A robot

Abstract

The present application relates to a kind of robots, including head (10), torso (20), the arm structure of mutual symmetry in both sides of torso (20), the arm structure includes right arm (40) and left arm (30) and the leg structure of mutual symmetry in the lower end of torso (20), the leg structure includes right leg 60) and left leg (50), head (10), right arm (40), left arm (30), right leg (60) and left leg (50) part are equipped with multiple rudders, can be moved under the drive of rudder, and the whole robot degree of freedom is very high, can walk on two feet, can climb up in front, can lie up in back, can be voice controlled.This kind of robot with real electric toy maximally restores the image of Optimus Prime in G1 cartoon edition of "Transformers";Head (10) is equipped with the mask (116) that can move up and down, and according to the speed of speaking can automatically adjust the speed of mask movement, to increase the overall interest of robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot. BACKGROUND

[0002] A robot is a machine that automatically performs work. It can accept human command, run pre-programmed programs, or act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work, such as production, construction, or dangerous work. Robots in the prior art are basically divided into two categories: industrial and educational. Few robots are used for entertainment, such as toy game robots. The toy game robots in the prior art are usually independent and stand on a table. They cannot move without the power switch being turned on, and lack interest. Although the prior art has robots with bases, the robot and the statue are integrated and cannot be disassembled, and are only a decoration.

[0003] For example, the Chinese utility model patent with publication number CN214019175U discloses a robot toy, which includes a rotatable head, a trunk, two movable arm parts, and two movable foot parts. The movable arm parts are connected to the trunk through a first connecting structure to realize rotation of the movable arm parts. The movable foot parts are connected to the trunk through a second connecting structure to realize rotation of the movable foot parts. The toy robot is more humanized when moving, can prompt the moving joints to be clamped in place, and can increase the interest of the toy robot. However, the design of each part of the robot is not fine enough, and the overall design is not clever enough. In addition, the wires are exposed and not aesthetically pleasing. Furthermore, the movements of the robot toy are not fine enough, the robot cannot walk on two feet, cannot stand up after falling down, and has few joints and low degrees of freedom.

[0004] For example, the Chinese utility model patent with publication number CN211513396U discloses a toy robot, which comprises a moving mechanism, a trunk shell, a head shell and two arm shells, the moving mechanism comprises a chassis, a plurality of wheels mounted on the chassis and a walking motor capable of driving the wheels to rotate, and the toy robot further comprises a trunk rotating mechanism, the trunk shell is rotatably installed on the chassis and has an up-down rotating axis, the trunk rotating mechanism comprises a trunk rotating motor, a trunk rotating drive gear and an arc gear rack, the arc gear rack is fixedly installed on the chassis, the trunk rotating motor is fixedly installed in the trunk shell, the trunk rotating drive gear is in transmission connection with a power output shaft of the trunk rotating motor, and the trunk rotating drive gear is in meshing connection with the arc gear rack. The trunk rotating mechanism has a simple and compact structure, so that the toy robot can conveniently complete the action of twisting the trunk shell, and the simple and compact structure is favorable for reducing manufacturing cost. However, the robot parts are not designed finely enough, the robot can only complete single actions, and has few joints and low degrees of freedom. SUMMARY

[0005] In order to solve the above technical defects existing in the prior art, the purpose of the present application is to provide a robot, which solves the problem of single function of the robot in the prior art.

[0006] In order to achieve the above design purpose, the present application adopts the following solutions:

[0007] The robot of the present application comprises a head, a trunk, arm structures located on both sides of the trunk and symmetrical to each other, the arm structures comprising right and left arms, and leg structures located at the lower end of the trunk and symmetrical to each other, the leg structures comprising right and left legs, the head, the trunk, the right and left arms, and the right and left legs are all provided with a plurality of servos, which can all move under the drive of the servos, and the whole robot has high degrees of freedom, can walk on two feet, can stand up by crawling forward, can lie down by crawling backward, and can be controlled by voice. This robot maximally restores the image of Optimus Prime in the G1 animation version of the Transformers by a real electric toy; a movable mask is arranged on the head, the movable mask can move up and down, and can automatically adjust the speed of movement of the mask according to the speed of speaking, thereby increasing the overall interest of the robot. In the robot of the present application, each component is designed by a clever structure, which ensures that the movement is completed while the internal wiring is ensured, and the wires are not exposed, and the overall structure is compact.

[0008] Preferably, the head comprises a head upper shell, a PCBA board, a forehead, a head right shell, a neck back shell, a left ear cover, a right ear cover, a right ear antenna, a sunshade, a left ear antenna, a head left shell, a neck front shell, a rotary electromagnet, a lever, a side fixing piece, an eye and a face, the PCBA board is provided with an LED lamp corresponding to the eye; the exposed screws at the right ear antenna and the left ear antenna are covered by the right ear cover and the left ear cover; the neck back shell is provided with a cylinder with a spline hole, and the neck back shell is matched with the output gear of the steering engine through the spline hole on the cylinder, so that the whole head can rotate under the driving of the steering engine.

[0009] Preferably in any of the above solutions, the mask is clamped between the limiting grooves of the head left shell and the head right shell, and a gap is reserved on the limiting grooves for the up-and-down movement of the mask; a groove is opened on the mask, which is matched with the front part of the lever; an axle hole is opened on the neck front shell, which is matched with the shaft sleeve on the lever to form a rotating mechanism; a limiting groove and a screw column are arranged on the neck back shell, and a miniature rotary electromagnet with a rocker is placed on the limiting groove, the rocker of the miniature rotary electromagnet drives the rear end of the lever after being electrified, and at the same time, the force is transmitted to the front end of the lever, and the front end of the lever drives the mask on the face to swing up and down.

