Adjustable positioning assembly, camera mechanism and robot

Abstract

The application relates to an adjusting positioning assembly, a camera mechanism and a robot. The adjusting positioning assembly comprises a positioning seat, a positioning shaft and an elastic piece. The positioning seat is provided with a stepped hole penetrating through the positioning seat. The stepped hole comprises coaxially arranged first and second shaft holes. The first shaft hole has a first contact surface, and the second shaft hole is arranged on the first contact surface. The positioning shaft comprises coaxially arranged first and second shaft sections. The first shaft section is arranged in the first shaft hole, and the second shaft section is arranged in the second shaft hole. The first shaft section has a second contact surface. The second contact surface can be attached to the first contact surface and can block the first shaft section from being arranged in the second shaft hole. The elastic piece is arranged on the end of the first shaft section away from the second shaft section, and is used for attaching the second contact surface to the first contact surface. The elastic piece is attached to the first shaft section to apply a positive pressure to the first contact surface, thereby increasing the friction between the second contact surface and the first contact surface, and improving the positioning reliability of the positioning shaft.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an adjusting and positioning assembly, a camera mechanism and a robot. BACKGROUND

[0002] Quadruped bionic robots are generally considered to have good application prospects in natural disaster rescue, industrial monitoring, security patrol and the like. The industry usually concentrates radar, camera and other sensing elements in the "head" of the robot, and adjusts the angle of the sensing elements through an external knob. The angle of the sensing elements is currently usually adjusted by the activity gap of the knob, but if the activity gap of the knob is too large, the stability of the sensing elements is poor, and if the activity gap of the knob is too small, the knob is locked and cannot be rotated. SUMMARY

[0003] The present application provides an adjusting and positioning assembly, a camera mechanism and a robot.

[0004] The present application provides an adjusting and positioning assembly, a camera mechanism and a robot.

[0005] A positioning seat is provided, and a stepped hole penetrating through the positioning seat is formed in the positioning seat, the stepped hole comprising a first shaft hole and a second shaft hole coaxially arranged, the first shaft hole having a first contact surface and the second shaft hole being formed on the first contact surface;

[0006] A positioning shaft is provided, comprising a first shaft segment and a second shaft segment coaxially arranged, wherein the first shaft segment is arranged in the first shaft hole, the second shaft segment is arranged in the second shaft hole, the first shaft segment has a second contact surface, the second contact surface can be attached to the first contact surface and can block the first shaft segment from being arranged in the second shaft hole; and

[0007] An elastic member is provided, abutting against one end of the first shaft segment away from the second shaft segment, for abutting the second contact surface against the first contact surface.

[0008] The present application provides a camera mechanism, comprising:

[0009] An adjusting and positioning assembly is provided;

[0010] An adjusting shaft is provided, coaxially arranged with the second shaft segment and capable of rotating with the positioning shaft; and

[0011] A camera head assembly is provided, fixed on the adjusting shaft and capable of rotating with the adjusting shaft.

[0012] The present application provides a robot, comprising:

[0013] A camera mechanism is provided;

[0014] a radar mechanism; and

[0015] a connecting mechanism elastically connecting and fixing the camera mechanism and the radar mechanism respectively.

[0016] The adjusting and positioning assembly provided by the embodiment of the present application realizes the clamping connection of the positioning shaft and the positioning seat by the first shaft segment penetrating the first shaft hole, the second shaft segment penetrating the second shaft hole, and the second contact surface abutting against the first contact surface; the elastic member abuts against one end of the first shaft segment away from the second shaft segment, and is used for applying a normal pressure from the second contact surface to the first contact surface, thereby increasing the friction between the second contact surface and the first contact surface, so as to improve the positioning reliability of the positioning shaft. Specifically, an opposite force in the direction of the first shaft segment is applied from one end of the second shaft segment away from the first shaft segment, so as to reduce or eliminate the friction between the first contact surface and the second contact surface, thereby facilitating the rotation of the positioning shaft relative to the positioning seat; when the positioning shaft rotates to a preset position, the opposite force applied to the positioning shaft is cancelled, so that the second contact surface again fully contacts the first contact surface under the action of the elastic member, the friction between the positioning shaft and the positioning seat is increased, thereby preventing the rotation of the positioning shaft relative to the positioning seat, so as to improve the positioning reliability of the positioning shaft. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0018] Figure 1 is a perspective view of a robot provided by the embodiment of the present application;

[0019] Figure 2 is Figure 1 is a perspective view of the cooperation of the camera mechanism, the radar mechanism and the connecting mechanism in the robot shown in FIG. 1;

[0020] Figure 3 is Figure 2 is a perspective view of the cooperation of the camera mechanism and the connecting wire shown in FIG. 2;

[0021] Figure 4 is Figure 3 is an exploded view of the cooperation of the camera mechanism and the connecting wire shown in FIG. 3;

[0022] Figure 5 is Figure 4 is a perspective view of the adjusting and positioning assembly in the camera mechanism shown in FIG. 4;

[0023] Figure 6 is Figure 5An exploded view of the adjustment positioning assembly shown;

[0024] Figure 7 is Figure 5 A cross-sectional view of the adjustment positioning assembly shown;

[0025] Figure 8 is Figure 7 A cross-sectional view of a variant of the adjustment positioning assembly shown;

[0026] Figure 9 is Figure 7 A cross-sectional view of a variant of the positioning shaft in the adjustment positioning assembly shown;

[0027] Figure 10 is Figure 4 A top view of the second housing cooperating with the adjustment positioning assembly, the adjustment shaft, the camera assembly and the coaxial seat in the camera mechanism shown;

[0028] Figure 11 is Figure 10 A cross-sectional view of the camera mechanism along the A-A direction shown;

[0029] Figure 12 is Figure 11 A partial enlarged view of the region B in the camera mechanism shown;

[0030] Figure 13 is Figure 11 A partial enlarged view of the region C in the camera mechanism shown;

[0031] Figure 14 is Figure 11 A cross-sectional view of the camera mechanism along the D-D direction shown;

[0032] Figure 15 is Figure 2 A perspective view of the radar mechanism shown;

[0033] Figure 16 is Figure 15 An exploded view of the radar mechanism shown;

[0034] Figure 17 is Figure 15 A perspective view of the radar mechanism from another angle shown;

[0035] Figure 18 is Figure 2 A perspective view of the connecting mechanism shown. DETAILED DESCRIPTION

[0036] The application will be described in further detail below with reference to the drawings and embodiments. It is particularly pointed out that the following embodiments are only for illustration of the application and do not limit the scope of the application. Similarly, the following embodiments are only part of the embodiments of the application, and all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0037] Reference herein to "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The phrase "in one embodiment" appears at various locations in the specification does not necessarily refer to the same embodiment, nor is it necessary that all of the embodiments include the same particular feature, structure, or characteristic. It is expressly understood that the embodiments described herein can be combined with other embodiments in any way deemed useful.

