robot

Abstract

A robot (10) including a main body (100), a handle (200) provided with an assembly member (210), a locking mechanism (400), and an unlocking mechanism (500), wherein the assembly member (210) is provided with a first position limiting groove (211) and a connection pin (300), the locking mechanism (400) includes a locking member (410) connected to the main body (100) and hinged to the assembly member (210) and a locking pin (420), the locking member (410) is provided with a second position limiting groove (411), the locking pin (420) moves along the axial direction of the second position limiting groove (411) and is movable within the first position limiting groove (211) and the second position limiting groove (411), and the unlocking mechanism (500) is configured to drive the connection pin (300) to move along the axial direction of the first position limiting groove (211) and drive the locking pin (420) to disengage from the first position limiting groove (211).

Description

[Technical Field]

[0001] (Cross-Reference to Related Applications) The present application claims the priority of the Chinese patent application with the application number CN202223453041.5 and the application title "Robot", filed with the China National Intellectual Property Administration on December 20, 2022, the entire content of which is incorporated into the present application by reference.

[0002] The present application relates to the technical field of smart cleaning devices, and in particular to a robot. [Background Art]

[0003] Robots can improve environmental hygiene and save people's labor. Conventional robots are all manually operated, and usually a handle is provided on the top of the outer surface of the robot to assist a user in moving the robot body to complete various work tasks. However, the handle of a conventional robot is usually fixed to the body, and the structure of the conventional handle usually occupies a large space. [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] According to various embodiments of the present application, a robot is provided. [Means for Solving the Problem]

[0005] The robot comprises: a body; and a handle, wherein one end of the handle is provided with an assembly member, and the assembly member is provided with a first position-limiting groove and a connection pin that is provided penetrating through the first position-limiting groove and is provided movably along the axial direction of the first position-limiting groove. A locking mechanism comprising a locking member and a locking pin fixedly connected to the main body, wherein the locking member is hinged to the assembly member so that the handle can be reversed relative to the main body, and the locking member is provided with a second position limiting groove for housing the locking pin, and when the handle is reversed relative to the main body to a predetermined angle, the locking pin is movable along the axial direction of the second position limiting groove, and the locking mechanism moves within the first position limiting groove and the second position limiting groove to lock the handle to a first state, An unlocking mechanism, the unlocking mechanism being located at one end of the connecting pin, the locking pin being located at the other end of the connecting pin, and the unlocking mechanism driving the connecting pin to move along the axial direction of the first position limiting groove, and driving the locking pin to disengage from the first position limiting groove, thereby switching the handle from a first state to a second state.

[0006] Details of one or more embodiments of the present application will be described in the following drawings and description. Other features and advantages of the present application will be apparent from the specification, drawings and claims.

[0007] In order to more clearly explain the embodiments of the present application or the technical solutions of the prior art, the drawings necessary for describing the embodiments or the prior art will be briefly described below. However, it is clear that the drawings in the following description are only a few embodiments of the present application, and a person skilled in the art can obtain drawings of other embodiments from these drawings without expending any inventive effort. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the structure of a robot shown in one embodiment of the present invention. [Figure 2] This is a schematic diagram of a part of the structure of a robot shown in one embodiment of the present invention. [Figure 3] This is an exploded view of a robot shown in one embodiment of the present invention. [Figure 4] This is an exploded view of a part of a robot shown in one embodiment of the present invention. [Figure 5] This is a schematic diagram of the structure of a robot in a second state as shown in one embodiment of the present invention. [Figure 6] This is an enlarged view of section A in Figure 5. [Figure 7] This is a schematic diagram of the structure of a robot in a first state as shown in one embodiment of the present invention. [Figure 8] This is an enlarged view of section B in Figure 7. [Figure 9] This is a schematic diagram of the structure of a locking member shown in one embodiment of the present invention. [Figure 10] This is a schematic diagram of the structure of an assembly member shown in one embodiment of the present invention. [Figure 11] This is a schematic diagram of a structure in which a lock pin and a lock return elastic member are connected, as shown in one embodiment of the present invention. [Modes for carrying out the invention]

[0009] Hereinafter, the present application will be described more completely with reference to the relevant drawings to facilitate understanding of the present application. The drawings illustrate preferred embodiments of the present application. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. Conversely, these embodiments are provided for the purpose of providing a more thorough and complete understanding of the disclosure of the present application.

