposed in the interior chamber of the housing, the spindle including a second interface configured to engage a second section of a robotic body;
• and
• two tapered roller bearings disposed in the interior chamber of the housing and between the housing and the spindle, the two tapered roller bearings being arranged in opposing orientations to handle axial forces in opposing directions, the two tapered roller bearings allowing the housing and the spindle to rotate relative to each other, the two tapered roller bearings including an inner ring, an outer ring, and a bearing assembly disposed between the inner ring and the outer ring and allowing the outer ring to rotate around the inner ring, the housing engages the outer ring, and the spindle passes through and engages the inner ring,
• wherein the first interface and the second interface allows a relative rotation between the first section coupled to the first interface and the second section coupled to the second interface according to the relative rotation between the housing and the spindle, and
• the first interface and the second interface are disposed on a same end of the coupling assembly.

A robotic system, comprising:

• a robotic body including a first section and a second section, the first section including a first wheel, and the second section including a second wheel;
• and
• a coupling assembly coupling the first section and the second section, the first section and the second section being movable together along at least one axis via operation of the first wheel and the second wheel, the coupling assembly including:
• a housing defining an interior chamber;
• a spindle disposed in the interior chamber of the housing;
• and
• a bearing device disposed in the interior chamber of the housing and between the housing and the spindle, the bearing device allowing the spindle to rotate inside the interior chamber and relative to the housing,
• wherein the first section is coupled to the housing of the coupling assembly and the second section is coupled to the spindle of the coupling assembly, and the coupling assembly allows the first section to rotate relative to the second section according to a rotation between the spindle and the housing,
• the first section has a first wall and the second section has a second wall that faces the first wall when the first section is coupled to the second section,
• the coupling assembly is disposed in an interior of the first section,
• the housing is coupled to the first wall in the interior of the first section, and
• the second wall is coupled to the spindle via an opening in the first wall.