[0038] Reference is made to Figure 1 and Figure 2 , Figure 1 is a perspective view of a robot provided by an embodiment of the application, Figure 2 is Figure 1 a perspective view of the cooperation of the camera mechanism, the radar mechanism and the connecting mechanism in the robot shown in FIG. 1. An embodiment of the application provides a robot 1000. Specifically, the robot 1000 is a bionic quadruped robot, which has excellent motion performance and small volume, and can be used for natural disaster rescue, industrial monitoring and security patrol.

[0039] The robot 1000 can include a camera mechanism 100, a radar mechanism 200, a connecting mechanism 300, a trunk mechanism 400 and a limb mechanism 500. The trunk mechanism 400 is generally cuboid and includes a top surface 401 and an end surface 402 connected to each other, and the connecting mechanism 300 is fixed to one end of the top surface 401 close to the end surface 402. The camera mechanism 100 abuts against the end surface 402 and is fixedly connected to the trunk mechanism 400 through the connecting mechanism 300, and the radar mechanism 200 is fixed to the surface of the connecting mechanism 300 away from the top surface 401 and is fixedly connected to the trunk mechanism 400 through the connecting mechanism 300.

[0040] It can be understood that the camera mechanism 100 and the radar mechanism 200 can be regarded as the "head" of the robot 1000, and the camera mechanism 100 cooperates with the radar mechanism 200 to detect the surrounding environment information of the robot 1000; the connecting mechanism 300 can be regarded as the "neck" of the robot 1000, which can be used to fix the camera mechanism 100 and the radar mechanism 200 on the trunk mechanism 400, and on the other hand, provides buffer protection for the connection of the camera mechanism 100, the radar mechanism 200 and the trunk mechanism 400.

[0041] Reference is made toFigure 3 and Figure 4 , Figure 3 is Figure 2 a perspective view of the camera mechanism cooperating with the connecting wire, Figure 4 is Figure 3 an exploded view of the camera mechanism and the connecting wire. In this embodiment, the camera mechanism 100 can include an adjusting and positioning assembly 10, an adjusting shaft 20, a camera head assembly 30, a coaxial seat 40, and a housing assembly 50. The housing assembly 50 can have a receiving space 501, and the adjusting and positioning assembly 10, the adjusting shaft 20, the coaxial seat 40, and the camera head assembly 30 are received in the receiving space 501. The camera head assembly 30 is fixedly connected to the adjusting shaft 20 and can rotate with the adjusting shaft 20; the adjusting shaft 20 can be arranged in the coaxial seat 40 and can drive the adjusting and positioning assembly 10 to rotate; the coaxial seat 40 is used to constrain the adjusting shaft 20 and improve the coaxiality of the adjusting shaft 20; the adjusting and positioning assembly 10 can rotate with the adjusting shaft 20 and can also position the adjusting shaft 20 and the camera head assembly 30 connected to the adjusting shaft 20, thereby preventing the position of the camera head assembly 30 from deviating.

[0042] Please refer to Figures 5 to 7 , Figure 5 is Figure 4 a perspective view of the adjusting and positioning assembly in the camera mechanism, Figure 6 is Figure 5 an exploded view of the adjusting and positioning assembly. Figure 7 is Figure 5 a sectional view of the adjusting and positioning assembly. Specifically, the adjusting and positioning assembly 10 can include a positioning seat 11, a positioning shaft 12, and an elastic member 13. The positioning seat 11 can have a stepped hole 110 penetrating the positioning seat 11, the positioning shaft 12 is at least partially arranged in the stepped hole 110 and is clamped and fixed with the stepped hole 110, and the elastic member 13 is abutted against one end of the positioning shaft 12 away from the positioning seat 11 and is used to press the positioning shaft 12 in the stepped hole 110, thereby fixing the positioning shaft 12 to a certain extent to prevent the positioning shaft 12 from rotating relative to the positioning seat 11. At the same time, an acting force can be applied to the positioning shaft 12 towards the elastic member 13 to reduce or offset the pressure of the elastic member 13 on the positioning shaft 12, thereby facilitating the rotation of the positioning shaft 12.

[0043] The stepped hole 110 can include a first shaft hole 1101 and a second shaft hole 1102 which are arranged in communication, the first shaft hole 1101 has a first contact surface 1103 and the second shaft hole 1102 is opened on the first contact surface 1103, in other words, at least part of the structure of the first shaft hole 1101 has a diameter larger than that of the second shaft hole 1102. The positioning shaft 12 includes a first shaft segment 121 and a second shaft segment 122 which are coaxially arranged, wherein the first shaft segment 121 is arranged in the first shaft hole 1101, the second shaft segment 122 is arranged in the second shaft hole 1102, the first shaft segment 121 has a second contact surface 1211 which can be in close contact with the first contact surface 1103 and used to block the first shaft segment 121 from being arranged in the second shaft hole 1102. In other words, at least part of the structure of the first shaft segment 121 has a diameter larger than that of the second shaft segment 122, when the first shaft segment 121 is arranged in the first shaft hole 1101, because at least part of the diameter of the first shaft segment 121 is larger than that of the second shaft segment 122, the first shaft segment 121 cannot pass through the second shaft hole 1102, thereby making the first shaft segment 121 clamped in the first shaft hole 1101.

[0044] It should be noted that the terms "first", "second", "third" in the present application are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0045] Optionally, the first shaft hole 1101 includes a main hole 1101a and a transition hole 1101b which are arranged in communication, the cross-sectional diameter of the transition hole 1101b gradually decreases from the main hole 1101a to the direction of the second shaft segment 122. The first shaft segment 121 includes a main shaft 121a and a transition shaft 121b, the cross-sectional diameter of the transition shaft 121b gradually decreases from the main shaft 121a to the direction of the second shaft segment 122, wherein the main shaft 121a is arranged in the main hole 1101a and the transition shaft 121b is received in the transition hole 1101b. Wherein, the inner wall surface of the transition hole 1101b is the first contact surface 1103, the outer surface of the transition shaft 121b is the second contact surface 1211, the transition hole 1101b receives the transition shaft 121b, so that the first contact surface 1103 can be in close contact with the second contact surface 1211, on the one hand, the contact area of the first contact surface 1103 and the second contact surface 1211 can be increased, on the other hand, the first shaft segment 121 can be blocked from passing through the second shaft hole 1102.