[0010] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art relating to the present application. The terms used in this specification are for illustrative purposes only and are not intended to limit the application. The term "and / or" as used herein includes any and all combinations of one or more related enumerated items.

[0011] As shown in Figures 1, 2, and 4, a robot 10 according to one embodiment of the present invention includes a main body 100, a handle 200, a locking mechanism 400, and a release mechanism 500. The handle 200 is hinged to the main body 100 and is rotatable relative to the main body 100. The locking mechanism 400 is configured to lock the handle 200 at a predetermined angle relative to the main body 100. The release mechanism 500 is configured to release the locked handle 200.

[0012] As shown in Figures 1, 2, 3, and 4, an assembly member 210 is provided at one end of the handle 200, and the assembly member 210 is provided with a first position limiting groove 211 and a connecting pin 300 that penetrates the first position limiting groove 211 and is movable along the axial direction of the first position limiting groove 211. Preferably, the handle 200 and the assembly member 210 may be integrally molded. The assembly member 210 may be fixedly connected to one end of the handle 200.

[0013] As shown in Figures 3, 4, 6, and 8, the locking mechanism 400 includes a locking member 410 and a locking pin 420 fixedly connected to the main body 100. The locking member 410 is hinged to an assembly member 210 so that the handle 200 can be reversed relative to the main body 100, and the locking member 410 is provided with a second position limiting groove 411 for housing the locking pin 420. Specifically, the central axis of the first position limiting groove 211 and the central axis of the second position limiting groove 411 in the assembly member 210 overlap with each other, and the opening of the first position limiting groove 211 and the opening of the second position limiting groove 411 are provided facing each other.

[0014] Preferably, the assembly member 210 is hinged to the locking member 410 by being hinged to the locking pin 420.

[0015] In another preferred embodiment, the locking member 410 is hingedly connected to the assembly member 210 via a hinge assembly. The hinge assembly comprises an annular locking block provided on the assembly member 210, and an annular locking groove provided on the locking member 410 and fitted with the annular locking block. The central axis of the annular locking block and the central axis of the annular locking groove overlap each other. More specifically, the central axis of the annular locking block and the central axis of the first position-limiting groove 211 overlap each other. The central axis of the annular locking groove and the central axis of the second position-limiting groove overlap each other.

[0016] As shown in Figures 1, 4, 7 and 8, when the handle 200 is flipped to a predetermined angle relative to the main body 100, the locking pin 420 moves along the axial direction of the second position-limiting groove 411 and moves into the first position-limiting groove 211 and the second position-limiting groove 411, so that the handle 200 can be locked in the first state. When the locking pin 420 moves into the first position-limiting groove 211 and the second position-limiting groove 411, the handle 200 can be locked, and the handle 200 cannot be flipped relative to the main body 100, thereby maintaining the stability of the handle 200. That is, the first state is a state where the handle 200 cannot be flipped relative to the main body 100.

[0017] As shown in Figures 1, 4, 5 and 6, the unlocking mechanism 500 is located at one end of the connecting pin 300, and the locking pin 420 is located at the other end of the connecting pin 300. The unlocking mechanism 500 drives the connecting pin 300 to move along the axial direction of the first position-limiting groove 211, and drives the locking pin 420 to disengage from the first position-limiting groove 211, thereby switching the handle 200 from the first state to the second state. When the locking pin 420 disengages from the first position-limiting groove 211, the flipping of the handle 200 is not affected by the locking pin 420, the locked handle 200 can be unlocked, and the handle 200 can be flipped to any angle relative to the main body 100. That is, the 2 state is a state where the handle 200 can be arbitrarily flipped relative to the main body 100.

[0018] In a preferred embodiment, the connecting pin 300 may be provided separately from the lock pin 420, may be always provided in contact with each other, or may be provided at an interval. When the locked handle 200 is unlocked, the connecting pin 300 abuts against the lock pin 420.