[0010] Preferably in any of the above solutions, the trunk part comprises a trunk skeleton assembly, a front chest assembly, a back assembly, a waist assembly, an upper cover assembly and a crotch assembly, the trunk skeleton assembly clamps two trunk steering engines and two L-shaped steering engines and a PCB fixing piece in the middle through a rear sheet metal piece and a front sheet metal piece, and is fastened through screws, a charging PCBA board is fixed on the PCB fixing piece through screws, and a crotch support is fixed under the L-shaped steering engine through screws, the inside of the front sheet metal piece is provided with a screw column to fix a voice control PCBA board; the outside of the rear sheet metal piece is fixed with a main PCBA board.

[0011] Preferably in any of the above solutions, the waist assembly is fixed on the trunk skeleton and is composed of a decorative shell, a waistband, a waist right shell and a waist left shell; the crotch assembly is placed on the outside of the L-shaped steering engine and is composed of a crotch back shell, a torsional spring, an opening and closing shaft, a crotch lower shell, a crotch right side opening and closing piece, a crotch front shell decoration piece, a crotch front shell and a crotch left opening and closing piece and is connected through screws and shafts.

[0012] In any of the above solutions, preferably, the front chest assembly is fixed on the torso framework, and is provided from inside to outside with a battery, a chest lamp PCBA board, a chest lamp cover, a window shaft, a chest front shell, a first heart-shaped module, a second heart-shaped module, a first front chest decoration, a second front chest decoration, a third front chest decoration, a fourth front chest decoration, a right window glass, a left window glass, a right window, and a left window, wherein the chest lamp PCBA board is provided with an LED lamp, which is located at the center of the round hole of the chest front shell; the back assembly is fixed on the back side of the torso framework assembly, and is sequentially composed of a back shell, a loudspeaker, a switch button, a backpack shell, and a sticker film from inside to outside; and the upper cover assembly is fixed on the upper side of the chest front shell and the back shell, and is composed of a rudder machine fixing piece, a rudder machine, a microphone, an upper cover, and a car lamp.

[0013] In any of the above solutions, preferably, the arm structure includes a shoulder, a shoulder U-shaped piece, a large arm, a small arm, and a hand, which are internally provided with a rudder machine and are detachably assembled together in a buckle manner and by screws, the large arm includes a large arm back shell, a large arm front shell, a large arm rudder machine, and a small arm rudder machine connecting piece.

[0014] In any of the above solutions, preferably, the shoulder includes a shoulder shell, a chimney, a shoulder rudder machine, a shoulder rudder disc, a second shoulder ring shell, and a first shoulder ring shell, the shoulder U-shaped piece includes a first shoulder U-shaped piece, a second shoulder U-shaped piece, a third shoulder U-shaped piece, and a shoulder U-shaped piece buckle, the small arm includes a small arm front shell, a small arm back shell, and a small arm rudder machine, and the hand includes a hand connecting piece, a hand B piece, a hand A piece, a finger A piece, a finger B piece, a finger C piece, and a shaft.

[0015] The small arm rudder machine is connected with the large arm rudder machine through the small arm rudder machine connecting piece, the wire terminal comes out of the small arm rudder machine hole, passes through the two holes of the small arm rudder machine connecting piece, and is inserted into the terminal of the large arm rudder machine; the large arm rudder machine is connected with the shoulder rudder machine through the shoulder rudder disc, the shoulder rudder disc has a runway-shaped wire hole and a key hole in the center, the key hole is connected with the output tooth of the large arm rudder machine, the side of the shoulder rudder disc has four screw holes connected with the shoulder rudder machine, the wire segment comes out of the hole above the large arm rudder machine, passes through the runway-shaped wire hole of the shoulder rudder disc, and is inserted into the terminal in the slot below the large arm rudder machine; the shoulder rudder machine is connected with the torso rudder machine through the shoulder U-shaped piece, the wire terminal of the shoulder rudder machine comes out of the hole, passes through the two holes of the second shoulder U-shaped piece, then passes through the hole of the first shoulder U-shaped piece to the other side of the first shoulder U-shaped piece, then comes out of the wire hole of the first shoulder U-shaped piece and finally is inserted into the corresponding terminal of the mainboard.

[0016] The large arm can be flexibly rotated under the drive of the large arm steering engine; the design of the steering disc, steering engine and connecting piece ensures the strength and high degree of freedom of the robot arm, and internal wiring can be conducted, so that the whole robot appearance is more generous and beautiful. In addition, each arm has four degrees of freedom, and under the drive of the trunk steering engine, shoulder steering engine, large arm steering engine and small arm steering engine, the arm can move flexibly.

[0017] The shoulder structure can be flexibly rotated under the drive of the shoulder steering engine; the above design of the shoulder U-shaped piece makes the maximum angle of the whole shoulder rotation reach 275 degrees, and ensures the strength and high degree of freedom of the robot arm, and internal wiring can be conducted, so that the whole robot appearance is more generous and beautiful.

