Intelligent robot

Abstract

The application provides an intelligent robot, comprising a plurality of connecting arms and a plurality of driving members; each driving member comprises a casing and an output end casing, the driving member has an output shaft, and the casing is provided with a plurality of mounting lugs; each connecting arm comprises a first connecting part, a second connecting part and a rotating inner support; the first connecting part comprises a first sleeve and a first side wall; the second connecting part comprises a sleeve cover part and a second side wall; two driving members are fixed by rotating the rotating inner support, the output end casing of the first driving member is fixedly clamped in the first sleeve, and the opposite two mounting lugs of the second driving member are clamped between the rotating support and the first side wall respectively. The technical scheme of the application aims to solve the problems that the existing building block teaching aid has complex structure, consumes long time, cannot enable students to understand the scientific and technological functions such as control and automatic driving in limited classroom time, and is not suitable for cultivating the scientific interest of primary and secondary school students.

Description

Technical Field

[0001] This application belongs to the field of intelligent robot technology. Background Technology

[0002] In today's rapidly developing technological world, talent cultivation is of paramount importance. Correspondingly, guiding and inspiring the scientific and technological interests of primary, secondary, and university students in the education system is particularly crucial. This is especially true for primary and secondary school students, whose interests are still in their nascent stage; proper and beneficial guidance and inspiration are essential for cultivating these interests.

[0003] Currently, science and technology education for primary and secondary school students primarily relies on classroom learning. Teachers first explain scientific and technological knowledge to students, who then engage in theoretical understanding. This is a typical classroom-based teaching method that clearly lacks hands-on practice. Faced with dry and uninteresting textbooks and difficult and obscure scientific and technological knowledge, students inevitably feel intimidated, making it difficult to cultivate a strong interest in science and technology.

[0004] Even if some schools or summer camps include hands-on activities in their teaching, the building blocks they use are often complex and time-consuming to assemble. In the limited class time, students cannot understand the technological functions such as control and autonomous driving, making them unsuitable for teaching that aims to cultivate scientific interest in primary and secondary school students. Summary of the Invention

[0005] The purpose of this application is to provide an intelligent robot that addresses the problems of existing building block-based teaching aids, which are complex in structure, time-consuming to build, and unable to enable students to understand control, autonomous driving and other technological functions within the limited class time, thus being unsuitable for cultivating scientific interest in primary and secondary school students.

[0006] To achieve the above objectives, the technical solution adopted in this application is: an intelligent robot, comprising: multiple connecting arms and multiple driving components;

[0007] Each driving component includes a housing and an output end housing. The driving component has an output shaft. The output end housing is rotatably mounted on the output shaft relative to the housing. The output end housing rotates synchronously with the output shaft. The end of the housing opposite to the output end housing is provided with multiple mounting lugs. The multiple mounting lugs are arranged circumferentially around the central axis of the housing.

[0008] Each connecting arm includes a first connecting part, a second connecting part, and a rotating inner support. The first connecting part includes a first sleeve and a first side wall, with the first side wall connected to the first sleeve. The second connecting part includes a cylinder cover and a second side wall, with the second side wall connected to the cylinder cover. The cylinder cover fits onto the first sleeve, and the first sleeve and the cylinder cover cooperate to fix the first driving component. The rotating inner support is rotatably engaged between the first sleeve and the cylinder cover, with the first side wall and the second side wall connected relative to each other.

[0009] Specifically, by rotating the inner bracket to fix the two driving components, the output end shell of the first driving component is fixedly engaged in the first sleeve, while the two opposite mounting lugs of the second driving component are respectively engaged between the rotating bracket and the first side wall.

[0010] In one embodiment, the first sidewall and the second sidewall are connected to form a first clearance opening and a second clearance opening opposite to each other. The first sidewall is provided with a first mounting through hole at the position opposite to the first sleeve. The rotating inner support includes a second sleeve and a bending frame. Both ends of the bending frame are connected to the second sleeve. The second sleeve is rotatably engaged between the first sleeve and the sleeve cover. The bending frame can rotate through the first clearance opening or the second clearance opening. The bending frame is provided with a second mounting through hole at the position opposite to the second sleeve. The two mounting lugs of the second drive member are respectively inserted into the first mounting through hole and the second mounting through hole.

[0011] In one embodiment, the curved frame is shaped into a racetrack profile, and the curved frame smoothly transitions toward the outer wall of the first mounting through hole.

[0012] In one embodiment, the outer wall of the curved frame facing the first mounting through hole is provided with a recessed groove, and the extending direction of the recessed groove is consistent with the extending direction of the curved frame.

[0013] In one embodiment, the output end of any drive unit away from the housing is provided with multiple insertion ports and corresponding slots; the end of the first sleeve facing the cover is provided with multiple notches at intervals, the cover is closed to form a sliding guide groove, the inner wall of the second sleeve is provided with multiple locking protrusions, each locking protrusion is located in the notch and slides in the sliding guide groove, the periphery of the cover is provided with a stop protrusion, the locking protrusion and the stop protrusion are spaced apart; when the first drive unit is installed on the first sleeve, the locking protrusion slides into the slot from the insertion port, and the locking protrusion and the stop protrusion clamp and fix one side of the slot wall.

[0014] In one embodiment, there are two notches, which are symmetrically arranged with respect to the central axis of the first sleeve, and there are two locking protrusions, which are symmetrically arranged with respect to the central axis of the second sleeve.