[0046] In the embodiment, the transition hole 1101b can be frustoconical, the first contact surface 1103 is the inner surface of the transition hole 1101b, and the inner surface of the transition hole 1101b gradually decreases in diameter from the main hole 1101a to the second shaft hole 1102, in other words, the lower base of the frustoconical transition hole 1101b is connected with the main hole 1101a, and the upper base of the frustoconical transition hole 1101b is connected with the second shaft hole 1102. Correspondingly, the transition shaft 121b is frustoconical and corresponds in shape to the transition hole 1101b, the second contact surface 1211 is the outer surface of the transition shaft 121b, the lower base of the frustoconical transition shaft 121b is connected with the main shaft 121a, and the upper base of the frustoconical transition shaft 121b is connected with the second shaft segment 122, in other words, the diameter of the frustoconical transition shaft 121b gradually decreases from the main shaft 121a to the second shaft segment 122. Understandably, the transition hole 1101b and the transition shaft 121b are respectively frustoconical, which on the one hand facilitates the machining and production of the stepped hole 110 and the through shaft, and on the other hand is conducive to improving the coaxiality and stability of the positioning shaft 12 and the stepped hole 110. In addition, the area of the first contact surface 1103 and the second contact surface 1211 can be increased, which facilitates rough processing of the first contact surface 1103 and the second contact surface 1211.

[0047] In a variant of the embodiment, the transition hole 1101b can be spherical, the first contact surface 1103 is the inner surface of the transition hole 1101b, and the diameter of the transition hole 1101b gradually decreases from the main hole 1101a to the second shaft segment 122, in other words, the bottom surface of the spherical transition hole 1101b is connected with the main hole 1101a, and the end of the spherical transition hole 1101b away from the main hole 1101a is connected with the second shaft hole 1102. Correspondingly, the transition shaft 121b is spherical and corresponds in shape to the transition hole 1101b, the second contact surface 1211 is the outer surface of the transition shaft 121b, the bottom surface of the spherical transition shaft 121b is connected with the main shaft 121a, and the end of the spherical transition shaft 121b away from the main shaft 121a is connected with the second shaft segment 122. Understandably, the transition hole 1101b and the transition shaft 121b are respectively spherical, which on the one hand facilitates the machining and production of the stepped hole 110 and the through shaft, and on the other hand is conducive to improving the coaxiality and stability of the positioning shaft 12 and the stepped hole 110. In addition, the area of the first contact surface 1103 and the second contact surface 1211 can be increased, which facilitates rough processing of the first contact surface 1103 and the second contact surface 1211.

[0048] Optionally, in the embodiment, the diameter of the second shaft hole 1102 corresponds to the diameter of the second shaft segment 122, so that the second shaft segment 122 is transitionally connected with the second shaft hole 1102, thereby improving the coaxiality of the rotation of the positioning shaft 12.

[0049] Further, the first contact surface 1103 has the same shape as the second contact surface 1211, so that the first contact surface 1103 is completely coincident with the second contact surface 1211, i.e. is accommodated in the transition hole 1101b through the transition shaft 121b, so as to further improve the coaxiality of the rotation of the positioning shaft 12.

[0050] Still further, the diameter of the main hole 1101a corresponds to the diameter of the main shaft 121a, so that the main shaft 121a is in transition fit with the main hole 1101a, so as to further improve the coaxiality of the rotation of the positioning shaft 12. Of course, since the second shaft hole 1102 is in transition fit with the second shaft segment 122, the positioning shaft 12 is already constrained to rotate only along the axis of the positioning shaft 12, so the diameter of the main shaft 121a can also be smaller than the diameter of the main hole 1101a.

[0051] Please refer to Figure 8 , Figure 8 is Figure 7 a cross-sectional view of a variant of the adjustment positioning assembly shown in FIG. 1. In yet another embodiment, the first shaft hole 1101 and the second shaft hole 1102 are both cylindrical holes, and the diameter of the first shaft hole 1101 is greater than the diameter of the second shaft hole 1102. The bottom surface of the first shaft hole 1101, i.e. the surface where the first shaft hole 1101 connects the second shaft hole 1102, is a first contact surface 1103. Obviously, the second shaft hole 1102 is opened on the first contact surface 1103 and is located within the range of the first contact surface 1103. The first shaft segment 121 and the second shaft segment 122 are both cylindrical, and the diameter of the first shaft segment 121 is greater than the diameter of the second shaft segment 122. Among them, the surface where the first shaft hole 1101 connects the second shaft hole 1102 is the first contact surface 1103, the surface where the first shaft segment 121 connects the second shaft segment 122 is the second contact surface 1211, and the first contact surface 1103 can be attached to the second contact surface 1211. It can be understood that the first contact surface 1103 is circular, the second contact surface 1211 is circular, the first contact surface 1103 is attached to the second contact surface 1211, which does not affect the rotational connection between the positioning shaft 12 and the positioning seat 11, and can effectively block the first positioning shaft 12 from passing through the second shaft hole. In addition, the first shaft hole 1101 is a cylindrical hole, and the first positioning shaft 12 is cylindrical, so that the positioning seat 11 and the positioning shaft 12 have a simple structure and are easy to process.

[0052] The elastic member 13 abuts against one end of the first shaft segment 121 away from the second shaft segment 122, and is used to apply a force along the length direction of the first shaft segment 121 to the first shaft segment 121, so that the second contact surface 1211 fully contacts the first contact surface 1103, so as to improve the friction between the positioning shaft 12 and the positioning seat 11, and effectively prevent the positioning shaft 12 from rotating relative to the positioning seat 11, thereby achieving precise positioning of the positioning shaft 12. Among them, the elastic member 13 can be one of a spring, rubber, and elastic sheet.

[0053] Optionally, the first shaft segment 121 is provided with a first accommodating cavity 1210 at one end away from the second shaft segment 122, and one end of the elastic member 13 can be accommodated in the first accommodating cavity 1210 and can rotate relative to the first positioning shaft 12, which can prevent the elastic member 13 from being separated from the first shaft segment 121, ensure the reliability of the abutting connection between the elastic member 13 and the first shaft segment 121, and avoid the internal torque of the elastic member 13 affecting the accuracy of the rotation angle of the positioning shaft 12.