[0018] In any of the above schemes, preferably, the leg structure is composed of a thigh root U-shaped piece, a thigh, a shank, an ankle and a foot, the thigh root U-shaped piece includes a first thigh root U-shaped piece, a second thigh root U-shaped piece, a third thigh root U-shaped piece, a fourth thigh root U-shaped piece, a fifth thigh root U-shaped piece and a sixth thigh root U-shaped piece; the thigh includes a thigh inner side shell, a thigh outer side shell, a first thigh connecting piece, a second thigh connecting piece and a third thigh connecting piece.

[0019] In any of the above schemes, preferably, the shank includes a shank upper steering engine, a sheet metal connecting piece, a shank lower steering engine, a shank upper turning plate, a shank front decorative piece, an oil tank, a shank outer side shell, a shank rear opening and closing piece, a shank inner side shell, a shank inner side clamping shell, a shank inner side opening and closing piece, a connecting shaft, a shank outer side opening and closing piece and a shaft and a torsional spring; the ankle includes an ankle inner side shell, an ankle outer side shell and an ankle clamping shell; the foot includes a first foot upper shell, a second foot upper shell, a third foot upper shell, a foot steering engine, a foot steering engine fixing piece, a foot steering engine second fixing piece and a foot bottom shell and a large foot plate, the large foot plate is fixed on the foot bottom shell through a stud, and the bottom of the large foot plate is provided with anti-skid lines; the lower end of the shank upper turning plate is provided with a rotating shaft mechanism and can be rotated around the shaft to present an opening and closing effect, which plays a role in swinging the shank upper turning plate forward when the foot part rotates forward, so that the rotation angle of the foot part is greatly increased and the rotation of the foot part is ensured not to be interfered.

[0020] The foot steering engine is connected with the shank lower steering engine through the ankle, one end of the internal wire terminal is inserted into the terminal of the foot steering engine, and the other end is extended through the lower wire slot of the foot steering engine fixing piece, passes through the through hole at the rear end of the foot steering engine fixing piece, passes through the lower through hole of the ankle inner side shell, passes upward through the two holes of the ankle outer side shell and is finally inserted into the terminal of the shank lower steering engine.

[0021] The shank upper steering engine is connected with the thigh steering engine through the first thigh connecting piece and the second thigh connecting piece, one end of the internal wire terminal is inserted into the terminal of the shank upper steering engine, the other end comes out from the steering engine hole, passes through the through hole of the second thigh connecting piece, extends through the slot of the second thigh connecting piece and is finally inserted into the terminal of the thigh steering engine.

[0022] The leg is connected with the L-shaped rudder of the trunk through the thigh root U-shaped piece. The inner wire terminal is inserted into the terminal of the thigh rudder at one end, and the other end comes out of the rudder hole, goes through the circular through hole of the fourth thigh root U-shaped piece, goes up along the slot, goes through the upper hole of the fourth thigh root U-shaped piece, goes along the clamping slot of the lower part of the third thigh root U-shaped piece, goes through the lower hole of the second thigh root U-shaped piece, and goes up to extend through the circular through hole of the second thigh root U-shaped piece into the inner part of the L-shaped rudder, and is inserted into the terminal of the L-shaped rudder. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Structure diagram of a preferred embodiment of the robot according to the present application.

[0024] Figure 2 Split diagram of the head of the robot according to the present application Figure 1 Back view of the preferred embodiment shown.

[0025] Figure 3 Split diagram of the trunk of the robot according to the present application Figure 1 Split diagram of the head of the preferred embodiment shown.

[0026] Figure 4 Split diagram of the trunk of the robot according to the present application Figure 1 Split diagram of the trunk of the preferred embodiment shown.

[0027] Figure 5 Split diagram of the trunk of the robot according to the present application Figure 4 Split diagram of the trunk of the preferred embodiment shown.

[0028] Figure 6 Split diagram of the trunk of the robot according to the present application Figure 1 Split diagram of the trunk of the preferred embodiment shown.

[0029] Figure 7 Split diagram of the trunk of the robot according to the present application Figure 6 Split diagram of the trunk of the preferred embodiment shown.

[0030] Figure 8 Split diagram of the trunk of the robot according to the present application Figure 7 Split diagram of the trunk of the preferred embodiment shown.

[0031] Figure 9 Split diagram of the trunk of the robot according to the present application Figure 1 Split diagram of the trunk of the preferred embodiment shown.

[0032] Figure 10 Split diagram of the trunk of the robot according to the present application Figure 9 Split diagram of the trunk of the preferred embodiment shown.

[0033] Figure 11 The overall structure of the robot according to the present application is shown in the preferred embodiment shown in Figure 10 The wiring diagram of the robot according to the present application is shown in the preferred embodiment shown in

[0034] Figure 12 The overall structure of the robot according to the present application is shown in the preferred embodiment shown in Figure 10 The wiring diagram of the robot according to the present application is shown in the preferred embodiment shown in DETAILED DESCRIPTION

[0035] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. Further details of the robot according to the present application are described below in connection with the accompanying drawings.