[0015] In one embodiment, the intelligent robot further includes a wheel, which includes a support shell and a rotating end cap. The support shell has a receiving space, and the inner wall of the receiving space has a plurality of cantilever arms arranged circumferentially and stepped surfaces that correspond one-to-one with and are spaced apart from the cantilever arms. An assembly opening is formed between the free end of the cantilever arm and the stepped surface. The inner side wall of the rotating end cap has a plurality of radially extending lugs, each lug corresponding one-to-one with the assembly opening, and each lug enters between the cantilever arm and the stepped surface from the corresponding assembly opening. The wheel is connected to the output end shell of the second drive unit, wherein each lug slides into the slot from the corresponding insertion port, and the lugs and cantilever arms clamp and fix one side wall of the slot.

[0016] In one embodiment, the side of each clasp facing the cantilever is configured as a curved surface convex toward the cantilever.

[0017] In one embodiment, the side of each clasp facing the cantilever is configured as a bidirectional wedge-shaped surface formed by splicing two planes with opposite inclination directions.

[0018] In one embodiment, the intelligent robot further includes: a vehicle frame, with multiple first insertion slots on both sides of the bottom of the vehicle frame along the length direction of the intelligent robot; a bottom cover, connected to the bottom of the vehicle frame, with multiple second insertion slots on both sides along the length direction, the second insertion slots corresponding one-to-one with the first insertion slots; two opposite mounting lugs of the first drive member are respectively inserted into the first insertion slots and the second insertion slots, and the bottom cover and the vehicle frame clamp and fix the housing.

[0019] This application has at least the following beneficial effects:

[0020] This application provides an intelligent robot and its powertrain, which comprises drive components and a connecting arm. Students can quickly assemble the two drive components into the powertrain using the connecting arm. The process is simple and easy to understand, making learning fun and fostering a strong scientific interest in students. Furthermore, by assembling the powertrain using the connecting arm and drive components, students can understand the structural design of the connecting arm, gain a deeper understanding of the structural assembly relationship between the first connecting part, the second connecting part, and the rotating inner support, and explore how these components work together with the drive components to fix them in place. This approach guides students from simple to complex, cultivating their understanding and desire for scientific knowledge, and ultimately fostering a strong scientific interest. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the assembly structure of the wheel assembly structure formed by connecting arms in the intelligent robot of this application embodiment;

[0023] Figure 2 This is an exploded view of the wheel assembly structure formed by connecting arms in the intelligent robot of this application embodiment;

[0024] Figure 3 This is a schematic diagram of the assembly structure of the connecting arm in the intelligent robot according to an embodiment of this application;

[0025] Figure 4 This is an exploded view of the connecting arm in the intelligent robot according to an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the assembly structure of the drive component in the intelligent robot according to an embodiment of this application. Figure 1 ;

[0027] Figure 6 This is a schematic diagram of the assembly structure of the drive component in the intelligent robot according to an embodiment of this application. Figure 2 ;

[0028] Figure 7 This is an exploded view of the wheels and drive components in the intelligent robot according to an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of the assembly structure of the intelligent robot in this application, which uses a four-wheel structure to form a walking system.

[0030] Figure 9 This is a partially exploded schematic diagram of the intelligent robot in this application, which uses a four-wheel structure to form a walking system.

[0031] Figure 10 This embodiment of the application shows an assembly structure of an intelligent robot using wheels and drive components to form a walking system. Figure 1 ;

[0032] Figure 11 This is an exploded view of the intelligent robot in this application, showing the walking system assembled from wheels and drive components. Figure 1 ;

[0033] Figure 12This embodiment of the application shows an assembly structure of an intelligent robot using wheels and drive components to form a walking system. Figure 2 ;

[0034] Figure 13 This is an exploded view of the intelligent robot in this application, showing the walking system assembled from wheels and drive components. Figure 2 ;

[0035] Figure 14 for Figure 13 Enlarged view of point A in the middle;

[0036] Figure 15 This is a schematic diagram of the assembly structure of the expandable robotic arm and adapter used in the intelligent robot of this application embodiment;

[0037] Figure 16 This is an exploded view of the scalable robotic arm and adapter used in the intelligent robot of this application embodiment;

[0038] Figure 17 This is a schematic diagram of the assembly structure of the head segment of the expandable robotic arm used in the intelligent robot of this application embodiment;

[0039] Figure 18 This is an exploded view of the head segment of the scalable robotic arm used in the intelligent robot of this application embodiment;

[0040] Figure 19 This is a schematic diagram of the assembly structure of the tail end structure of the scalable robotic arm used in the intelligent robot of this application embodiment;

[0041] Figure 20 This is an exploded view of the tail end structure of the scalable robotic arm used in an embodiment of this application. Detailed Implementation

[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0043] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] like Figure 1 , Figure 2 , Figures 8 to 13 As shown, the intelligent robot in this embodiment employs a wheeled walking system. Preferably, the wheeled walking system includes four wheel sets 10, such as... Figure 1 and Figure 8 As shown, the four wheel sets 10 have the same structure, and each wheel set 10 has an independent adjustment function. The adjustment function includes the lifting function to raise or lower the overall height of the intelligent vehicle and the speed adjustment function to independently adjust the rotation speed of the wheels 11.