[0019] In another preferred embodiment, the connecting pin 300 may be fixedly connected to the lock pin 420, for example, may be integrally formed, or may be fixed by means of welding, screw connection or the like, which is not limited herein.

[0020] By providing the locking mechanism 400 and the assembly member 210, when the handle 200 is flipped to a predetermined angle relative to the main body 100, the lock pin 420 is provided in the first position limiting groove 211 and the second position limiting groove 411 movably along the axial direction of the second position limiting groove 411 to lock the handle 200, thereby maintaining the stability of the handle 200. By providing the unlocking mechanism 500 and the connecting pin 300, the unlocking mechanism 500 drives the connecting pin 300 to move along the axial direction of the first position limiting groove 211, so as to drive the lock pin 420 to disengage from the first position limiting groove 211, thereby realizing unlocking of the locked handle 200, and realizing that the handle 200 can be flipped to any angle relative to the main body 100.

[0021] As shown in FIG. 4, FIG. 6, FIG. 9 and FIG. 10, according to some embodiments of the present application, preferably, in a first state, an orthographic projection of a first opening of the first position limiting groove 211 facing the second position limiting groove 411 onto a projection plane is located within an orthographic projection of a second opening of the second position limiting groove 411 facing the first position limiting groove 211 onto the projection plane. In a second state, the orthographic projection of the first opening of the first position limiting groove 211 facing the second position limiting groove 411 onto the projection plane is partially offset from the orthographic projection of the second opening of the second position limiting groove 411 facing the first position limiting groove 211 onto the projection plane. The projection plane is a horizontal plane perpendicular to the axial direction of the first position limiting groove 211.

[0022] Furthermore, if the orthographic projection of the first opening of the first position limiting groove 211 toward the second position limiting groove 411 onto the projection plane is located within the orthographic projection of the second opening of the second position limiting groove 411 toward the first position limiting groove 211 onto the projection plane, the lock pin 420 can move along the axial direction of the second position limiting groove 411 and move within the first position limiting groove 211 and the second position limiting groove 411. If the orthographic projection of the first opening of the first position limiting groove 211 toward the second position limiting groove 411 onto the projection plane and the orthographic projection of the second opening of the second position limiting groove 411 toward the first position limiting groove 211 onto the projection plane are partially misaligned, one end of the lock pin 420 that is close to the first position limiting groove 211 will come into contact with the other end of the first position limiting groove 211 that is close to the lock pin 420, thereby restricting the movement of the lock pin 420, and further preventing the lock pin 420 from moving into the first position limiting groove 211 and the second position limiting groove 411.

[0023] In a preferred embodiment, in the first state, the orthographic projection of the first opening of the first position limiting groove 211 toward the second position limiting groove 411 onto the projection plane is located within the orthographic projection of the second opening of the second position limiting groove 411 toward the first position limiting groove 211 onto the projection plane, which may also be the case if the orthographic projection of the first opening of the first position limiting groove 211 toward the second position limiting groove 411 onto the projection plane coincides with the orthographic projection of the second opening of the second position limiting groove 411 toward the first position limiting groove 211 onto the projection plane.

[0024] In another preferred embodiment, in the first state, the orthographic projection of the first opening toward the second position limiting groove 411 onto the projection plane of the first position limiting groove 211 is located within the orthographic projection of the second opening toward the first position limiting groove 411 onto the projection plane of the second opening toward the first position limiting groove 211 if the orthographic projection of the first opening toward the second position limiting groove 411 is smaller than the orthographic projection of the second opening toward the first position limiting groove 411 onto the projection plane of the second opening toward the first position limiting groove 211 and is located within the same orthographic projection. This is not limited to the above.

[0025] In a preferred embodiment, the lock pin 420 may be a uniform column along the axial direction (i.e., a column with the same cross-section) or a column that is partially uniform along the axial direction. The first position limiting groove 211 and the second position limiting groove 411 may be at least partially uniform grooves, and the orthographic projection of the uniform portion of the first position limiting groove 211 onto the projection plane coincides with the orthographic projection of the first opening onto the projection plane. Similarly, the orthographic projection of the uniform portion of the second position limiting groove 411 onto the projection plane coincides with the orthographic projection of the second opening onto the projection plane. This allows a portion of the lock pin 420 to move from the second position limiting groove 411 to the first position limiting groove 211 when entering the first state.