[0054] Further, in the embodiment, the elastic member 13 is a spring. The first accommodating cavity 1210 is annular, and one end of the elastic member 13 is clamped and accommodated in the first accommodating cavity 1210 and can rotate relative to the positioning shaft 12.

[0055] It can be understood that when the positioning shaft 12 needs to rotate relative to the positioning seat 11, an opposite force overcoming the elastic force of the elastic member 13 is applied to the positioning shaft 12, specifically, an opposite force in the direction of the first shaft segment 121 is applied to one end of the second shaft segment 122 away from the first shaft segment 121, so that the normal pressure between the first contact surface 1103 and the second contact surface 1211 is reduced or disappears, that is, the friction between the first contact surface 1103 and the second contact surface 1211 is reduced or disappears, to facilitate the rotation of the positioning shaft 12 relative to the positioning seat 11. When the positioning shaft 12 rotates to a preset position, the opposite force applied to the positioning shaft 12 is cancelled, so that the second contact surface 1211 is in full contact with the first contact surface 1103 again under the action of the elastic member 13, the friction between the positioning shaft 12 and the positioning seat 11 is increased, and then the rotation of the positioning shaft 12 relative to the positioning seat 11 is prevented, to improve the reliability of the positioning of the positioning shaft 12. Through the above-mentioned manner, the positioning shaft 12 can be rotated by any angle, for example, the positioning shaft 12 can be rotated by 10°, 1°, 0.1° or even 0.01° to realize the stepless adjustment of the positioning shaft 12, and the angle of the positioning shaft 12 relative to the positioning seat 11 can remain unchanged to realize the reliability of the precise positioning of the positioning shaft 12.

[0056] According to f=μN, where f is the friction, μ is the friction coefficient, and N is the normal pressure, in the case where the friction coefficient μ is constant, the greater the elastic deformation of the elastic member 13, that is, the greater the normal pressure N, the greater the friction between the positioning shaft 12 and the positioning seat 11, and therefore the normal pressure N applied to the positioning shaft 12 by the elastic member 13 can be controlled by adjusting the elastic deformation of the elastic member 13. It can be understood that the greater the normal pressure N applied to the positioning shaft 12 by the elastic member 13, the greater the opposite force applied to the positioning shaft 12 when the positioning shaft 12 rotates relative to the positioning seat 11, and the higher the requirement for the user or other equipment, and therefore the normal pressure applied to the positioning shaft 12 by the elastic member 13 should be within a certain range.

[0057] Therefore, the friction between the positioning shaft 12 and the positioning base 11 can be increased by increasing the friction coefficient between the first contact surface 1103 and the second contact surface 1211 under the condition that the normal pressure N is constant. Specifically, the first contact surface 1103 can be roughened, or the second contact surface 1211 can be roughened, or both the first contact surface 1103 and the second contact surface 1211 can be roughened, which is not specifically limited herein. That is, the first contact surface 1103 and / or the second contact surface 1211 can be roughened to increase the friction coefficient between the first contact surface 1103 and the second contact surface 1211.

[0058] Please refer to Figure 9 , Figure 9 is Figure 7 a cross-sectional view of a deformation of the positioning shaft in the adjusting and positioning assembly shown in FIG. 1. Further, the roughening can be achieved by mechanical scratching, chemical etching, spray welding, etc. In a specific embodiment, a fixing rib 123 can be arranged on the first contact surface 1103, or the fixing rib 123 can be arranged on the second contact surface 1211, or the fixing rib 123 can be arranged on both the first contact surface 1103 and the second contact surface 1211 to increase the friction coefficient between the first contact surface 1103 and the second contact surface 1211.

[0059] Optionally, the diameter of the second shaft hole 1102 corresponds to the diameter of the second shaft segment 122, so that the second shaft segment 122 is in transition fit with the second shaft hole 1102 to improve the coaxiality of the rotation of the positioning shaft 12.

[0060] Further, the diameter of the first shaft hole 1101 corresponds to the diameter of the first shaft segment 121, so that the first shaft segment 121 is in transition fit with the first shaft hole 1101 to further improve the coaxiality of the rotation of the positioning shaft 12. Of course, since the second shaft hole 1102 is in transition fit with the second shaft segment 122, the positioning shaft 12 is constrained to rotate only along the axis of the positioning shaft 12, so the diameter of the first shaft segment 121 can also be smaller than the diameter of the first shaft hole 1101.

[0061] Please continue to refer to Figures 5 to 7 Optionally, the adjusting and positioning assembly 10 can further include a fixing base 14, which is located at the end of the elastic member 13 away from the first shaft segment 121, for compressing the elastic member 13 and making the elastic member 13 in a compressed state. In other words, the fixing base 14 is arranged opposite to the positioning base 11, the elastic member 13 is located between the fixing base 14 and the positioning base 11, and the two ends of the elastic member 13 abut against the fixing base 14 and the end of the first shaft segment 121 away from the second shaft segment 122, respectively, and the elastic member 13 is in a compressed state.

[0062] Further, the end of the elastic member 13 connected with the fixing seat 14 can be provided with a second accommodating cavity 140, and the end of the elastic member 13 away from the first shaft segment 121 is accommodated in the second accommodating cavity 140, so as to realize the clamping connection between the elastic member 13 and the fixing seat 14. In other words, the two ends of the elastic member 13 are respectively accommodated in the first accommodating cavity 1210 and the second accommodating cavity 140, so as to realize the connection between the elastic member 13 and the fixing seat 14 and the first shaft segment 121.

[0063] It can be understood that, in order to avoid the elastic member 13 generating torque when the positioning shaft 12 rotates, one end of the elastic member 13 can be fixedly connected with the fixing seat 14, and the other end can rotate relative to the first shaft segment 121; or one end of the elastic member 13 can be rotatably connected with the fixing seat 14, and the other end is fixedly connected with the first shaft segment 121; or the two ends of the elastic member 13 are respectively rotatably connected with the fixing seat 14 and the first shaft segment 121.