[0036] The overall structure of the robot according to the present application is shown in the preferred embodiment shown in Figure 1 , Figure 2 The overall structure of the robot according to the present application is shown in the preferred embodiment shown in

[0037] The robot according to the present application includes a head 10, a trunk 20, arm structures on both sides of the trunk which are symmetrical to each other, the arm structures including a right arm 40 and a left arm 30, and leg structures on the lower end of the trunk 20 which are symmetrical to each other, the leg structures including a right leg 60 and a left leg 50, the head 10, the trunk 20, the right arm 40, the left arm 30, the right leg 60 and the left leg 50 are each provided with a plurality of servos, and each can move under the drive of the servos, and the entire robot has a high degree of freedom, can walk on two feet, can stand up by crawling forward, can lie down by standing backward, and can be controlled by voice. This robot maximally restores the image of Optimus Prime in the G1 cartoon version of Transformers with a real electric toy; a movable mask is provided on the head, the movable mask can move up and down, and can automatically adjust the speed of movement of the mask according to the speed of speech, thereby increasing the overall interest of the robot. In the robot according to the present application, each component is designed with a clever structure to ensure that movement is completed while the internal wiring is completed, and the wires are not exposed, and the overall structure is compact.

[0038] Next, referring to Figure 3 The overall structure of the robot according to the present application is shown in the preferred embodiment shown in Figure 1 The overall structure of the robot according to the present application is shown in the preferred embodiment shown in

[0039] In the embodiment, the head 10 comprises a head upper shell 11, a PCBA board 12, a forehead 13, a head right shell 14, a neck rear shell 15, a left ear cover 16, a right ear cover 17, a right ear antenna 18, a sunshade 19, a left ear antenna 111, a head left shell 112, a neck front shell 113, eyes 114 and a face 115 which are detachably assembled together by buckles and screws. The PCBA board 12 is provided with LED lights which correspond to the eyes 114. The screws exposed outside the right ear antenna 18 and the left ear antenna 111 are covered by the right ear cover 17 and the left ear cover 16. The neck rear shell 15 is provided with a cylinder with a spline hole. The neck rear shell 15 is matched with the output teeth of a steering engine 223 through the spline hole on the cylinder, so that the whole head rotates under the driving of the steering engine 223.

[0040] The internal body assembly process of the head 10 is as follows. First, the neck rear shell 15 and the neck front shell 113 are fixed together by a screw. Then, a micro rotary electromagnet 118 with a rocker is placed in a limiting groove of the neck rear shell 15. The rocker arm is inserted into a groove at the rear end of a lever 119. An axle is passed through an axle sleeve of the lever and a support foot hole of the neck front shell 113 to form a lever fulcrum. Finally, a lateral fixing member 117 is fixedly connected with a screw column of the neck rear shell 15 by two screws.

[0041] In the embodiment, the mask 116 is clamped between a limiting groove of the head left shell 112 and the head right shell 14, and a gap is reserved in the limiting groove for the up and down movement of the mask. A groove is opened in the mask 116 and matched with the front part of the lever 119. An axle hole is opened in the neck front shell 113 and matched with an axle sleeve on the lever 119 to form a rotating mechanism. The neck rear shell 15 is provided with a limiting groove and a screw column. A micro rotary electromagnet 118 with a rocker is placed in the limiting groove. After being electrified, the rocker on the micro rotary electromagnet 118 pushes the rear end of the lever 119 and simultaneously transmits force to the front end of the lever 119. The front end of the lever 119 pushes the mask 116 on the face 115 to swing up and down.

[0042] Next, install the head shell 11, forehead 13, PCBA board 12, eyes 114, face 115, light shield 19, mask 116, (the inside of the mask 116 is provided with a groove, which is matched with the cylinder of the front end of the lever 119; the two sides of the mask are each provided with a rib, which is matched with the limiting groove of the right and left head shells, and the right and left head limiting grooves are provided with a gap for up and down movement, which ensures that the mask can move up and down), right head shell 14, left head shell 112 (the middle part of the right head shell 14 and the left head shell 112 is provided with a circular hole, wherein the circular hole of the left head shell is matched with the screw column on the side fixing piece 117, and the circular hole of the right head shell is matched with the screw column on the right side of the neck back shell, at the same time, the left head shell and the right head shell firmly hold the head shell and the face), then insert the left ear antenna 111 and the right ear antenna 18 into the corresponding grooves in the circular holes of the right and left head shells, and then tighten and fix them with screws. In particular, the screw is a large flat head, which is directly flush with the end face of the screw column, and a very small gap is reserved between the screw column and the circular hole to ensure that the screw column and the circular hole can move relatively while having a certain damping effect. In this way, the head can rotate around the screw column to achieve the effect of lowering and raising the head. Finally, cover the screws with left and right ear covers, and the whole head 20 is assembled.

[0043] As Figure 4 shown, the torso of the robot according to the present application is Figure 1 shown in the preferred embodiment.

[0044] In this embodiment, the torso 20 includes a torso skeleton assembly, a front chest assembly, a back assembly, a waist assembly, an upper cover assembly, and a crotch assembly. The torso skeleton assembly sandwiches two torso servos 226, two L-shaped servos 211, and a PCB fixing piece A2 through a rear sheet metal piece 28 and a front sheet metal piece 229, and is fastened by screws. A charging PCBA board 26 is fixed on the PCB fixing piece A2 by screws. Meanwhile, a crotch support 221 is connected and fixed by screws at the lower part of the L-shaped servo 211. The inner lower part of the front sheet metal piece 229 is provided with a screw column to fix a voice control PCBA board 247. The outer side of the rear sheet metal piece 28 is fixed with a main PCBA board 27.