[0047] like Figure 1 and Figure 2 As shown, each wheel assembly structure 10 includes a wheel 11, a connecting arm 12, and two drive members 13. The connecting arm 12 serves as a support and mounting carrier for the wheel assembly structure 10. One drive member 13 is mounted on the first end of the connecting arm 12, and the other drive member 13 and the wheel 11 are detachably assembled to form a drive wheel module.

[0048] like Figures 2 to 4As shown, the connecting arm 12 includes a first connecting part 121, a second connecting part 122, and a rotating inner support 123.

[0049] like Figure 4 As shown, the first connecting portion 121 includes a first sleeve 1211 and a first sidewall 1212. The two ends of the first sidewall 1212 are connected to the first sleeve 1211 to form a first connecting portion 121 with a racetrack-shaped outline (the outline of the first sidewall 1212 is half a racetrack-shaped). The first sleeve 1211 is located at the first end of the first connecting portion 121, and the first sidewall 1212 forms the second end of the first connecting portion 121 opposite to the first sleeve 1211. Figure 2 and Figure 4 As shown, the first sleeve 1211 has multiple notches 1213 that are circumferentially spaced around the central axis of the first sleeve 1211, and, as Figure 3 and Figure 4 As shown, a first mounting through hole 1214 is provided on the first sidewall 1212, which is the second end of the first connecting part 121.

[0050] like Figure 4 As shown, the second connecting portion 122 includes a cap portion 1221 corresponding to the first sleeve 1211 and a second sidewall 1222. The two ends of the second sidewall 1222 are connected to the cap portion 1221, forming a runway-shaped second connecting portion 122 that matches the half-runway shape of the first sidewall 1212. The cap portion 1221 is provided with hooks 1223 corresponding to a plurality of latches 1213. The cap portion 1221 fits snugly onto the first sleeve 1211, and each hook 1223 engages in its corresponding latch 1213. Specifically, the periphery of the cap portion 1221 is provided with a stop protrusion 1224, and the end of the first sleeve 1211 facing the cap portion 1221 is provided with a plurality of notches 1215 spaced apart, such as... Figure 2 and Figure 4 As shown, after the cap portion 1221 is fitted onto the first sleeve 1211, the notch 1215 and the cap portion 1221 form a sliding guide groove. Specifically, the first sleeve 1211 has two symmetrical notches 1215 at its end. When the cap portion 1221 is fitted onto the first sleeve 1211, the second sidewall 1222 simultaneously mates with the first sidewall 1212 and is fixed together by screws. Figure 3 As shown, after the first sidewall 1212 and the second sidewall 1222 are joined together, two opposing first clearance openings 1231 and second clearance openings 1232 are formed, and the first mounting through hole 1214 is located on the second sidewall 1222 between the first clearance opening 1231 and the second clearance opening 1232.

[0051] like Figure 4As shown, the rotating inner support 123 includes a second sleeve 1233 and a curved frame 1234. The two ends of the curved frame 1234 are connected to the second sleeve 1233 to form a racetrack-shaped rotating inner support 123. The second sleeve 1233 is located at the first end of the rotating inner support 123, and the curved frame 1234 forms the second end of the rotating inner support 123 opposite to the second sleeve 1233. The second sleeve 1233 is rotatably sleeved on the first sleeve 1211, and the inner wall of the second sleeve 1233 is provided with a plurality of locking protrusions 1235, each locking protrusion 1235 being located in a notch 1215 in a one-to-one correspondence, and the corresponding second sleeve 1233 is provided with two opposing locking protrusions 1235. Then the second connecting part 122 is covered and connected to the first connecting part 121. At this time, the second sleeve 1233 is blocked by the sleeve cover part 1221 and cannot be separated from the first sleeve 1211. The locking protrusion 1235 and the stop protrusion 1224 are spaced apart.

[0052] After the second connecting part 122 is closed and connected to the first connecting part 121, during the rotation of the inner support 123 around the central axis of the first sleeve 1211, the bent frame 1234 can pass through the first clearance opening 1231 and the second clearance opening 1232, and the locking protrusion 1235 can slide in the sliding guide groove. When the bent frame 1234 is located in the space between the first clearance opening 1231 and the second clearance opening 1232, the locking protrusion 1235 is located in the middle position of the notch 1215. That is to say, at this time, the bent frame 1234 can rotate towards the first clearance opening 1231 and pass through the first clearance opening 1231, and it can also rotate towards the second clearance opening 1232 and pass through the second clearance opening 1232. A second mounting through hole 1236 is provided on the curved frame 1234, which serves as the second end of the rotating inner support 123. When the curved frame 1234 is located in the space between the first clearance opening 1231 and the second clearance opening 1232, the second mounting through hole 1236 and the first mounting through hole 1214 are directly opposite each other and are spaced apart. Furthermore, a recessed groove 1237 is formed on the outer wall of the curved frame 1234, which serves as the second end of the rotating inner support 123, facing the first mounting through hole 1214. The extending direction of the recessed groove 1237 is consistent with the extending direction of the curved frame 1234.