[0064] The adjusting and positioning assembly 10 provided by the embodiment of the present application realizes the clamping connection between the positioning shaft 12 and the positioning seat 11 by the first shaft segment 121 penetrating through the first shaft hole 1101 and the second shaft segment 122 penetrating through the second shaft hole 1102 and the second contact surface 1211 abutting against the first contact surface 1103; the elastic member 13 abuts against the end of the first shaft segment 121 away from the second shaft segment 122, and is used to apply a normal pressure from the second contact surface 1211 to the first contact surface 1103, so as to increase the friction between the second contact surface 1211 and the first contact surface 1103, thereby improving the positioning reliability of the positioning shaft 12. Specifically, an opposite force is applied from the end of the second shaft segment 122 away from the first shaft segment 121 to the direction of the first shaft segment 121, so as to reduce or eliminate the friction between the first contact surface 1103 and the second contact surface 1211, thereby facilitating the rotation of the positioning shaft 12 relative to the positioning seat 11; when the positioning shaft 12 rotates to a preset position, the opposite force applied to the positioning shaft 12 is cancelled, so that the second contact surface 1211 again fully contacts the first contact surface 1103 under the action of the elastic member 13, the friction between the positioning shaft 12 and the positioning seat 11 is increased, thereby preventing the rotation of the positioning shaft 12 relative to the positioning seat 11, so as to improve the positioning reliability of the positioning shaft 12.

[0065] Please refer to Figure 10 and Figure 11 , Figure 10 is Figure 4 the top view of the camera mechanism, Figure 11 is Figure 10A cross-sectional view of the camera mechanism along the A-A direction is shown. The adjusting shaft 20 is coaxially arranged with the second shaft segment 122 and can rotate with the positioning shaft 12. In this embodiment, the adjusting shaft 20 is arranged in a gap with the second shaft segment 122, and the camera assembly 30 is arranged between the adjusting shaft 20 and the second shaft segment 122 and is fixedly connected with the adjusting shaft 20 and the second shaft segment 122, respectively. On the one hand, the coaxial connection of the adjusting shaft 20 and the positioning shaft 12 is achieved. On the other hand, the space of the camera assembly 30 occupied by the adjusting shaft 20 is avoided, and the influence of the adjusting shaft 20 on the camera assembly 30 is reduced.

[0066] Please refer to Figure 12 and Figure 13 , Figure 12 is Figure 11 a partial enlarged view of the region B in the camera mechanism shown, Figure 13 is Figure 11 a partial enlarged view of the region C in the camera mechanism shown. Specifically, the adjusting shaft 20 can include a knob portion 21 and a rod portion 22, and the end of the rod portion 22 away from the knob portion 21 can be provided with a first clamping portion 221. The camera assembly 30 can be provided with a second clamping portion 311, and the first clamping portion 221 is clamped and connected with the second clamping portion 311 to achieve clamping and fixing of the adjusting shaft 20 and the camera assembly 30, and then the camera assembly 30 can be rotatably connected with the adjusting shaft 20. Similarly, the end of the second shaft segment 122 away from the first shaft segment 121 can be provided with a third clamping portion 1221, and the camera assembly 30 can be provided with a fourth clamping portion 312. The third clamping portion 1221 is clamped and connected with the fourth clamping portion 312, and then the camera assembly 30 can be rotatably connected with the second shaft segment 122 to achieve synchronous rotation of the adjusting shaft 20 and the positioning shaft 12.

[0067] It can be understood that the first clamping portion 221 can be one of a clamping block or a clamping groove, the second clamping portion 311 can be the other one of the clamping block or the clamping groove, the clamping block can be clamped in the clamping groove and does not rotate relatively, and then the adjusting shaft 20 and the camera do not rotate relatively. Similarly, the third clamping portion 1221 can be one of a clamping block or a clamping groove, the fourth clamping portion 312 can be the other one of the clamping block or the clamping groove, the clamping block can be clamped in the clamping groove and does not rotate relatively, and then the second shaft segment 122 and the camera do not rotate relatively. In this way, the camera assembly 30 can be connected to the positioning shaft 12 and the adjusting shaft 20, and the adjusting shaft 20 can also avoid penetrating through the camera assembly 30, reducing the influence of the adjusting shaft 20 on the camera assembly 30.

[0068] The adjusting shaft 20 can further include a limiting portion 23 fixed on the rod portion 22. The limiting portion 23 can cooperate with the coaxial seat 40, specifically, the limiting portion 23 abuts against one side of the coaxial seat 40 facing the camera assembly 30, so as to keep the position of the adjusting shaft 20 and the camera assembly 30 relatively unchanged. It can be understood that, if the limiting portion 23 is not arranged, the adjusting shaft 20 is easy to be separated from the camera assembly 30, which affects the reliability of the connection between the adjusting shaft 20 and the camera assembly 30.

[0069] Please continue to refer to Figure 13 , specifically, the limiting portion 23 can include a ring portion 231 and a circular truncated cone portion 232 located at one end of the ring portion 231, and the ring portion 231 and the circular truncated cone portion 232 are sleeved on the rod portion 22. The coaxial seat 40 is provided with a coaxial hole 41 penetrating through the coaxial seat 40, and the coaxial hole 41 includes a first hole portion 411 and a second hole portion 412 in communication, wherein the diameter of the first hole portion 411 corresponds to the diameter of the rod portion 22, and the shape of the second hole portion 412 corresponds to the shape of the circular truncated cone portion 232. The rod portion 22 is arranged in the first hole portion 411; the circular truncated cone portion 232 is arranged in the second hole portion 412, which is used to limit the relative position of the camera assembly and the adjusting shaft 20 on one hand, and prevent the camera assembly 30 from being separated from the adjusting shaft 20 and the positioning shaft 12 on the other hand, and on the other hand, the coaxiality of the adjusting shaft 20 and the positioning shaft 12 can be improved.

[0070] In other embodiments, the adjusting shaft 20 can be fixedly connected with the second shaft segment 122 of the positioning shaft 12. The camera assembly 30 can be directly fixed on the adjusting shaft 20 and can rotate with the adjusting shaft 20.

[0071] Please continue to refer to Figure 12 and Figure 13 , the camera assembly 30 can include a support 31 and a camera structure 32, and the camera structure 32 is fixed on the support 31, and the support 31 is used to support and protect the camera structure 32. The second clamping portion 311 and the fourth clamping portion 312 are arranged on the support 31 and located on the surfaces of the support 31 opposite to each other. In the embodiment, the second clamping portion 311 and the fourth clamping portion 312 are both clamping block structures, and correspondingly, the first clamping portion 221 and the third clamping portion 1221 are both clamping groove structures. In other embodiments, the structures of the second clamping portion 311 and the fourth clamping portion 312 can also be clamping groove structures, or the second clamping portion 311 and the fourth clamping portion 312 are one of clamping blocks and clamping grooves, which is not limited here.