[0045] In this embodiment, the waist assembly is fixed on the torso skeleton and is composed of a decorative shell 212, a waistband 248, a right waist shell 29, and a left waist shell 228. The crotch assembly is placed on the outer side of the L-shaped servo 211 and is composed of a crotch back shell 213, a torsional spring 214, an opening and closing shaft 215, a crotch lower shell 216, a crotch right side opening and closing piece 217, a crotch front shell decorative piece 218, a crotch front shell 219, and a crotch left opening and closing piece 222, and is connected by screws and shafts.

[0046] In the embodiment, the front chest assembly is fixed on the torso skeleton, and is provided from inside to outside with a battery 231, a chest lamp PCBA board 232, a chest lamp cover 233, a window shaft 234, a chest front shell 235, a first heart-shaped module 241, a second heart-shaped module 242, a first front chest decorative piece 236, a second front chest decorative piece 237, a third front chest decorative piece 238, a fourth front chest decorative piece 239, a right window glass 243, a left window glass 244, a right window 245, and a left window 246, wherein the chest lamp PCBA board 232 is provided with an LED lamp, which is located at the center of the round hole of the chest front shell 235; the back assembly is fixed on the back side of the torso skeleton assembly, and is sequentially composed of a back shell 22, a loudspeaker 25, a switch button 23, a backpack shell 24, and a sticker film A1 from inside to outside; and the upper cover assembly is composed of a rudder engine fixing piece 224, a rudder engine 223, a microphone 210, an upper cover 21, and a car lamp 225.

[0047] The internal main body assembly process of the torso 20 is as follows: first, the torso rudder engine 226, the torso rudder engine 227, and a group of L-shaped rudder engines 211 and a PCB fixing piece A2 are clamped in the middle by using a front sheet metal piece 229 and a rear sheet metal piece 28, the charging PCBA board 26 is fixed on the PCB fixing piece A2 by screws, the crotch support piece 221 is then clamped from below, and then the screws of each part are tightened, so as to form a very strong I-shaped main body frame structure.

[0048] Next, the battery 231, the main PCBA board 27, the crotch back shell 213, the torsion spring 214, the opening and closing shaft 215, the crotch left opening and closing piece 222, and the crotch right opening and closing piece 217 are installed (since the torsion spring 214 and the opening and closing shaft 215 are used, the crotch opening and closing piece can be opened and closed left and right), and then the crotch front shell decorative piece 218, the crotch front shell 219, and the crotch lower shell 216 are installed.

[0049] Next, the front chest assembly is installed, which includes the chest lamp PCBA board 232, the chest lamp cover 233, the first heart-shaped module 241, and the second heart-shaped module 242, and then the first front chest decorative piece 236, the second front chest decorative piece 237, the third front chest decorative piece 238, the fourth front chest decorative piece 239, and the window shaft 234 (so that the window can be opened and closed) on the chest front shell 235, the right window 245, the left window 246, the right window glass 243, and the left window glass 244 are installed (see Figure 5

[0050] As shown in the preferred embodiment of the robot according to the present application, the arm structure is split as shown. Figure 6 Figure 1 As shown in the preferred embodiment of the robot according to the present application, the arm structure is split as shown.

[0051] In the embodiment, the arm structure includes a shoulder, a shoulder U-shaped piece, a large arm, a small arm, and a hand, which are internally provided with a rudder engine and are detachably assembled together by using buckles and screws.​​

[0052] In the embodiment, the shoulder comprises a shoulder shell 326, a chimney 31, a shoulder steering engine 36, a shoulder steering disc 38, a second shoulder ring shell 311 and a first shoulder ring shell 39, the shoulder U-shaped piece comprises a first shoulder U-shaped piece 32, a second shoulder U-shaped piece 33, a third shoulder U-shaped piece 34 and a shoulder U-shaped piece clip 35; the forearm comprises a forearm front shell 315, a forearm rear shell 316 and a forearm steering engine 317; the hand comprises a hand connecting piece 318, a hand B piece 319, a hand A piece 321, a finger A piece 322, a finger B piece 323, a finger C piece 324 and a shaft 325.

[0053] The large arm can be flexibly rotated under the driving of the large arm steering engine; the design of the steering disc, the steering engine and the connecting piece ensures the strength and high degree of freedom of the robot arm, and internal wiring can be performed, so that the whole robot appearance is more generous and beautiful.

[0054] The large arm steering engine 313 and the shoulder steering engine 36 are connected through the shoulder steering disc 38, the shoulder steering disc 38 has a runway-shaped wiring hole and a key hole in the center, the key hole is connected with the output tooth of the large arm steering engine, the side of the shoulder steering disc 38 has four screw holes connected with the shoulder steering engine 36, the wire segment 336 comes out from the hole above the large arm steering engine, passes through the runway-shaped wiring hole of the shoulder steering disc 38 and is inserted into the terminal 337 in the slot below the large arm steering engine; the shoulder steering engine 36 is connected with the trunk steering engine 226 through the shoulder U-shaped piece, the wire comes out from the D hole of the shoulder steering engine 36, passes through the A hole and the B hole of the second shoulder U-shaped piece 33, then passes through the C hole of the first shoulder U-shaped piece 32 to the other side of the first shoulder U-shaped piece 32, then comes out from the wire outlet hole of the first shoulder U-shaped piece 32 and finally is inserted into the corresponding terminal of the mainboard.

