A robot

Abstract

The present application discloses a robot, and relates to the field of robot technology. The robot includes a body, a servo, a neck, a rotating assembly, and a connecting line. The servo is arranged on the body; the neck is arranged on the top of the body; the neck is connected to the rotating assembly, and the servo is used to drive the rotating assembly to rotate, so as to drive the neck to rotate, and a threading hole is arranged on the side of the rotating assembly close to the neck, and an opening is arranged on the side of the rotating assembly close to the servo; one end of the connecting line is connected to the head motherboard of the robot, and the connecting line is successively passed through the threading hole and the opening, and the other end is connected to the circuit board in the body. The robot of the present application, by providing a threading hole and an opening on the rotating assembly connected to the neck, allows the connector connecting the head motherboard and the circuit board in the body to be routed from the connecting hole. In this way, when the neck moves, the connecting line is prevented from being pulled, thereby extending the service life of the connecting line.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot. Background Art

[0002] At present, more and more robots are used for stage performances. Due to different action designs, each joint of the robot will move frequently. For example, the neck of the robot is connected to the body through a steering wheel. When the connecting wire of the robot's neck is connected, it is generally connected to the head motherboard and the body motherboard through a connecting wire outside the steering wheel. In this way, when the neck moves frequently, the connecting wire is easily pulled, which causes damage to the connecting wire and shortens its service life. Summary of the invention

[0003] In view of this, the purpose of the present application is to overcome the deficiencies in the prior art. The present application provides a robot to solve the technical problem in the prior art that the neck connection line of the robot is easily damaged.

[0004] This application provides:

[0005] A robot, comprising:

[0006] body;

[0007] A steering gear, the steering gear being arranged on the body;

[0008] A neck, the neck being disposed on the top of the body;

[0009] A rotating assembly, the neck is connected to the rotating assembly, the steering gear is used to drive the rotating assembly to rotate, so as to drive the neck to rotate, and a threading hole is provided on a side of the rotating assembly close to the neck, and an opening is provided on a side of the rotating assembly close to the steering gear;

[0010] A connecting wire, one end of which is connected to the head mainboard of the robot, the connecting wire is sequentially passed through the threading hole and the opening, and the other end is connected to the circuit board in the body.

[0011] In addition, the robot according to the present application may also have the following additional technical features:

[0012] In some embodiments of the present application, the rotating assembly includes a fixed disk and an adapter, the fixed disk is connected to the neck, the fixed disk has a cavity, the side of the fixed disk close to the servo gear is provided with the opening connected to the cavity, the side of the fixed disk close to the neck is provided with a limiting hole connected to the cavity, the circumferential outer wall of one end of the adapter abuts against a portion of the inner wall of the limiting hole, the gap between another portion of the inner wall of the limiting hole and the outer wall of the limiting hole on the adapter forms the threading hole, the other end of the adapter is connected to the output end of the servo gear, the output end of the servo gear drives the adapter to rotate, and the adapter drives the fixed disk to rotate.

[0013] In some embodiments of the present application, a cross-sectional area of ​​one end of the adapter located at the limiting hole is larger than a cross-sectional area of ​​one end of the adapter connected to the steering gear.

[0014] In some embodiments of the present application, a toothed structure is provided along the circumference of the output end of the servo, and a gear groove is provided on the adapter on a side facing the servo, and the gear groove is meshed with the toothed structure to connect the adapter to the output end of the servo.

[0015] In some embodiments of the present application, the adapter is provided with a stepped hole penetrating the adapter along its axial direction, and the output end of the servo is provided with a threaded hole along its axial direction;

[0016] The robot further comprises a screw, the head of the screw abuts against the step surface of the stepped hole, and the shank of the screw passes through the stepped hole and is connected with the hole wall of the threaded hole.

[0017] In some embodiments of the present application, the rotating assembly further includes a bearing structure, the bearing structure is sleeved on the fixed disk, and the inner ring of the bearing structure is connected to the fixed disk, and the bearing structure is fixedly connected to the body.