[0072] Please refer to Figure 10 and Figure 11In this embodiment, there are two camera components 30, and correspondingly, there are two adjustment and positioning components 10, two adjustment shafts 20, and two coaxial seats 40. Each camera component 30 is sandwiched between an adjustment shaft 20 and an adjustment and positioning component 10, so that each camera component 30 is independent and does not affect the others. Specifically, the two camera components 30 are a trajectory camera and a depth camera, respectively. In other embodiments, the number of camera components 30 can also be three, four, or five, and no specific limitation is made here.

[0073] Please refer to Figure 3 , Figure 4 and Figure 14 , Figure 14 yes Figure 11 The diagram shows a cross-sectional view of the camera mechanism along the DD direction. The housing assembly 50 may include a first housing 51 and a second housing 52 that are sealed together, with the accommodating space 501 enclosed by the first housing 51 and the second housing 52. The housing assembly 50 also has an adjustment hole 502, with the end of the adjustment shaft 20 away from the second shaft segment 122, i.e., the knob portion 21, passing through the adjustment hole 502. The adjustment shaft 20 is used to adjust the rotation angle of the camera assembly 30. The first housing 51 has a viewing window area 510, and the positioning seat 11 and coaxial seat 40 are respectively fixed to the second housing 52, with the camera assembly 30 positioned corresponding to the viewing window area 510.

[0074] Specifically, the first housing 51 includes a first substrate 511 and a first side edge 512 extending from the edge of the first substrate 511, and the second housing 52 includes a second substrate 521 and a second side edge 522 extending from the edge of the second substrate 521. The edge of the first side edge 512 away from the first substrate 511 abuts against the edge of the second side edge 522 away from the second substrate 521, thereby achieving a sealed connection between the first housing 51 and the second housing 52.

[0075] In this embodiment, a first latch 5121 is provided on the first side edge 512, and an adjustment hole 502 is formed by the first latch 5121 and the second side edge 522. The adjustment shaft 20 is held in the adjustment hole 502 so that it can pass through the adjustment hole 502. This arrangement facilitates the installation and fixation of the adjustment shaft 20. In other embodiments, a second latch 5221 is provided on the second side edge 522, and an adjustment hole 502 is formed by the second latch 5221 and the first side edge 512. The adjustment shaft 20 is held in the adjustment hole 502 so that it can pass through the adjustment hole 502. This arrangement also facilitates the installation and fixation of the adjustment shaft 20. In another embodiment, a first latch 5121 is provided on the first side edge 512, and a second latch 5221 corresponding to the first latch 5121 is provided on the second side edge 522. The adjustment hole 502 is formed by splicing the first latch 5121 and the second latch 5221. This arrangement facilitates the installation and fixation of the adjustment shaft 20.

[0076] The first substrate 511 is provided with a window area 510 for allowing the camera assembly 30 accommodated in the accommodating space 501 to collect light passing through the window area 510. The window area 510 can be a light-transmissive area on the first substrate 511, or a light-transmissive hole provided on the first substrate 511, which is not limited herein.

[0077] The second substrate 521 is provided with the adjusting and positioning assembly 10 and the coaxial seat 40. Specifically, the positioning seat 11 and the fixing seat 14 in the adjusting and positioning assembly 10 are fixed on the second substrate 521, so as to realize the fixed connection between the adjusting and positioning assembly 10 and the second housing 52. The coaxial seat 40 is fixed on the second substrate 521, so that the adjusting shaft 20 is coaxially arranged with the positioning shaft 12 in the adjusting and positioning assembly 10. The camera assembly 30 is located between the positioning shaft 12 in the adjusting and positioning assembly 10 and the adjusting shaft 20, and can rotate with the adjusting shaft 20, so as to adjust the angle of the camera assembly 30 relative to the window area 510.

[0078] In the embodiment, the first housing 51 further comprises a limiting plate 513 vertically arranged on the first substrate 511, which is arranged adjacent to the camera assembly 30 and used to limit the rotation angle of the camera assembly 30, so as to avoid the loss of the field of view of the camera assembly 30. In other embodiments, the second substrate 521 is provided with a limiting plate 513 vertically arranged thereon, which is arranged adjacent to the camera assembly 30 and used to limit the rotation angle of the camera assembly 30; or the first substrate 511 and the second substrate 521 are both provided with a limiting plate 513, which is used to limit the rotation angle of the camera assembly 30.

[0079] The camera mechanism 100 provided by the embodiment of the present application can realize the rotation of the camera assembly 30 with the adjusting shaft 20 by arranging the camera assembly 30 on the adjusting and positioning assembly 10 and the adjusting shaft 20. Meanwhile, an opposite force is applied to one end of the knob part 21 of the adjusting shaft 20 towards the positioning shaft 12, that is, an opposite force is applied to one end of the second shaft segment 122 away from the first shaft segment 121 towards the first shaft segment 121, so as to facilitate the rotation of the positioning shaft 12 relative to the positioning seat 11, and further facilitate the rotation of the camera assembly 30. When the camera assembly 30 is rotated to a preset position, the opposite force applied to the knob part 21 is cancelled, that is, the opposite force applied to one end of the second shaft segment 122 away from the first shaft segment 121 towards the first shaft segment 121 is cancelled. The friction between the positioning shaft 12 and the positioning seat 11 becomes larger, so as to prevent the rotation of the positioning shaft 12 relative to the positioning seat 11, thereby improving the reliability of the positioning of the positioning shaft 12 and the camera assembly 30.

[0080] Please refer to Figures 15 to 17 , Figure 15 isFigure 2 a perspective view of the radar mechanism shown, Figure 16 Figure 15 an exploded view of the radar mechanism shown, Figure 17 Figure 15 a perspective view of the radar mechanism shown from another angle. The radar mechanism 200 comprises a radar body 201, a base 202, a protective frame 203 and a connecting piece 204, the radar body 201 is fixed on the base 202, the protective frame 203 covers the radar body 201 and is fixed on the base 202, the protective frame 203 and the base 202 enclose a protection space for accommodating the radar body 201, so as to prevent the robot 1000 from colliding and damaging the radar mechanism 200. The connecting piece 204 is fixed on the base 202 and is fixedly connected with the connecting mechanism 300, so as to realize the fixed connection between the radar mechanism 200 and the connecting mechanism 300.