[0053] like Figure 5 and Figure 6As shown, the drive component 13 includes a first housing 131, a second housing 132, an output end housing 133, and internal components (not shown; these generally include a circuit board, drive motor, reduction mechanism, and output shaft, etc., which are basically the same as the internal components of existing servos, and therefore will not be described in detail). The first housing 131 and the second housing 132 are mutually covered and fixed to form an assembly internal space (the first housing 131, the second housing 132, and the housing). Specifically, the first housing 131 and the second housing 132 are fixedly connected by multiple screws, and the internal components are installed in the assembly internal space. The output end housing 133 is installed on the output shaft of the internal components, and the output end housing 133 and the output shaft rotate synchronously, that is, the output end housing 133 rotates relative to the first housing 131 and the second housing 132. Specifically, the output shaft of the internal components extends from the end of the second housing 132 away from the first housing 131, and the corresponding output end housing 133 is located at the end of the second housing 132 away from the first housing 131. Furthermore, the first housing 131 is provided with a plurality of mounting lugs 1311, which are arranged circumferentially and evenly spaced around the central axis of the first housing 131. Preferably, the first housing 131 is provided with two opposing mounting lugs 1311 (i.e., two mounting lugs 1311 are symmetrically arranged with respect to the central axis of the first housing 131). Each mounting lug 1311 is hollow, allowing the cables of the internal components to be routed through the hollow mounting lugs 1311. Alternatively, a fixed plug-in terminal can be installed in the hollow mounting lug 1311, and then the cables of the internal components can be routed to the plug-in terminal for electrical connection. The output housing 133 has a plurality of insertion ports 1331 arranged circumferentially spaced around the central axis of the output housing 133, and corresponding slots 1332 communicating with each insertion port 1331 on its side wall opposite to the first housing 131. Preferably, the output end housing 133 is provided with two oppositely arranged insertion ports 1331 and two corresponding card slots 1332.

[0054] like Figure 1 and Figure 2 As shown, two drive members 13 are assembled onto the connecting arm 12, with one drive member 13 mounted at the first end of the connecting arm 12 and the other drive member 13 mounted at the second end of the connecting arm 12. The first end of the connecting arm 12 is formed by the first end of the first connecting portion 121, the first end of the second connecting portion 122, and the first end of the rotating inner support 123; and the second end of the connecting arm 12 is formed by the second end of the first connecting portion 121, the second end of the second connecting portion 122, and the second end of the rotating inner support 123.

[0055] like Figure 1 and Figure 2As shown, when installing one of the drive components 13 to the first end of the connecting arm 12, specifically, the output end shell 133 of this drive component 13 is installed to the first end of the connecting arm 12. Specifically, the output end shell 133 is inserted into the first sleeve 1211, and the two locking protrusions 1235 are inserted into the corresponding two insertion ports 1331. Before inserting the output end shell 133 into the first sleeve 1211, the curved frame 1234 of the rotating inner bracket 123 is rotated out from the position between the first clearance port 1231 and the second clearance port 1232 and passes through the first clearance port 1231 or the second clearance port 1232. After inserting the output end housing 133 into the first sleeve 1211, the rotating inner bracket 123 is then rotated back to the position between the first clearance opening 1231 and the second clearance opening 1232. At this time, the locking protrusion 1235 slides into the locking groove 1332, and one side wall of the locking groove 1332 is stopped by the locking protrusion 1235 and the stop protrusion 1224. At this time, one side wall of the locking groove 1332 abuts against the stop protrusion 1224. In this way, the drive component 13 is installed on the first end of the connecting arm 12.

[0056] like Figure 1 and Figure 2As shown, when another drive member 13 is installed to the second end of the connecting arm 12, specifically, the first housing 131 of this drive member 13 is installed to the second end of the connecting arm 12. Specifically, when the drive member 13 installed to the first end of the connecting arm 12 is inserted into the first sleeve 1211, the drive member 13 installed to the second end of the connecting arm 12 is simultaneously placed into the racetrack-shaped space formed by the mating of the first sidewall 1212 and the second sidewall 1222, and one of the two mounting lugs 1311 on the first housing 131 of the drive member 13 passes through the first mounting through hole 1214. Then, during the process of rotating the inner bracket 123 back to the position between the first clearance opening 1231 and the second clearance opening 1232, the other mounting lug 1311 on the first housing 131 of the drive member 13 enters the recessed groove 1237 and slides along the recessed groove 1237 until the mounting lug 1311 passes through the second mounting through hole 1236. As the mounting lug 1311 slides along the recessed groove 1237, the second sidewall 1222 undergoes slight elastic deformation due to the pressure of the mounting lug 1311, allowing the mounting lug 1311 to slide along the recessed groove 1237 until it penetrates into the second mounting through hole 1236. Thus, the two mounting lugs 1311 respectively penetrate the first mounting through hole 1214 and the second mounting through hole 1236, thereby restricting the first housing 131 from dislodging from the second end of the connecting arm 12. Furthermore, the two mounting lugs 1311 abut against the first sidewall 1212 and the second sidewall 1222 respectively, thereby clamping the first housing 131 between the first sidewall 1212 and the second sidewall 1222 without loosening.

[0057] After placing the two drive components 13 into their respective positions at the first and second ends of the connecting arm 12, the rotating inner bracket 123 is rotated back to the position between the first clearance opening 1231 and the second clearance opening 1232, thus enabling the two drive components 13 to be installed on the connecting arm 12 simultaneously.