[0018] In some embodiments of the present application, the rotating assembly further comprises a bearing seat, the bearing seat is provided with a step hole, at least a portion of the outer ring of the bearing structure is fixed in the step hole, and an end surface of the outer ring of the bearing structure away from the steering gear abuts against a step surface of the step hole;

[0019] The bearing seat is fixedly connected to the body, and the bearing structure is located between the body and the bearing seat.

[0020] In some embodiments of the present application, an annular retaining ring is provided on the fixed disk along its circumference, and an end surface of the inner ring of the bearing structure close to the steering gear abuts against the annular retaining ring.

[0021] In some embodiments of the present application, a cavity wall of the cavity located at the opening forms an arc-shaped surface toward the annular retaining ring.

[0022] In some embodiments of the present application, the limiting hole is a strip-shaped hole, and the adapter is located at the end of the strip-shaped hole and has an arc-shaped structure on a side facing the connecting line.

[0023] Compared with the prior art, the beneficial effect of the present application is as follows: the present application proposes a robot, which provides a threading hole and an opening on the rotating assembly connected to the neck, so that the connecting piece connecting the head main board and the circuit board in the body can be routed through the connecting hole. In this way, when the neck moves, the connecting wire is prevented from being pulled, thereby extending the service life of the connecting wire and improving the market competitiveness of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A three-dimensional schematic diagram of an implementation of a robot in some embodiments of the present application is shown;

[0026] Figure 2 A schematic diagram showing a perspective of a robot in some embodiments of the present application is shown;

[0027] Figure 3 Shows Figure 2 AA-direction cross-sectional structural diagram;

[0028] Figure 4 Shows Figure 1 The schematic diagram of the exploded structure of the robot shown in FIG. 1 with the head mainboard removed;

[0029] Figure 5 A schematic diagram of the assembly of the rotating assembly and the connecting line of the robot in some embodiments of the present application is shown;

[0030] Figure 6 Shows Figure 5 Schematic diagram of the cross-sectional structure in the middle BB direction;

[0031] Figure 7 Shows Figure 5 A schematic diagram of the exploded structure of the robot described in;

[0032] Figure 8 A three-dimensional schematic diagram of a rotating assembly of a robot in some embodiments of the present application is shown;

[0033] Fig. 9 A schematic diagram showing a perspective of a rotating assembly of a robot in some embodiments of the present application is shown;

[0034] Fig.10 Shows Fig. 9 Schematic diagram of the cross-sectional structure in CC direction;

[0035] Fig.11 A schematic diagram of the three-dimensional structure of the adapter of the robot in some embodiments of the present application is shown;

[0036] Fig.12 A schematic diagram of the three-dimensional structure of a servo of a robot in some embodiments of the present application is shown.

[0037] Description of main component symbols:

[0038] 100-robot; 10-body; 20-servo; 21-tooth structure; 30-neck; 40-rotating assembly; 41-fixed plate; 411-limiting hole; 412-threading hole; 413-opening; 414-cavity; 4141-arc surface; 415-annular retaining ring; 42-adapter; 421-gear groove; 422-step hole; 423-arc structure; 424-limiting plate; 425-step structure; 426-inclined plate; 427-rotating shaft; 43-bearing structure; 44-bearing seat; 50-connecting line; 60-head mainboard. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0044] like Figures 1 to 4 As shown, the embodiment of the present application provides a robot 100, which can be used for stage performances and can also be used in other fields. The robot 100 includes: a body 10, a steering gear 20, a neck 30, a rotating assembly 40 and a connecting line 50.

[0045] The steering engine 20 is disposed in the body 10. For example, the steering engine 20 is installed in the body 10, and the output end of the steering engine 20 is exposed from the body 10. Specifically, the output end of the steering engine 20 is located at the top of the body 10.

[0046] The neck 30 is disposed on the top of the body 10, and the neck 30 is connected to the rotating assembly 40. The steering gear 20 is used to drive the rotating assembly 40 to rotate, so as to drive the neck 30 to rotate, and a threading hole 412 is provided on a side of the rotating assembly 40 close to the neck 30, and an opening 413 is provided on a side of the rotating assembly 40 close to the steering gear 20.