[0081] The surface of the radar body 201 facing the base 202 is provided with a first positioning structure (not shown in the figure), which cooperates with the base 202 to realize the quick alignment of the radar body 201 and the base 202. The surface of the radar body 201 facing the base 202 can also be provided with a first fixing hole (not shown in the figure), and a fixing piece passes through the base 202 and the first fixing hole to realize the fixed connection between the base 202 and the radar body 201.

[0082] The base 202 can be provided with a second positioning structure 2021 corresponding to the first positioning structure, which cooperates with the first positioning structure to quickly align the base 202 and the radar body 201. Optionally, the first positioning structure is one of a positioning column or a positioning hole, and the second positioning structure is the other one of the positioning column or the positioning hole, which cooperates with the positioning column or the positioning hole to quickly align the base 202 and the radar body 201.

[0083] The base 202 can also be provided with a second fixing hole 2022 corresponding to the first fixing hole, and a fixing piece such as a screw passes through the corresponding second fixing hole 2022 and the first fixing hole to realize the fixed connection between the base 202 and the radar body 201.

[0084] ​​The base 202 can further be provided with a fixing groove 2023 and a third fixing hole 2024 penetrating through the fixing groove 2023. The fixing groove 2023 is used for clamping one end of the protection frame 203, and a fixing member such as a screw passes through the third fixing hole 2024 and the protection frame 203 accommodated in the fixing groove 2023, so as to realize the fixed connection between the base 202 and the protection frame 203. Specifically, the base 202 includes a bottom plate 202a and a plurality of end plates 202b extending from the edges of the bottom plate 202a. The end plates 202b are located on the same plane as the bottom plate 202a. The radar body 201 is fixed to the bottom plate 202a. The fixing groove 2023 is located on the surface of the end plate 202b facing the radar body 201. The third fixing hole 2024 is formed in the end plate 202b, and the axis of the third fixing hole 2024 is perpendicular to the thickness direction of the end plate 202b.

[0085] The base 202 can further be provided with a mounting groove 2025 and a fourth fixing hole 2026 penetrating through the mounting groove 2025. The mounting groove 2025 is used for clamping one end of the connecting member 204, and a fixing member such as a screw passes through the fourth fixing hole 2026 and the connecting member 204 accommodated in the mounting groove 2025, so as to realize the fixed connection between the connecting frame member and the base 202. Specifically, the mounting groove 2025 is located on the surface of the bottom plate 202a away from the radar body 201 and at the edge of the bottom plate 202a. The fourth fixing hole 2026 is formed in the bottom plate 202a, and the axis of the fourth fixing hole 2026 is perpendicular to the thickness direction of the bottom plate 202a.

[0086] The protection frame 203 can include a plurality of columns 2031 and a top portion 2032 connecting the plurality of columns 2031. Each column 2031 is provided with a first through hole 2033 corresponding to the third fixing hole 2024 at the end away from the top portion 2032. Each column 2031 is clamped in the fixing groove 2023, and a fixing member such as a screw passes through the corresponding third fixing hole 2024 and the first through hole 2033, so as to realize the fixed connection between the protection frame 203 and the base 202. In this embodiment, the top portion 2032 includes a first top rod 2032a and a second top rod 2032b connected perpendicularly. The number of columns 2031 is four, and the four columns 2031 are respectively located at the two ends of the first top rod 2032a and the second top rod 2032b. In this way, the radar body 201 can be fully protected from being bumped, and the influence of the protection frame 203 on the signal of the radar body 201 can be reduced, and the raw materials can be saved. In other embodiments, the top portion 2032 can be a flat plate structure, and the number of columns 2031 can be three, five, etc., which is not limited here.

[0087] Please refer to Figure 18 , Figure 18 is Figure 2A perspective view of the connection mechanism is shown. The connection member 204 can include a connecting portion 2041, and a clamping portion 2042 and a plug-in portion 2043 located at both ends of the connecting portion 2041, respectively, wherein the clamping portion 2042 and the connecting portion 2041 are substantially "T" shaped. The plug-in portion 2043 and the connecting portion 2041 of the connection member 204 can pass through the connection mechanism 300, wherein the plug-in portion 2043 can be clamped in the mounting groove 2025, and the clamping portion 2042 is located on the side of the connection mechanism 300 away from the base 202, thereby realizing the fixed connection of the connection mechanism 300 and the radar mechanism 200.

[0088] Specifically, the plug-in portion 2043 is provided with a second through hole 2044 corresponding to the fourth fixing hole 2026, and a fixing member such as a screw passes through the corresponding fourth fixing hole 2026 and the second through hole 2044, realizing the fixed connection of the connection member 204 and the base 202. The clamping portion 2042 is provided with a clamping wire slot 2045 on one side of the connecting portion 2041, which is used to fix the internal wiring of the robot 1000.

[0089] The connection mechanism 300 includes a first support plate 301 and a second support plate 302 arranged in a spaced relationship, and a buffer member 303 located between the first support plate 301 and the second support plate 302, thereby realizing the buffer connection of the first support plate 301 and the second support plate 302. Wherein the buffer member 303 is fixedly connected with the camera mechanism 100, realizing the elastic connection of the connection mechanism 300 and the camera mechanism 100; the first support plate 301 is fixedly connected with the radar mechanism 200, realizing the elastic connection of the second support plate 302 and the trunk mechanism 400. Wherein, the second support plate 302 is fixedly connected with the top surface 401 of the trunk mechanism 400. In this embodiment, the buffer member 303 can be an elastic material such as rubber which can be deformed.

[0090] Specifically, the first support plate 301 is provided with a through hole 3011, wherein the shape of the through hole 3011 corresponds to the cross-sectional shape of the connecting portion 2041 in the connecting portion 2041, so that the connecting portion 2041 can pass through the through hole 3011 and be clamped in the through hole 3011. Wherein, the clamping portion 2042 is clamped between the first support plate 301 and the second support plate 302, thereby realizing the fixed connection of the connection member 204 and the connection mechanism 300.

[0091] Specifically, the first connecting hole 3031 is formed through the buffer member 303, the first matching hole 3012 is formed on the first support plate 301 corresponding to the first connecting hole 3031, the second matching hole 3021 is formed on the second support plate 302 corresponding to the first connecting hole 3031, and the fixing member such as a screw is sequentially arranged in the first matching hole 3012, the first connecting hole 3031 and the second matching hole 3021, thereby achieving the elastic connection of the first support plate 301, the buffer member 303 and the second support plate 302.