[0058] like Figure 7As shown, the wheel 11 includes a support shell 111, a rotating end cap 112, and a tire 113. The tire 113 is integrally molded from rubber and has a certain degree of elasticity, allowing it to expand elastically and fit snugly onto the outer circumferential surface of the support shell 111 as the wheel tread. The support shell 111 has a receiving space 1111, and the inner wall of the receiving space 1111 has multiple cantilever arms 1112 arranged circumferentially at intervals, preferably two centrally symmetrical cantilever arms 1112. Furthermore, the inner wall of the receiving space 1111 has stepped surfaces 1113 corresponding to the cantilever arms 1112, and an assembly opening 1114 is formed between the free end of the cantilever arm 1112 and the stepped surface 1113, with the cantilever arms 1112 and the stepped surface 1113 spaced apart. The inner sidewall of the rotating end cap 112 has multiple radially extending latches 1121, preferably two oppositely arranged latches 1121. When the rotating end cap 112 is installed onto the support shell 111, the two latches 1121 are respectively aligned with the two mounting openings 1114, allowing the mounting openings 1114 to open slightly. This allows the latches 1121 to enter between the cantilever 1112 and the stepped surface 1113, with the latches 1121 and the cantilever 1112 spaced apart. Under normal circumstances, when the mounting openings 1114 are not expanded, the latches 1121 are difficult to disengage from between the cantilever 1112 and the stepped surface 1113, thus confining the rotating end cap 112 to the support shell 111. Furthermore, the latches 1121 can rotate and slide between the cantilever 1112 and the stepped surface 1113.

[0059] like Figure 7 As shown, when assembling the wheel 11 and the drive unit 13, specifically, the wheel 11 is installed onto the output end housing 133. The output end housing 133 of the drive unit 13 is inserted into the receiving space 1111, and the insertion port 1331 and the corresponding latch 1121 are aligned with each other until the latch 1121 enters the insertion port 1331. Then, the rotating end cover 112 is rotated, causing the latch 1121 to slide into the latch groove 1332. The side of the latch 1121 facing the cantilever 1112 is set as a convex curved surface, which can be an arc-shaped curved surface or a bidirectional wedge-shaped surface spliced ​​by two planes with opposite inclination directions, so that the latch 1121 can slide into the latch groove 1332 more easily. In this way, one side wall of the latch groove 1332 is blocked by the interaction of the latch 1121 and the cantilever 1112, and at this time, one side wall of the latch groove 1332 abuts against the cantilever 1112. Thus, the installation of wheel 11 and drive component 13 is completed, and the drive wheel module is assembled (the drive wheel module corresponds to the second end of connecting arm 12).

[0060] like Figures 8 to 13As shown, the intelligent robot also includes a body body 20. After the four wheel sets 10 are assembled, the four wheel sets 10 can be assembled onto the body body 20, thereby completing the structural assembly of the intelligent robot's wheeled walking system.

[0061] like Figures 8 to 13 As shown, the vehicle body 20 includes a body frame 21 and a floor cover 22. The body frame 21 has an accommodating space 211, such as... Figure 13 As shown, the accommodating space 211 is used to install and fix components such as the battery 40 and the main control module 30. The bottom cover 22 is fixed to the bottom of the vehicle frame 21 by multiple bolts 23. The main outline of the vehicle frame 21 is cuboid in shape. Along the length of the intelligent robot, open receiving slots 212 are provided on both sides of the bottom of the vehicle frame 21. Furthermore, multiple first insertion slots 213 are provided on the side wall of the receiving slot 212 opposite to the bottom cover 22. Specifically, three first insertion slots 213 are provided on the side wall of the receiving slot 212 on each side of the vehicle frame 21. Correspondingly, multiple second insertion slots 221 are provided on both sides of the bottom cover 22 along the length of the intelligent robot. The multiple second insertion slots 221 correspond one-to-one with the multiple first insertion slots 213, that is, three second insertion slots 221 are provided on both sides of the bottom cover 22.

[0062] like Figure 8 and Figure 9 As shown, after the assembly of each wheel assembly structure 10 is completed, the first housing 131 of the drive component 13 located at the first end of the connecting arm 12 in each wheel assembly structure 10 will be installed and fixed to the vehicle body 20. Figure 9As shown, the assembly process is illustrated using the example of assembling one wheel assembly structure 10 to the left rear end of the vehicle body 20. Specifically, one of the two mounting lugs 1311 of the first housing 131 of the drive member 13 located at the first end of the connecting arm 12 is inserted into the first insertion slot 213 at the left rear end of the vehicle frame 21. Then, the bottom cover 22 is closed onto the bottom of the vehicle frame 21, so that the other mounting lug 1311 is aligned and inserted into the second insertion slot 221 at the left rear end of the bottom cover 22. Finally, the bolts 23 are tightened to connect and fix the bottom cover 22 to the bottom of the vehicle frame 21. At this time, the two mounting lugs 1311 are respectively inserted into the first insertion slot 213 and the second insertion slot 221, thereby restricting the drive member 13 so that it cannot detach from the vehicle frame 21 and the bottom cover 22. Furthermore, the groove wall of the receiving groove 212 is provided with a first abutting recess 214 corresponding to the position of each first insertion groove 213, which is adapted to the corresponding position of the outer wall of the first housing 131. The bottom cover 22 is provided with a second abutting recess 222 corresponding to the position of each second insertion groove 221, which is adapted to the corresponding position of the outer wall of the first housing 131. When the bottom cover 22 is connected and fixed to the bottom of the vehicle frame 21 by bolts 23, the first abutting recess 214 and the second abutting recess 222 respectively abut against the corresponding position of the outer wall of the first housing 131, thereby clamping and fixing the first housing 131 to prevent the drive member 13 from shaking relative to the vehicle body 20, that is, to prevent the wheel assembly structure 10 from shaking relative to the vehicle body 20.