[0055] The shoulder structure can be flexibly rotated under the driving of the shoulder steering engine 36; the above design of the shoulder U-shaped piece makes the maximum rotation angle of the whole shoulder reach 275 degrees, and ensures the strength and high degree of freedom of the robot arm, internal wiring can be performed, so that the whole robot appearance is more generous and beautiful.

[0056] The main assembly process of the arm structure: first, connect the shoulder servo 36 with the first shoulder U-shaped piece 32 and the second shoulder U-shaped piece 33, then connect the shoulder servo 36 with the big arm servo 313 through the shoulder steering disc 38 (as the screw of the steering disc 38 is connected with the output tooth of the big arm servo 313, so the big arm servo 313 can rotate), then connect the small arm servo 317 with the big arm servo 313.

[0057] Next, the installation of the hand structure: first, connect the hand B piece 319 and the hand A piece 321 to form the hand main body through screws, then connect the hand main body with the small arm servo 317 through the hand connecting piece 318, and the middle part of the hand connecting piece 318 is provided with a screw with a gasket, which is directly connected with the hand main body.

[0058] Next, assemble the finger part: first, connect the finger A piece 322, the finger B piece 323 and the finger C piece 324 into a whole through the shaft 325, then connect the assembly with the hand main body, and the finger part is assembled.

[0059] Finally, assemble the shell of the arm: connect the big arm front shell 37 with the big arm rear shell 312, then connect the first shoulder ring shell 39 with the second shoulder ring shell 311, then buckle the small arm front shell 315 with the small arm rear shell 316, then install the chimney 31, the middle part of the chimney 31 is provided with a screw column, and the screw is tightened from bottom to top, and the arm structure is assembled.

[0060] Referring to Figure 7 Fig. 1, the arm structure of the robot according to the present application is shown. Figure 6 Fig. 2 shows the internal wiring diagram of the arm structure in the preferred embodiment.

[0061] The internal wiring of the arm structure is as follows: the wire 335 comes out of the hole D of the shoulder servo 36, passes through the A hole and the B hole of the second shoulder U-shaped piece 33, then passes through the C hole of the first shoulder U-shaped piece 32 to the other side of the first shoulder U-shaped piece 32, then comes out of the wire outlet hole of the first shoulder U-shaped piece 32 through the wire slot and finally is inserted into the corresponding terminal of the mainboard.

[0062] The wiring between the small arm servo 317 and the big arm servo 313 is as follows: the small arm servo wire comes out of the cylindrical hole of the small arm servo 317, passes through the A hole and the B hole of the small arm servo connecting piece 314, and is inserted into the terminal 333 of the big arm servo 313.

[0063] As Figure 9 Fig. 3 shows the arm structure of the robot according to the present application. Figure 1 Fig. 4 shows the exploded view of the leg structure in the preferred embodiment.

[0064] In the embodiment, the leg structure is composed of thigh root U-shaped pieces, thighs, shanks, ankles and feet, the thigh root U-shaped pieces include a first thigh root U-shaped piece 61, a second thigh root U-shaped piece 62, a third thigh root U-shaped piece 63, a fourth thigh root U-shaped piece 64, a fifth thigh root U-shaped piece 65 and a sixth thigh root U-shaped piece 66; the thighs include a thigh inner side shell 68, a thigh outer side shell 69, a first thigh connecting piece 611, a second thigh connecting piece 612, a third thigh connecting piece 613 and a thigh steering engine 67.

[0065] In the embodiment, the shanks include a shank upper steering engine 615, a sheet metal connecting piece 622, a shank lower steering engine 639, a shank upper flap 617, a shank front decoration 623, an oil tank 616, a shank outer side shell 618, a shank rear opening and closing piece 614, a shank inner side shell 621, a shank inner side clamping shell 619, a shank inner side opening and closing piece 638, a connecting shaft 625, a shank outer side opening and closing piece 626, a shaft and a second torsion spring 624; the ankles include a ankle inner side shell 629, a ankle outer side shell 628 and a ankle clamping shell 627; the feet include a first foot upper shell 631, a second foot upper shell 632, a third foot upper shell 633, a foot steering engine 634, a foot steering engine fixing piece 635, a foot steering engine second fixing piece 636, a foot bottom shell 637 and a large foot plate 641, the large foot plate 641 is fixed on the foot bottom shell 637 through studs, and the bottom of the large foot plate 641 is provided with anti-skid lines; the lower end of the shank upper flap 617 is provided with a rotating shaft mechanism, and can rotate around the shaft to present an opening and closing effect, which can swing forward when the feet rotate forward, greatly increase the rotation angle of the feet and ensure that the rotation of the feet will not be interfered.

[0066] The foot steering engine 634 is connected with the shank lower steering engine 639 through the ankle, and the internal wire terminal is inserted into the terminal of the foot steering engine 634 at one end, and is extended through the bottom wire slot of the foot steering engine fixing piece 635 at the other end, passes through the through hole at the rear end of the foot steering engine fixing piece 635, passes through the lower through hole C of the ankle inner side shell 629, passes through the B hole and the A hole of the ankle outer side shell 628 upwards, and is finally inserted into the terminal of the shank lower steering engine 639.

[0067] The shank upper steering engine 615 is connected with the thigh steering engine 67 through the first thigh connecting piece 611 and the second thigh connecting piece 612, and the internal wire terminal is inserted into the terminal of the shank upper steering engine at one end, and is extended from the steering engine hole thereof at the other end, passes through the through hole of the second thigh connecting piece 612, extends through the slot of the second thigh connecting piece 612 upwards, and is inserted into the terminal of the thigh steering engine.