[0026] In another preferred embodiment, the lock pin 420 may be tapered along its axial direction, for example, preferably the end of the lock pin 420 that is close to the first position limiting groove 211 is smaller than the end that is further away from the first position limiting groove 211. Correspondingly, at least a portion of the first position limiting groove 211 and the second position limiting groove 411 may be tapered grooves.

[0027] Preferably, the orthographic projection of the tapered groove portion of the first position limiting groove 211 onto the projection plane is smaller than the orthographic projection of the first opening onto the projection plane, and gradually decreases along the direction away from the first opening. The orthographic projection of the tapered groove portion of the second position limiting groove 411 onto the projection plane is larger than the orthographic projection of the first opening onto the projection plane, and preferably gradually increases along the direction away from the second opening.

[0028] Preferably, orthographic projection refers to a projection perpendicular to the projection plane. For example, the orthographic projection of the first opening of the first position limiting groove 211 onto the projection plane is the projection of the first opening of the first position limiting groove 211 onto the projection plane along the axis of the first position limiting groove 211. 2 The orthographic projection of the opening onto the projection plane is the projection of the first opening of the second position limiting groove 411 onto the projection plane along the axis of the second position limiting groove 411.

[0029] As shown in Figures 4, 6, 9, and 10, according to some embodiments of the present application, preferably, the cross section perpendicular to the axial direction of the first position limiting groove 211 and the cross section perpendicular to the axial direction of the second position limiting groove 411 are both polygonal in structure.

[0030] In a preferred embodiment, the cross-section of the first position limiting groove 211 perpendicular to the axial direction of the first position limiting groove 211 and the cross-section of the second position limiting groove 411 perpendicular to the axial direction of the second position limiting groove 411 are both rectangular in structure. That is, when the first position limiting groove 211 is rotated 0° or 180° relative to the second position limiting groove 411, the orthographic projection of the first opening of the first position limiting groove 211 toward the second position limiting groove 411 onto the projection plane lies within the orthographic projection of the second opening of the second position limiting groove 411 toward the first position limiting groove 2 onto the projection plane lies within the first position limiting groove 211 onto the projection plane lies within the orthographic projection of the second opening of the first position limiting groove 411 onto the projection plane lies within the first position limiting groove 211 onto the first position limiting groove 211 onto the projection plane lies within the orthographic projection of the second opening of the second position limiting groove 411 onto the projection plane lies within the first position limiting groove 211 onto the first position limiting groove 211 onto the first position limiting groove 211 onto the projection plane lies within the orthographic projection of the first position limiting groove 411 onto the first position limiting groove 211 onto the projection plane lies within the orthographic projection of the first position limiting groove 411 onto the first position limiting groove 211 onto the first position limiting groove 211 onto the first position limiting groove

[0031] The second position limiting groove 411 is provided at an inclination with respect to the longitudinal or widthwise direction of the locking member 410. That is, one side wall of the second position limiting groove 411 has an angle with respect to the longitudinal or widthwise direction of the locking member 410. By setting the inclination angle of the second position limiting groove 411 with respect to the longitudinal or widthwise direction of the locking member 410, the handle 200 can be locked to the main body 100 at a predetermined angle. However, this application does not limit the inclination angle of the second position limiting groove 411 with respect to the longitudinal or widthwise direction of the locking member 410, and can be set according to a predetermined angle at which the handle 200 is locked to the main body 100.

[0032] In another preferred embodiment, the cross-section of the first position limiting groove 211 perpendicular to the axial direction and the cross-section of the second position limiting groove 411 perpendicular to the axial direction may be a quadrilateral structure or a pentagonal structure, and the present application is not limited thereto.