[0063] like Figure 9 and Figure 11 As shown, along the length of the intelligent robot, a third insertion slot 215 is provided at both the front and rear ends of the vehicle frame 21, and correspondingly, a fourth insertion slot 223 is provided at both the front and rear ends of the bottom cover 22. Furthermore, the third insertion slot 215 and the fourth insertion slot 223 located at the front end of the vehicle body 20 are directly opposite each other, and the third insertion slot 215 and the fourth insertion slot 223 located at the rear end of the vehicle body 20 are also directly opposite each other. Additionally, a third abutment recess 216 is provided at the front end of the vehicle frame 21 corresponding to the third insertion slot 215 and at the rear end of the vehicle frame 21 corresponding to the third insertion slot 215, and correspondingly, a fourth abutment recess 224 is provided at the front end of the bottom cover 22 corresponding to the fourth insertion slot 223 and at the rear end of the bottom cover 22 corresponding to the fourth insertion slot 223.

[0064] In another implementation of the intelligent robot, such as Figures 10 to 13As shown, a drive wheel module can be installed on the front and rear ends of the main body 20, thus forming an intelligent robot similar to a self-balancing scooter (hereinafter referred to as a self-balancing scooter-type intelligent robot). During the installation of the first housing 131 of the drive component 13 of the drive wheel module to the front and rear ends of the main body 20, one of the mounting lugs 1311 of the first housing 131 of the two drive wheel modules is first inserted into the two third insertion slots 215 respectively. Then, the bottom cover 22 is closed so that the other mounting lug 1311 is inserted into the corresponding fourth insertion slot 223. Then, the mounting bolts 23 are tightened to connect and fix the bottom cover 22 to the bottom of the body frame 21. At this time, the third abutment recess 216 and the corresponding fourth abutment recess 224 at the front end of the main body 20 clamp and fix the corresponding first housing 131 externally, and the third abutment recess 216 and the corresponding fourth abutment recess 224 at the rear end of the main body 20 clamp and fix the corresponding first housing 131 externally.

[0065] The self-balancing scooter-type intelligent robot uses a gyroscope (not shown) to detect the overall balance of the scooter. The gyroscope is electrically connected to the main control module 30. When the gyroscope detects an imbalance in the overall balance of the scooter, it sends an imbalance signal to the main control module 30. Upon receiving the imbalance signal, the main control module 30 sends adjustment signals to the drive components 13 of the two drive wheel modules, causing the two drive components 13 to respond quickly to adjust the overall balance of the scooter and restore its balance.

[0066] like Figure 13 As shown, the main control module 30 and battery 40 are assembled, thus the accommodating space 211 is divided into a lower space with a smaller volume and an upper space with a larger volume. The lower space extends directly from the bottom of the upper space, meaning the upper and lower spaces are interconnected. The battery 40 is installed in the lower space, and the main control module 30 is installed in the upper space. Furthermore, the horizontal circumferential contour shape of the upper space matches the contour shape of the main control module 30, and the horizontal circumferential contour shape of the lower space matches the contour shape of the battery 40. Further, the height of the upper space matches the thickness of the main control module 30, and the height of the lower space matches the height of the battery 40, allowing the main control module 30 to be directly stacked on the battery 40, with the corresponding terminals of both directly contacting each other to achieve electrical connection.

[0067] like Figure 13As shown, the battery 40 has elastic buckles 41 on its sidewalls, and correspondingly, the lower space has buckle slots 2113 on its corresponding sidewalls that engage with the elastic buckles 41. Specifically, along the length of the intelligent robot, the front and rear sidewalls of the battery 40 each have an elastic buckle 41, and the front and rear sidewalls of the lower space also have corresponding buckle slots 2113. When the battery 40 is placed in the lower space, the elastic buckles 41 engage with the buckle slots 2113, thereby preventing the battery 40 from falling out of the lower space and preventing the battery 40 from moving up and down. After the battery 40 is placed, the main control module 30 can be directly placed into the upper space.

[0068] The main body 20 also includes a roof 24.

[0069] In the intelligent robot of this application, the top cover 24 can be detachably fitted onto the top of the vehicle frame 21 via a snap-fit ​​structure, thereby sealing the main control module 30 placed in the upper space and preventing the main control module 30 from detaching from the upper space. Furthermore, the inner wall of the top cover 24 abuts against the top wall of the main control module 30, thus fixing the main control module 30 between the top cover 24 and the battery 40. By releasing the snap-fit ​​structure, the top cover 24 can be removed from the vehicle frame 21, allowing for maintenance, replacement, and other operations on components such as the main control module 30 and the battery 40.