[0068] The leg is connected with the L-shaped steering engine 211 of the trunk through the thigh root U-shaped piece. The inner wire terminal is inserted into the terminal of the thigh steering engine 67, and the other end comes out of the steering engine hole, goes through the D hole of the fourth thigh root U-shaped piece 64, goes up along the slot, goes through the upper C hole of the fourth thigh root U-shaped piece 64, goes along the clamping slot of the lower part of the third thigh root U-shaped piece 63, goes through the lower B hole of the second thigh root U-shaped piece 62, extends upwards through the A hole of the second thigh root U-shaped piece 62 into the L-shaped steering engine 211, and is inserted into the terminal of the L-shaped steering engine 211.

[0069] As shown in Figure 10 the lower leg steering engine of the preferred embodiment of the robot according to the application is connected with the foot steering engine. Figure 9 As shown in

[0070] The main assembly process of the leg structure is as follows: first, connect the thigh steering engine 67 with the upper calf steering engine 615 through the thigh connecting piece (the first thigh connecting piece 611 is connected with the output tooth of the upper calf steering engine 615 through the spline hole, and the second thigh connecting piece 612 is connected with the shaft of the upper calf steering engine 615 through the round hole), buckle the third thigh connecting piece 613, then buckle the inner thigh shell 68 and the outer thigh shell 69, screw, then connect with the lower calf steering engine 639 through the sheet metal connecting piece 622, then install the ankle part. The upper part of the ankle inner shell 629 is connected with the lower calf steering engine 639, the lower part of the ankle inner shell 629 is connected with the foot steering engine 634, the foot steering engine 634 is fixed with the foot steering engine second fixing piece 636 through the foot steering engine fixing piece 635, the foot steering engine fixing piece 635 and the foot steering engine second fixing piece 636 are fixed on the foot bottom shell 637, then install the first foot upper shell 631, the second foot upper shell 632, and the third foot upper shell 633, screw from the bottom of the foot bottom shell 637, and finally tightly install the large foot plate 641.

[0071] Next, install the calf outer shell 618, the calf rear opening and closing piece 614, the calf upper turning plate 617, the calf front decorative piece 623, the calf outer opening and closing piece 626, the calf inner opening and closing piece 638, the second torsional spring 624, the connecting shaft 625, the oil tank 616, and other shaft parts, then install the calf inner shell 621 and the calf inner clamping shell 619.

[0072] Next, refer to Figure 11 the wiring diagram of the preferred embodiment of the robot according to the application. Figure 10

[0073] ​The wiring of the ankle part is as follows: the terminal of the wire of the lower leg rudder 639 is inserted into the terminal of the ankle rudder 634 through the wiring hole of the ankle rudder 634, the A hole and the B hole of the 628, and then into the ankle cavity, and then from the lower C hole of the inner side shell 629 of the ankle, through the rear end through hole of the foot rudder fixing member 635, and then along the bottom slot of the foot rudder fixing member 635 to the front part, and then inserted into the terminal of the foot rudder 634.

[0074] Finally, referring to Figure 12 The robot according to the present application is shown in Figure 9 The wiring diagram of the thigh U-shaped assembly of the preferred embodiment is shown.

[0075] The wiring of the thigh root U-shaped member is as follows: the terminal of one end of the wire 640 is inserted into the terminal of the thigh rudder 67, and the terminal wire of the other end is inserted into the terminal of the L-shaped rudder 211 through the wiring hole of the thigh rudder 67, the D hole of the fourth thigh root U-shaped member 64, the upper C hole of the fourth thigh root U-shaped member 64, the lower B hole of the second thigh root U-shaped member 62, the A hole of the second thigh root U-shaped member 62, and then into the inside of the L-shaped rudder 211.

[0076] It is understood by those skilled in the art that the robot according to the present application includes any combination of the parts described in the specification. Due to the limited space and in order to make the specification concise, these combinations are not described in detail here, but after reading the specification, it is self-evident that any combination of the parts described in the specification constitutes the scope of the present application.

Claims

1. A robot comprising a head (10), a torso (20), symmetrical arm structures located on both sides of the torso (20), the arm structures comprising a right arm (40) and a left arm (30), and symmetrical leg structures located at the lower end of the torso (20), the leg structures comprising a right leg (60) and a left leg (50), characterized in that: Multiple servo motors are provided on the head (10), torso (20), right arm (40), left arm (30), right leg (60), and left leg (50); a movable mask (116) is provided on the head (10); the mask (116) is clamped between the limiting groove of the left shell (112) and the right shell (14) of the head, and the limiting groove has a gap reserved for the mask to move up and down; the mask (116) has a groove, and the groove is connected to the lever (119). The front part of the lever (119) is fitted with a shaft hole on the front shell (113) of the neck, which fits with the bushing on the lever (119) to form a rotating mechanism; the rear shell (15) of the neck is provided with a limiting groove and a screw post, and a miniature rotating electromagnet (118) with a rocker arm is placed on the limiting groove. After being energized, the rocker arm on the miniature rotating electromagnet (118) moves the rear end of the lever (119) and transmits the force to the front end of the lever (119). The mask (116) on the face (115) is moved up and down; the head (10) includes a head shell (11), a PCBA board (12), a forehead (13), a right head shell (14), a neck shell (15), a left ear cover (16), a right ear cover (17), a right ear antenna (18), a light shield (19), a left ear antenna (111), a left head shell (112), a neck shell (113), eyes (114), and a face (115). The PCBA board (12) is equipped with an LED light, which corresponds to the eyes (114). The screws exposed at the right ear antenna (18) and left ear antenna (111) are covered by the right ear cover (17) and left ear cover (16). The neck shell (15) is equipped with a cylinder with a spline hole, and the neck shell (15) engages with the output teeth of the servo motor (223) through the spline hole on the cylinder.