[0047] One end of the connecting wire 50 is connected to the head main board 60 of the robot 100, and the connecting wire 50 is sequentially passed through the threading hole 412 and the opening 413, and the other end of the connecting wire 50 is connected to the circuit board in the body 10, thereby realizing the electrical connection between the head main board 60 and the circuit board in the body 10, and realizing the communication connection between the head main board 60 and the circuit board in the body 10.

[0048] The robot 100 proposed in the embodiment of the present application has a threading hole 412 and an opening 413 formed on the rotating assembly 40 connected to the neck 30, so that the connecting piece connecting the head main board 60 and the circuit board in the body 10 is routed through the connecting hole. In this way, the servo 20 drives the rotating assembly 40 to rotate and then drives the neck 30 to rotate, while the connecting wire 50 will not rotate due to the rotation of the neck 30. Therefore, when the neck 30 moves, the connecting wire 50 is prevented from being pulled, thereby extending the service life of the connecting wire 50 and improving the market competitiveness of the robot 100.

[0049] like Figures 5 to 8 As shown, in one embodiment of the present application, optionally, the rotating assembly 40 includes a fixed disk 41 and an adapter 42 .

[0050] Specifically, the fixing plate 41 is connected to the neck 30, such as by bolts, at least two threaded holes are provided on the top of the fixing plate 41, and four threaded holes are provided in this embodiment, and the bolts are passed through the connecting plate of the neck 30 and cooperate with the threaded holes to fix the neck 30 on the fixing plate 41. The neck 30 can also be welded to the top of the fixing plate 41 without blocking the threading hole 412.

[0051] A cavity 414 is provided along the axis direction of the fixing plate 41, and the opening 413 communicating with the cavity 414 is provided on the side of the fixing plate 41 close to the steering gear 20, and a limiting hole 411 communicating with the cavity 414 is provided on the side of the fixing plate 41 close to the neck 30. That is, the limiting hole 411 is provided at the top of the fixing plate 41, and the opening 413 is provided at the bottom of the fixing plate 41.

[0052] The circumferential outer wall of one end of the adapter 42 abuts against a part of the inner wall of the limiting hole 411, and the gap between the other part of the inner wall of the limiting hole 411 and the outer wall of the adapter 42 located at the limiting hole 411 forms the threading hole 412. That is, one end of the adapter 42 does not completely occupy the limiting hole 411, and at the same time, when the adapter 42 rotates, the adapter 42 can drive the fixed disk 41 to rotate, that is, the end of the adapter 42 located at the limiting hole 411 is non-circular, and the empty space of the limiting hole 411 is the threading hole 412. The other end of the adapter 42 is connected to the output end of the servo 20, and the output end of the servo 20 drives the adapter 42 to rotate, and the adapter 42 drives the fixed disk 41 to rotate.

[0053] In this embodiment, the arrangement of the fixing plate 41 and the adapter 42 is simple in structure and easy to manufacture. At the same time, such an arrangement allows the connecting wire 50 to pass through the threading hole 412 and enter the cavity 414, and pass through the opening 413 to connect with the circuit board in the body 10, so that when the neck 30 moves, the connecting wire 50 will not be pulled, thereby extending the service life of the connecting wire 50.

[0054] like Fig. 9 and Fig.10 As shown, in the implementation of the above-mentioned fixed plate 41 of the present application, optionally, the cross-sectional area of ​​one end of the adapter 42 located at the limiting hole 411 is larger than the cross-sectional area of ​​one end of the adapter 42 connected to the steering gear 20 .

[0055] In this embodiment, the contact area between the adapter 42 and the limiting hole 411 is increased by making the end of the adapter 42 connected to the limiting hole 411 larger than the end of the adapter 42 connected to the steering gear 20. The end of the adapter 42 connected to the limiting hole 411 forms an interference effect with the limiting hole 411, so that when the adapter 42 rotates, the end located at the limiting hole 411 can more easily drive the fixed plate 41 to rotate.