[0070] In one embodiment, the top cover 24 can be locked to the top of the vehicle frame 21 by multiple screws, thereby covering the main control module 30 placed in the upper space and preventing the main control module 30 from coming out of the upper space. Furthermore, the inner wall of the top cover 24 abuts against the top wall of the main control module 30, thus fixing the main control module 30 between the top cover 24 and the battery 40. The top cover 24 can be removed from the vehicle frame 21 by unscrewing the screws, allowing for maintenance, replacement, and other operations on components such as the main control module 30 and the battery 40.

[0071] In one implementation, such as Figure 13 As shown, one side of the top cover 24 is rotatably mounted to the vehicle frame 21 via a pin 25. The other side of the top cover 24 opposite the pin 25 has a barb, and the corresponding position on the vehicle frame 21 has a latch 217. When the top cover 24 is rotated around the pin 25 and closes to the top of the vehicle frame 21, the barb and latch 217 lock together, thus sealing the main control module 30 placed in the upper space and preventing it from detaching. Furthermore, the inner wall of the top cover 24 abuts against the top wall of the main control module 30, thus fixing the main control module 30 between the top cover 24 and the battery 40. By releasing the lock between the barb and the latch 217, the top cover 24 can be rotated open from the vehicle frame 21 around the pin 25, allowing for maintenance, replacement, and other operations on components such as the main control module 30 and the battery 40.

[0072] like Figure 15 and Figure 16 As shown, the intelligent robot also includes a robotic arm 50, which is detachably mounted to the vehicle frame 21 via an adapter 51.

[0073] like Figure 13 and Figure 14 As shown, along the length of the intelligent robot, multiple card slots 218 and multiple card grooves 219 are provided on both the left and right sides of the top opening of the body frame 21. The card slots 219 and card slots 218 are connected one-to-one, and each card slot 219 is located on the same side as the corresponding card slot 218. Specifically, each side of the top opening of the body frame 21 has two card slots 218 and two card grooves 219. Furthermore, when the body frame 21 is laid flat on a horizontal surface, each card groove 219 extends horizontally.

[0074] like Figure 15 and Figure 16 As shown, along the length of the intelligent robot, multiple locking blocks 511 protrude from both the left and right sides of the adapter 51. Specifically, in this embodiment, two locking blocks 511 protrude from both the left and right sides of the adapter 51.

[0075] When assembling the robotic arm 50 onto the vehicle frame 21 using the adapter 51, the top cover 24 must first be removed from the top of the vehicle frame 21 to expose the various locking interfaces 218 on the top of the vehicle frame 21. Then, the locking blocks 511 of the adapter 51 are aligned with their respective locking interfaces 218, allowing each locking block 511 to enter through its corresponding interface 218. Next, the adapter 51 is pushed horizontally, causing each locking block 511 to slide into its corresponding locking slot 219. This secures the adapter 51 to the vehicle frame 21, thus assembling the robotic arm 50 onto the vehicle frame 21 using the adapter 51.

[0076] To prevent the locking block 511 from slipping out of the locking slot 219 and causing the robotic arm 50 to detach from the vehicle frame 21, each locking block 511 has at least one anti-detachment protrusion 512 on its upper (and / or lower) surface, such as... Figure 15 As shown. Accordingly, the upper (and / or lower) groove wall of the snap-fit ​​groove 219 is provided with at least one mating protrusion 2191, such as... Figure 14 As shown, during the process of the snap-fit ​​block 511 sliding into the snap-fit ​​groove 219, the anti-detachment protrusion 512 abuts against and presses against the mating protrusion 2191, and the anti-detachment protrusion 512 passes over the mating protrusion 2191. In this way, the mating protrusion 2191 can block the anti-detachment protrusion 512, thereby preventing the snap-fit ​​block 511 from sliding out of the snap-fit ​​groove 219.

[0077] When it is necessary to remove the robotic arm 50 from the vehicle frame 21, simply pull the adapter 51 to make the locking block 511 slide toward the locking interface 218. Then the anti-detachment protrusion 512 will press against the mating protrusion 2191 again and then pass over the mating protrusion 2191, so that the locking block 511 can be disengaged from the locking interface 218.

[0078] The robotic arm 50 is an expandable robotic arm, meaning its extension length can be extended without affecting its degrees of freedom and flexibility. For example... Figure 15 and Figure 16 As shown, the robotic arm 50 includes a head arm 513, an end arm 514, at least one connecting arm 12, and multiple drive components 13. The following description uses an example where the robotic arm 50 has only one connecting arm 12 to illustrate the structural design of the robotic arm 50.

[0079] like Figure 17 and Figure 18 As shown, the head arm 513 is provided with a first arm support shell 5131, a head main support 5132 and a head secondary support 5133.

[0080] like Figure 18 As shown, the head-end main support 5132 has a first fork-shaped portion and a first curved portion. The first curved portion is shaped like half a racetrack, and there are two connection points between the two ends of the half-racetrack shape of the first curved portion and the first fork-shaped portion. The line connecting the two connection points is perpendicular to the line connecting the two forks of the first fork-shaped portion. The first arm support shell 5131 is fixedly connected to the two forks of the first fork-shaped portion and is located between the two forks of the first fork-shaped portion. The first curved portion has a first fixing through hole 5134 at a position opposite to the first arm support shell 5131, and the inner wall of the bend of the first curved portion is smoothly rounded.