[0092] The second connecting hole 3032 is also formed on the buffer member 303, the axis of the second connecting hole 3032 is perpendicular to the axis of the first connecting hole 3031, and the second connecting hole 3032 is arranged in a staggered manner with the first connecting hole 3031. The fixing member passes through the shell assembly 50 and the second connecting hole 3032, thereby achieving the elastic connection of the shell assembly 50 and the connecting mechanism 300. Specifically, the third matching hole (not shown in the figure) corresponding to the second connecting hole 3032 is formed on the second shell 52, and the fixing member such as a screw is sequentially arranged in the third matching hole and the second connecting hole 3032, thereby achieving the elastic connection of the shell assembly 50 and the connecting mechanism 300.

[0093] The trunk mechanism 400 can be provided with a processor, a battery, an engine and the like, wherein the processor can be used to receive information collected by the radar mechanism 200 and the camera mechanism 100, the battery is used to provide power for the radar mechanism 200, the camera and the engine, and the engine is used to provide power for the limb mechanism.

[0094] The robot 1000 can also include the connecting wire 600. One end of the connecting wire 600 is arranged on the camera mechanism 100, and the other end is electrically connected with the trunk mechanism 400. Specifically, the wire is located between the first support plate 301 and the second support plate 302 and is clamped in the wire clamping groove 2045 of the clamping portion 2042. In this way, the connecting wire 600 can be fixed and hidden in the connecting mechanism 300, so that the robot 1000 is overall beautiful and tidy.

[0095] The above only describes some embodiments of the present application, and does not limit the protection scope of the present application, and any equivalent device or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An adjustment positioning assembly, characterized by, The application relates to a positioning assembly, which comprises: a positioning base, wherein a stepped hole is formed in the positioning base and extends through the positioning base, the stepped hole comprises coaxially arranged first and second shaft holes, the first shaft hole has a first contact surface, and the second shaft hole is formed on the first contact surface; a positioning shaft, wherein the positioning shaft comprises coaxially arranged first and second shaft sections, the first shaft section is arranged in the first shaft hole, the second shaft section is arranged in the second shaft hole, the first shaft section has a second contact surface, the second contact surface can be attached to the first contact surface and can prevent the first shaft section from being arranged in the second shaft hole; and a resilient member, which is arranged at one end of the first shaft section away from the second shaft section, is used for attaching the second contact surface to the first contact surface, and can apply a counterforce overcoming the elastic force of the resilient member to the positioning shaft when the positioning shaft needs to be rotated relative to the positioning base; and a fixing base, which is arranged at one end of the resilient member away from the first shaft section, is used for arranging the resilient member in a compressed state; wherein a first accommodating cavity is formed at one end of the first shaft section away from the second shaft section, a second accommodating cavity is formed at one end of the fixing base connected to the resilient member, and the two ends of the resilient member are accommodated in the first and second accommodating cavities respectively; the first shaft hole comprises coaxially arranged main and transition holes, the diameter of the transition hole gradually decreases from the main hole to the second shaft hole, the first shaft section comprises a main shaft and a transition shaft, the diameter of the transition shaft gradually decreases from the main shaft to the second shaft section, the main shaft is arranged in the main hole, and the transition shaft is accommodated in the transition hole; the inner wall surface of the transition hole is the first contact surface, and the outer surface of the transition shaft is the second contact surface, and the first contact surface can be attached to the second contact surface; the transition shaft is in the shape of a circular truncated cone or a spherical segment, and the transition hole is in a shape corresponding to the transition shaft; the first contact surface and / or the second contact surface are roughened to increase the friction coefficient between the first contact surface and the second contact surface.

2. The adjustment positioning assembly of claim 1, wherein, The first and second shaft holes are cylindrical holes, the diameter of the first shaft hole is larger than that of the second shaft hole, the first and second shaft sections are in the shape of a cylinder, the diameter of the first shaft section is larger than that of the second shaft section, the surface of the first shaft hole connected to the second shaft hole is the first contact surface, the surface of the first shaft section connected to the second shaft section is the second contact surface, and the first contact surface can be attached to the second contact surface.

3. The adjustment positioning assembly of claim 1, wherein, A fixing rib is arranged on the first contact surface and / or the second contact surface.

4. A camera mechanism characterized by comprising: The application further relates to an adjusting positioning assembly, which comprises: the adjusting positioning assembly according to any one of claims 1-3; an adjusting shaft, which is coaxially arranged with the second shaft section and can rotate with the positioning shaft; and a camera assembly, which is fixed on the adjusting shaft and can rotate with the adjusting shaft. ​ 5. The camera mechanism of claim 4, wherein, The camera mechanism further comprises a housing assembly having a receiving space and an adjusting hole, the adjusting positioning assembly, the adjusting shaft and the camera assembly are received in the receiving space, and an end of the adjusting shaft away from the second shaft section is arranged in the adjusting hole, and the adjusting shaft is used to adjust the rotation angle of the camera assembly.

6. The camera mechanism of claim 5, wherein, The camera mechanism further comprises a coaxial seat provided with a rotating hole; the coaxial seat is received in the receiving space, and an end of the adjusting shaft away from the second shaft section is arranged in the second shaft hole.

7. The camera mechanism of claim 6, wherein, The housing assembly comprises a first housing and a second housing in sealing fit, the receiving space is surrounded by the first housing and the second housing; the first housing is provided with a window area, the adjusting positioning assembly and the coaxial seat are respectively fixed on the second housing, and the camera assembly is arranged corresponding to the window area.

8. The camera mechanism of claim 7, wherein, The first housing and / or the second housing is provided with a limiting plate, and the limiting plate is used to limit the rotation angle of the camera assembly.

9. A robot, characterized in that Comprise: The camera mechanism according to any one of claims 4-8; The radar mechanism; And The connecting mechanism elastically connects and fixes the camera mechanism and the radar mechanism respectively.

10. The robot of claim 9, wherein, The radar mechanism comprises a radar body, a base and a protection frame, the radar body is fixed on the base, and the protection frame covers the radar body and is fixedly connected with the base.

11. The robot of claim 9, wherein, The connecting mechanism comprises first and second support plates arranged in spaced relation and a buffer between the first and second support plates; the buffer is connected and fixed with the camera mechanism, and the first support plate is fixedly connected with the radar mechanism.

12. The robot of claim 11, wherein, The robot further comprises a trunk mechanism comprising a top surface and an end surface connected with the top surface, the camera mechanism abuts against the end surface, and the second support plate is fixedly connected with the top surface.

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