[0033] As shown in Figures 1, 4, 6, and 8, in some embodiments of the present application, the locking mechanism 400 preferably further includes a locking drive assembly 430, which drives a locking pin 420 to move along the axial direction of the second position limiting groove 411 into the first position limiting groove 211 and the second position limiting groove 411 when the handle 200 is reversed to a predetermined angle relative to the body 100.

[0034] Preferably, the lock drive assembly 430 includes a lock return elastic member 431 and a lock end cap 432, the lock end cap 432 being provided at one end of the lock member 410 away from the assembly member 210, and the lock return elastic member 431 being located between the lock pin 420 and the lock end cap 432. Preferably, the lock return elastic member 431 uses a spring.

[0035] When the handle 200 is in the second state, the lock return elastic member 431 is in a compressed state. When the handle 200 is reversed to a predetermined angle relative to the main body 100, the lock return elastic member 431, under the action of its elastic force, drives the lock pin 420 to move along the axial direction of the second position limiting groove 411 into the first position limiting groove 211 and the second position limiting groove 411.

[0036] As shown in Figures 4, 9, 10, and 11, a first tapered surface 2111 is provided in both the first position limiting groove 211 and the second position limiting groove 411. A second tapered surface 421 is provided on the outer circumference of the lock pin 420, and by aligning the second tapered surface 421 with the first tapered surface 2111, the lock pin 420 can be easily moved into the first position limiting groove 211 and the second position limiting groove 411.

[0037] Preferably, the second tapered surface 421 gradually decreases in size from one end close to the lock-return elastic member 431 to the other end away from the lock-return elastic member 431, which is advantageous for movement into the first position limiting groove 211 and the second position limiting groove 411, and can act as a guide.

[0038] As shown in Figures 4, 6, and 8, in some embodiments of the present application, the assembly member 210 is preferably provided with a sliding hole 212, which is formed at the bottom of the first position limiting groove 211. The connecting pin 300 includes a sliding portion 310 that is slidably connected to the sliding hole 212, and the sliding portion 310 is connected to a locking pin 420. Specifically, when the unlocking mechanism 500 drives the connecting pin 300 to move along the axial direction of the first position limiting groove 211, the sliding portion 310 of the connecting pin 300 is connected to the locking pin 420, and further drives the locking pin 420 to disengage from the first position limiting groove 211.

[0039] In a preferred embodiment, the connecting pin 300 further includes a contact portion 320 provided at one end adjacent to the locking pin 420, the contact portion 320 being connected to the locking pin 420 and capable of contacting the bottom of the first position limiting groove 211. In this embodiment, the diameter of the contact portion 320 is greater than the diameter of the sliding hole 212 and the sliding portion 310.

[0040] When the unlocking mechanism 500 drives the connecting pin 300 to move along the axial direction of the first position limiting groove 211, the contact portion 320 can come into contact with the locking pin 420, driving the locking pin 420 to move along a direction away from the first position limiting groove 211. By positioning the contact portion 320 to come into contact with the bottom of the first position limiting groove 211, the contact portion 320 does not detach from the first position limiting groove 211 and can perform a position limiting role for the connecting pin 300.

[0041] In another preferred embodiment, one end of the sliding portion 310 away from the locking pin 420 can abut against the bottom of the first position limiting groove 211, thereby preventing the sliding portion 310 from disengaging from the first position limiting groove 211 and allowing it to perform a position limiting role relative to the connecting pin 300.

[0042] In yet another preferred embodiment, the sliding portion 310 and the locking pin 420 are integrally molded. Specifically, the diameter of the sliding portion 310 is smaller than the length and width of the locking pin 420.

[0043] As shown in Figures 4, 6, and 8, in some embodiments of the present application, the connecting pin 300 preferably further includes a connecting portion 330 connected to a release mechanism 500. Specifically, the release mechanism 500 uses a release button and is fixedly connected to the connecting portion 330 of the connecting pin 300.

[0044] As shown in Figures 4, 6, and 8, in some embodiments of the present invention, the robot 10 preferably further includes a damping stop assembly 600, which is mounted between the assembly member 210 and the connecting pin 300 and configured to provide a damping force to prevent the assembly member 210 from reversing. By providing the damping stop assembly 600, a damping force can be applied to prevent the assembly member 210 from reversing, and the handle 200 can be stopped at a specific angle.