[0056] like Fig.11As shown, optionally, the adapter 42 is composed of a rotating shaft 427 and a limiting plate 424, one end of the rotating shaft 427 is connected to the output end of the servo 20, and the other end is connected to the limiting plate 424. Among them, the connecting end of the rotating shaft 427 and the limiting plate 424 is provided with an inclined plate 426, one end of the inclined plate 426 is connected to the rotating shaft 427, and the other end is connected to the limiting plate 424. The connection strength between the rotating shaft 427 and the limiting plate 424 is increased. In addition, the rotating shaft 427, the limiting plate 424 and the inclined plate 426 are integrally formed. A step structure 425 is formed along the circumference of the limiting plate 424, a part of the step structure 425 is located in the limiting hole 411, and the other part abuts against the lower edge of the limiting hole 411, so that the cooperation between the adapter 42 and the limiting hole 411 can be more compact and stable, and the adapter 42 is prevented from moving up along the axial direction of the limiting hole 411.

[0057] like Figure 6 , Fig.10 and Fig.12 As shown, in one embodiment of the present application, optionally, a tooth structure 21 is provided along the circumference of the output end of the steering gear 20, and a gear groove 421 is provided on the adapter 42 on the side facing the steering gear 20, and the gear groove 421 is engaged with the tooth structure 21, so that the adapter 42 is connected to the output end of the steering gear 20. In this way, when the output end of the steering gear 20 rotates, the rotation of the adapter 42 is realized by the cooperation of the tooth structure 21 and the gear groove 421.

[0058] In this embodiment, the gear groove 421 is connected to the toothed structure 21 of the output end of the servo 20. On the one hand, it is convenient to install and disassemble the output end of the servo 20 and the adapter 42. On the other hand, when the output end of the servo 20 rotates, it is convenient to drive the adapter 42 with the gear groove 421 to rotate, and then drive the fixed plate 41 to rotate, so as to realize the movement of the neck 30.

[0059] like Figure 6 and Fig.10 As shown, in some embodiments of the present application, the adapter 42 is provided with a stepped hole 422 penetrating the adapter 42 along its axial direction, and the output end of the servo 20 is provided with a threaded hole along its axial direction. The threaded hole is arranged opposite to the stepped hole 422, and the central axes of the threaded hole and the stepped hole 422 are arranged to coincide with each other. In addition, the large hole of the stepped hole 422 is located on the side close to the top of the fixing plate 41, and the small hole of the stepped hole 422 is located on the side close to the servo 20.

[0060] In this embodiment, the robot 100 further includes a screw (not shown in the figure), the head of the screw abuts against the step surface of the stepped hole 422, and the shaft of the screw passes through the stepped hole 422 and is connected to the hole wall of the threaded hole.

[0061] Specifically, when the adapter 42 is assembled, the nut of the screw can abut against the stepped surface of the stepped hole 422, and at the same time, the nut is in the large hole of the stepped hole 422, and the rod of the screw passes through the stepped hole 422 and is connected to the inner wall of the threaded hole. Optionally, the rod of the screw is formed with an external thread that matches the internal thread of the threaded hole, so that the output end of the servo 20 is connected to the adapter 42, and then the fixing plate 41 is sleeved on the adapter 42, that is, the top of the adapter 42 is located in the limiting hole 411.

[0062] In one embodiment of the present application, optionally, the rotating assembly 40 further includes a bearing structure 43 , wherein the bearing structure 43 is sleeved on the fixed disk 41 , and an inner ring of the bearing structure 43 is connected to the fixed disk 41 , and the bearing structure 43 is fixedly connected to the body 10 .

[0063] In this embodiment, the bearing structure 43 is sleeved on the fixed disk 41, so that the inner ring of the bearing structure 43 is connected with the outer wall of the fixed disk 41 by interference fit, so as to realize rotation together with the fixed disk 41, and the bearing structure 43 is fixed on the body 10 of the robot 100. In this way, when the servo 20 drives the fixed disk 41 to rotate, since the bearing structure 43 is fixed on the body 10, the fixed disk 41 is restricted by the bearing structure 43 to rotate in the axial direction of the bearing structure 43 when rotating, thereby preventing the radial movement of the fixed disk 41, preventing the neck 30 from scratching the connecting line 50 when moving, and also preventing the screws on the fixed disk 41 from loosening due to the frequent movement of the neck 30.