2. The robot as described in claim 1, characterized in that: The torso (20) includes a torso frame assembly, a chest assembly, a back assembly, a waist assembly, an upper cover assembly, and a hip assembly. The torso frame assembly clamps two torso servos (226), two L-shaped servos (211), and a PCB fixture (A2) in the middle through a rear sheet metal part (28) and a front sheet metal part (229), and is fastened with screws. The charging PCBA board (26) is fixed to the PCB fixture (A2) with screws. At the same time, the hip support (221) is fixed to the lower part of the L-shaped servo (211) with screws. The voice control PCBA board (247) is fixed to the lower part of the inner side of the front sheet metal part (229); the main PCBA board (27) is fixed to the outer side of the rear sheet metal part (28).

3. The robot as described in claim 2, characterized in that: The waist assembly is fixed to the torso frame and consists of a decorative shell (212), a waist belt (248), a right waist shell (29), and a left waist shell (228). The hip assembly is located outside the L-shaped servo (211) and consists of a rear hip shell (213), a torsion spring (214), an opening and closing shaft (215), a lower hip shell (216), a right hip opening and closing piece (217), a front hip shell decorative piece (218), a front hip shell (219), and a left hip opening and closing piece (222), which are connected by screws and shafts.

4. The robot as described in claim 2, characterized in that: The front chest assembly is fixed to the torso frame and, from the inside out, includes a battery (231), a chest light PCBA board (232), a chest light cover (233), a window shaft (234), a chest shell (235), a first heart-shaped module (241), a second heart-shaped module (242), a first front chest decorative piece (236), a second front chest decorative piece (237), a third front chest decorative piece (238), a fourth front chest decorative piece (239), a right window glass (243), a left window glass (244), a right window (245), and a left window (236). 46), wherein the chest light PCBA board (232) is equipped with an LED light, which is located in the center of the round hole of the chest shell (235); the back assembly is fixed to the rear side of the torso skeleton assembly, and is composed of the rear shell (22), horn (25), switch button (23), backpack shell (24) and patch film (A1) from the inside to the outside; the upper cover assembly is fixed to the upper side of the chest shell (235) and the rear shell (22), and is composed of servo fixing part (224), servo (223), microphone (210), upper cover (21) and vehicle light (225).

5. The robot as described in claim 1, characterized in that: The arm structure includes a shoulder, a shoulder U-shaped part, an upper arm, a forearm and a hand, which are assembled together by means of snap-fit ​​and screws with internal servo motors. The upper arm includes a rear upper arm shell (312), a front upper arm shell (37), an upper arm servo motor (313) and a forearm servo motor connector (314).

6. The robot as described in claim 5, characterized in that: The shoulder includes a shoulder shell (326), a chimney (31), a shoulder servo (36), a shoulder servo disc (38), a second shoulder ring shell (311), and a first shoulder ring shell (39). The shoulder U-shaped component includes a first shoulder U-shaped component (32), a second shoulder U-shaped component (33), a third shoulder U-shaped component (34), and a shoulder U-shaped component clip (35). The forearm includes a forearm front shell (315), a forearm rear shell (316), and a forearm servo (317). The hand includes a hand connector (318), a hand B component (319), a hand A component (321), a finger A component (322), a finger B component (323), a finger C component (324), and a shaft (325).

7. The robot as described in claim 1, characterized in that: The leg structure consists of a thigh root U-shaped component, thigh, calf, ankle, and foot. The thigh root U-shaped component includes a first thigh root U-shaped component (61), a second thigh root U-shaped component (62), a third thigh root U-shaped component (63), a fourth thigh root U-shaped component (64), a fifth thigh root U-shaped component (65), and a sixth thigh root U-shaped component (66). The thigh includes an inner thigh shell (68), an outer thigh shell (69), a first thigh connector (611), a second thigh connector (612), a third thigh connector (613), and a thigh servo (67).

8. The robot as described in claim 7, characterized in that: The lower leg includes an upper servo motor (615), a sheet metal connector (622), a lower servo motor (639), an upper flap (617), a front decorative part (623), a fuel tank (616), an outer shell (618), a rear opening / closing part (614), an inner shell (621), an inner retaining clip (619), an inner opening / closing part (638), a connecting shaft (625), an outer opening / closing part (626), and a shaft and a torsion spring; the ankle includes an inner ankle shell (629), an outer ankle shell (638), and a connecting shaft (625). 28) Ankle catch (627); The foot includes a first foot upper shell (631), a second foot upper shell (632), a third foot upper shell (633), a foot servo (634), a foot servo fixing part (635), a second foot servo fixing part (636), a foot shell (637) and a large foot plate (641). The large foot plate (641) is fixed to the foot shell (637) by studs. The bottom of the large foot plate (641) has anti-slip texture. The lower end of the calf flip plate (617) is provided with a rotating shaft mechanism, which can rotate around the shaft to present an opening and closing effect.

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