[0045] The robot 10 further includes an unlocking elastic member 700, the opposite ends of which abut the sliding portion 310 and the damping stop assembly 600, respectively. Specifically, the unlocking elastic member 700 uses a spring. When the unlocking mechanism 500 is pressed, the unlocking elastic member 700 is in a compressed state. After the unlocking mechanism 500 is released, the unlocking elastic member 700 provides elastic force to drive the connecting pin 300 and the unlocking mechanism 500 back into place.

[0046] As shown in Figures 4, 6, and 8, in some embodiments of the present application, the assembly member 210 is preferably aligned in conjunction with the connecting pin 300. The damping stop assembly 600 includes a damper 610 and a damper mounting plate 620, the damper 610 being fitted onto the connecting pin 300 to resist rotation of the connecting pin 300 and to resist reversal of the assembly member 210. The damper mounting plate 620 includes a first mounting portion and a second mounting portion, the first mounting portion being connected to the damper 610 and the first mounting portion being fitted onto the connecting pin 300. The second mounting portion 330 is fixedly connected to the locking member 410.

[0047] As shown in Figures 1, 2, and 3, in some embodiments of the present disclosure, the robot 10 preferably further includes a display 800, the display 800 being connected to a handle 200. When the handle 200 is reversed relative to the body 100, the display 800 can rotate in accordance with the reversal of the handle 200.

[0048] The technical features of the embodiments described above can be combined in any way, and for the sake of brevity, not all possible combinations of the technical features in the embodiments described above have been explained. However, as long as these combinations of technical features are not contradictory, they should be considered to fall within the scope described herein.

[0049] The above embodiments merely illustrate some of the embodiments of the present invention, and although the descriptions are specific and detailed, they should not be understood as limiting the scope of the invention. Those skilled in the art should note that several modifications and improvements within the scope of the present invention can be made without departing from the spirit of the present invention. Therefore, the scope of the patent of the present invention shall be as defined by the attached claims. [Explanation of symbols]

[0050] 10 Robots 100 Main Unit 200 Handle 210 Assembly components 211 First position limiting groove 2111 First tapered surface 212 Sliding hole 300 connection pins 310 Sliding part 320 Contact part 330 Connection part 400 Locking Mechanism 410 Locking member 411 Second position limiting groove 420 lock pins 421 Second tapered surface 430 Locking drive assembly 431 Lock return elastic member 432 Lock End Cap 500 unlocking mechanism 600 Dumping Interruption Assembly 610 Damper 620 Damper mounting plate 700 Release elastic member 800 displays.

Claims

1. The main unit (100) and A handle (200), wherein an assembly member (210) is provided at one end of the handle (200), and the assembly member (210) is provided with a first position limiting groove (211) and a connecting pin (300) that penetrates the first position limiting groove (211) and is movable along the axial direction of the first position limiting groove (211), A locking mechanism (400) comprising a locking member (410) and a locking pin (420) fixedly connected to the main body (100), wherein the locking member (410) is hinged to the assembly member (210) so that the handle (200) can be reversed relative to the main body (100), and the locking member (410) is provided with a second position limiting groove (411) for housing the locking pin (420), and when the handle (200) is reversed relative to the main body (100) to a predetermined angle, the locking pin (420) is movable along the axial direction of the second position limiting groove (411), and the locking mechanism (400) moves within the first position limiting groove (211) and the second position limiting groove (411) to lock the handle (200) to a first state, A release mechanism (500) is located at one end of the connecting pin (300), the lock pin (420) is located at the other end of the connecting pin (300), and the release mechanism (500) drives the connecting pin (300) to move along the axial direction of the first position limiting groove (211), and drives the lock pin (420) to disengage from the first position limiting groove (211), thereby switching the handle (200) from a first state to a second state. A robot (10) further comprising a damping stop assembly (600), the damping stop assembly (600) being mounted between the assembly member (210) and the connecting pin (300) and configured to apply a damping force to the reversal of the assembly member (210).