[0064] like Figure 3 , Figure 6 and Figure 7 As shown, in the above embodiment of the present application, the rotating assembly 40 further includes a bearing seat 44, the bearing seat 44 is provided with a step hole, at least a portion of the outer ring of the bearing structure 43 is fixed in the step hole, and an end surface of the outer ring of the bearing structure 43 away from the steering gear 20 abuts against the step surface of the step hole. The bearing seat 44 is fixedly connected to the body 10, and the bearing structure 43 is located between the body 10 and the bearing seat 44.

[0065] In this embodiment, when the bearing structure 43 is installed, a part of the outer ring of the bearing structure 43 is located in the stepped hole 422. Specifically, a part of the outer ring of the bearing structure 43 is located in the stepped hole 422, and the other part can be located on the body 10. The end face of the bearing structure 43 away from the steering gear 20 is abutted against the step surface of the stepped hole, that is, the side of the outer ring of the bearing structure 43 away from the steering gear 20 is abutted against the step surface of the stepped hole. At the same time, the circumference of the outer ring of the bearing structure 43 is abutted against the hole wall of the stepped hole. In this way, after the bearing structure 43 is fixedly connected to the body 10 of the robot 100, the bearing seat 44 squeezes the bearing structure 43 between the step surface of the stepped hole and the body 10, thereby fixing the bearing structure 43, avoiding the loosening of the bearing structure 43 when the fixed plate 41 rotates, and improving the reliability of the product.

[0066] Furthermore, the bearing seat 44 can be fixed to the body 10 of the robot 100 by bolt connection, such as opening a plurality of through holes for bolts to pass through on the bearing seat 44, and setting a plurality of threaded holes corresponding to the plurality of through holes on the body 10. During assembly, one end of the bolt passes through the through hole and is screwed into the threaded hole, thereby achieving bolt connection between the bearing seat 44 and the body 10. The bolt connection is convenient for disassembly and assembly. It is understandable that the bearing seat 44 and the body 10 can also be fixed by welding.

[0067] In addition, it should be noted that the circumferential abutment of the outer ring of the bearing structure 43 against the wall of the step hole can prevent the inner ring of the bearing structure 43 from shifting radially when rotating, thereby limiting the radial movement of the fixed plate 41, thereby avoiding the neck 30 from moving too many times and scratching the connecting line 50.

[0068] In some embodiments of the present application, an annular retaining ring 415 is disposed on the fixing plate 41 along its circumference, and an end surface of the inner ring of the bearing structure 43 close to the steering gear 20 abuts against the annular retaining ring 415 .

[0069] In this embodiment, the annular retaining ring 415 is located on the side of the steering disc close to the body 10. Specifically, the annular retaining ring 415 can be formed by bending and extending along the circumference of the fixed disc 41 on this side in a direction away from the fixed disc 41. The annular retaining ring 415 is mainly used for an end surface of the inner ring of the bearing structure 43 close to the steering gear 20 to contact the annular retaining ring 415. In this way, when the bearing structure 43 rotates with the fixed disc 41, the bearing structure 43 can be prevented from moving along its axial direction, thereby improving the reliability of the robot 100.

[0070] like Fig.10As shown, in the above embodiment, optionally, the fixed disk 41 and the annular retaining ring 415 are integrally formed. The integral formation of the two, on the one hand, increases the connection strength between the two and improves the reliability of the product. On the other hand, the integral formation of the two facilitates production and manufacturing, improves production efficiency, reduces production costs, and is beneficial to the market competitiveness of the product.

[0071] In one embodiment of the present application, optionally, the cavity wall of the cavity 414 at the opening 413 forms an arc surface 4141 in the direction of the annular retaining ring 415. In this way, after the connecting wire 50 passes through the opening 413, when the connecting wire 50 itself contacts the cavity wall of the cavity 414 at the opening 413, the cavity wall is not easy to scratch the connecting wire 50, thereby extending the service life of the connecting wire 50 and improving the market competitiveness of the product.

[0072] like Figures 8 to 10 As shown, in the implementation of the upper limit hole 411 on the fixed plate 41 of the present application, the limit hole 411 is a strip hole, and the adapter 42 is located at the end of the strip hole and is an arc-shaped structure 423 on one side facing the connecting line 50.

[0073] In this embodiment, the strip hole can be a rectangular hole, and the adapter 42 is a rotating shaft 427, which is located at one end of the strip hole and is in a rectangular block structure, and the side of the rectangular block facing the connecting line 50 is an arc structure 423. In this way, when the fixed disk 41 rotates, the rectangular block of the arc structure 423 will not scratch the connecting line 50, thereby extending the service life of the connecting line 50 and improving the market competitiveness of the product. Of course, the limiting hole 411 can also be other shapes, such as an elliptical structure, etc., which will not be listed here one by one.

[0074] In summary, the robot 100 provided in the embodiment of the present application has a threading hole 412 and an opening 413 formed on the rotating assembly 40 connected to the neck 30, so that the connector connecting the head main board 60 and the circuit board in the body 10 is routed through the connection hole. In this way, when the neck 30 moves, the connection line 50 is prevented from being pulled, thereby extending the service life of the connection line 50 and improving the market competitiveness of the robot 100.

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0076] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A robot, characterized in that: include: body; A steering gear, the steering gear being arranged on the body; A neck, the neck being disposed on the top of the body; The cam is an assembly of a plurality of independently controlled wheels, the independently controlled wheels having a plurality of independently controlled wheels, the independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels having a plurality of independently controlled wheels A connecting wire, one end of which is connected to the head mainboard of the robot, the connecting wire is sequentially passed through the threading hole and the opening, and the other end is connected to the circuit board in the body.

2. The robot according to claim 1, characterized in that: The cross-sectional area of ​​one end of the adapter located at the limiting hole is larger than the cross-sectional area of ​​one end of the adapter connected to the steering gear.

3. The robot according to claim 1, characterized in that: A toothed structure is arranged along the circumference of the output end of the steering gear, and a gear groove is opened on the adapter on a side facing the steering gear, and the gear groove is meshed with the toothed structure to connect the adapter to the output end of the steering gear.

4. The robot according to claim 3, characterized in that: The adapter is provided with a stepped hole penetrating the adapter along its axial direction, and the output end of the servo engine is provided with a threaded hole along its axial direction; The robot further comprises a screw, the head of the screw abuts against the step surface of the stepped hole, and the shank of the screw passes through the stepped hole and is connected with the hole wall of the threaded hole.

5. The robot according to any one of claims 1 to 4, characterized in that: The rotating assembly further comprises a bearing structure, wherein the bearing structure is sleeved on the fixed disk, and an inner ring of the bearing structure is connected to the fixed disk, and the bearing structure is fixedly connected to the body.

6. The robot according to claim 5, characterized in that: The rotating assembly further comprises a bearing seat, the bearing seat is provided with a step hole, at least a portion of the outer ring of the bearing structure is fixed in the step hole, and an end surface of the outer ring of the bearing structure away from the steering gear abuts against a step surface of the step hole; The bearing seat is fixedly connected to the body, and the bearing structure is located between the body and the bearing seat.

7. The robot according to claim 6, characterized in that: An annular retaining ring is arranged on the fixed disk along its circumference, and an end surface of the inner ring of the bearing structure close to the steering gear abuts against the annular retaining ring.

8. The robot according to claim 7, characterized in that: The cavity wall of the cavity located at the opening forms an arc surface toward the annular retaining ring.

9. The robot according to any one of claims 1 to 4, characterized in that: The limiting hole is a strip-shaped hole, and the adapter is located at the end of the strip-shaped hole and is in an arc-shaped structure on one side facing the connecting line.

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