2. In the first state, the orthographic projection of the first opening of the first position limiting groove (211) toward the second position limiting groove (411) onto the projection plane is located within the orthographic projection of the second opening of the second position limiting groove (411) toward the first position limiting groove (211) onto the projection plane. The robot (10) according to claim 1, characterized in that the projection plane is a horizontal plane perpendicular to the axial direction of the first position limiting groove (211).

3. In the second state, the orthographic projection of the first opening of the first position limiting groove (211) toward the second position limiting groove (411) onto the projection plane and the orthographic projection of the second opening of the second position limiting groove (411) toward the first position limiting groove (211) onto the projection plane are partially misaligned. The robot (10) according to claim 1, characterized in that the projection plane is a horizontal plane perpendicular to the axial direction of the first position limiting groove (211).

4. The robot (10) according to claim 1, characterized in that the cross section of the first position limiting groove (211) perpendicular to the axial direction of the first position limiting groove (211) and the cross section of the second position limiting groove (411) perpendicular to the axial direction of the second position limiting groove (411) are both polygonal structures.

5. The robot (10) according to claim 1, wherein the locking mechanism (400) further includes a lock drive assembly (430), and when the handle (200) is reversed to a predetermined angle relative to the body (100), the lock drive assembly (430) drives the lock pin (420) to move in the first position limit groove (211) and the second position limit groove (411) along the axial direction of the second position limit groove (411).

6. The robot (10) according to claim 5, wherein the lock drive assembly (430) includes a lock return elastic member (431) and a lock end cap (432), the lock end cap (432) being provided at one end of the lock member (410) away from the assembly member (210), and the lock return elastic member (431) being located between the lock pin (420) and the lock end cap (432).

7. The robot (10) according to claim 6, characterized in that a first tapered surface (2111) is provided in both the first position limiting groove (211) and the second position limiting groove (411), a second tapered surface (421) is provided on the outer circumference of the lock pin (420), and the second tapered surface (421) is aligned with the first tapered surface (2111) to facilitate movement of the lock pin (420) into the first position limiting groove (211) and the second position limiting groove (411).

8. The robot (10) according to claim 7, characterized in that the size of the second tapered surface (421) gradually decreases from one end close to the lock-return elastic member (431) to the other end away from the lock-return elastic member (431).

9. The robot (10) according to claim 1, characterized in that the assembly member (210) is provided with a sliding hole (212), the sliding hole (212) is formed at the bottom of the first position limiting groove (211), the connecting pin (300) includes a sliding portion (310) that is slidably connected to the sliding hole (212), and the sliding portion (310) is connected to the lock pin (420).

10. The robot (10) according to claim 9, wherein the connecting pin (300) further includes a contact portion (320) provided at one end adjacent to the lock pin (420), the contact portion (320) being connected to the lock pin (420) and capable of contacting the bottom of the first position limiting groove (211).

11. The robot (10) according to claim 9, wherein the connecting pin (300) further includes a connecting portion (330) connected to the unlocking mechanism (500), and the robot (10) further includes an unlocking elastic member (700), the ends of which are located opposite the unlocking elastic member (700) abut against the sliding portion (310) and the damping intermediate stop assembly (600), respectively.

12. The robot (10) according to claim 1, characterized in that the assembly member (210) is aligned in conjunction with the connecting pin (300), the damping intermediate stop assembly (600) includes a damper (610), and the damper (610) is fitted onto the connecting pin (300) so as to provide resistance to the rotation of the connecting pin (300) and to provide resistance to the reversal of the assembly member (210).

13. The robot (10) according to 12, wherein the damping intermediate stop assembly (600) further includes a damper mounting plate (620), the damper mounting plate (620) includes a first mounting portion and a second mounting portion, the first mounting portion is connected to the damper (610), the first mounting portion is fitted onto the connecting pin (300), and the second mounting portion is fixedly connected to the locking member (410).

14. The robot (10) according to claim 1, wherein the locking member (410) is hinged to the assembly member (210) via a hinge assembly, and the hinge assembly includes an annular locking block provided on the assembly member (210) and an annular locking groove provided on the locking member (410) that engages with the annular locking block.

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