[0081] like Figure 18 As shown, the head-end sub-support 5133 has a second fork-shaped portion and a second curved portion. The second curved portion is shaped like half a racetrack, and there are two connection points between the two ends of the half-racetrack shape of the second curved portion and the second fork-shaped portion. The line connecting the two connection points is perpendicular to the line connecting the two forks of the second fork-shaped portion. The two forks of the second fork-shaped portion are rotatably mounted on the first arm support shell 5131, and the first arm support shell 5131 is located between the two forks of the second fork-shaped portion. The second curved portion has a second fixing through hole 5135 at a position opposite to the first arm support shell 5131, and the outer wall of the bend of the second curved portion is smoothly rounded. The outer wall of the second curved portion corresponding to the second fixing through hole 5135 has a head-end recessed groove 5136, and the extending direction of the head-end recessed groove 5136 is consistent with the extending direction of the racetrack shape of the second curved portion.

[0082] In other words, the first forked portion and the second forked portion together constitute the first end of the U-shaped structure of the head arm 513, and the first bent portion and the second bent portion together constitute the bent second end, and the first end and the second end are orthogonally arranged. In a specific application of the head arm 513, the output end shell of a drive member 13 is fixedly installed at the first end of the head arm 513 (that is, the output end shell of the drive member 13 is fixedly installed at the first arm support shell 5131 which is fixedly connected to the two forked arms of the first forked portion), and the housing of another drive member 13 is fixedly installed at the second end of the head arm 513.

[0083] like Figure 18 As shown, the first arm support shell 5131 includes a head end shell 51311 and a head end rotating end cap 51312. The two fork arms of the first fork-shaped portion and the two fork arms of the second fork-shaped portion are connected to the outer walls of both sides of the head end shell 51311. The head end rotating end cap 51312 is rotatably mounted on the head end shell 51311. Specifically, the head end shell 51311 has a head end placement space 51313. The inner wall of the head end placement space 51313 has a plurality of circumferentially spaced head end cantilever arms 51314, preferably two centrally symmetrical head end cantilever arms 51314. Furthermore, the inner wall of the head end placement space 51313 has a head end stepped surface 51315 corresponding to the head end cantilever arm 51314, and a head end assembly opening 51316 is formed between the free end of the head end cantilever arm 51314 and the head end stepped surface 51315. The inner wall of the rotating end cap 51312 is provided with a plurality of radially extending end catches 51317, preferably two oppositely arranged end catches 51317. When the rotating end cap 51312 is installed onto the end housing 51311, the two end catches 51317 are respectively aligned with the two end mounting openings 51316, allowing the end mounting openings 51316 to open slightly, thereby allowing the end catches 51317 to enter between the end cantilever 51314 and the end stepped surface 51315. Under normal circumstances, when the end mounting opening 51316 is not expanded, the end catches 51317 are difficult to disengage from between the end cantilever 51314 and the end stepped surface 51315, thus confining the rotating end cap 51312 to the end housing 51311. Furthermore, the head end latch 51317 can rotate and slide between the head end cantilever 51314 and the head end stepped surface 51315, and the head end latch 51317 and the head end cantilever 51314 are spaced apart.

[0084] like Figure 16As shown, when installing a drive unit 13 onto the first arm support housing 5131, specifically, the output end housing 133 of the drive unit 13 is installed onto the first arm support housing 5131. The output end housing 133 of the drive unit 13 is inserted into the head end placement space 51313, aligning the insertion port 1331 and the corresponding head end catch 51317 until the head end catch 51317 enters the insertion port 1331. Then, the head end rotating end cap 51312 is rotated, causing the head end catch 51317 to slide into the catch groove 1332. In this way, one side wall of the catch groove 1332 is blocked by the cooperation of the head end catch 51317 and the head end cantilever 51314, thus abutting the head end cantilever 51314. This completes the installation of the drive unit 13 and the first arm support housing 5131.

[0085] Then, another drive member 13 is installed onto the second end of the head arm 513, specifically, the first housing 131 of the drive member 13 is installed between the first bend and the second bend. For example... Figure 16 As shown, the second curved portion is first rotated outward so that the second fixing through hole 5135 is no longer opposite the first fixing through hole 5134. Then, the first housing 131 of the drive member 13 is placed into the half-racetrack-shaped space of the first curved portion, and one mounting lug 1311 of the first housing 131 of the drive member 13 passes through the first fixing through hole 5134. Next, the second curved portion is rotated back into the head end main bracket 5132, and another mounting lug 1311 on the first housing 131 of the drive member 13 enters the head end recessed groove 5136 and slides along the head end recessed groove 5136 until the mounting lug 1311 is inserted into the second fixing through hole 5135. During the sliding of the mounting lug 1311 along the head end recessed groove 5136, the second curved portion is compressed by the mounting lug 1311 and undergoes slight elastic deformation, allowing the mounting lug 1311 to slide along the head end recessed groove 5136 until it passes through the second fixing through hole 5135. In this way, the two mounting lugs 1311 respectively pass through the first fixing through hole 5134 and the second fixing through hole 5135, thereby restricting the first housing 131 so that it cannot be separated from the second end. Furthermore, the two mounting lugs 1311 respectively abut against the inner wall of the first curved portion and the outer wall of the second curved portion, thereby clamping the first housing 131 between the head end main support 5132 and the head end secondary support 5133 without loosening.

[0086] Next, the output end housing 133 of the drive member 13, which is installed at the second end of the head arm 513, is installed at the first end of the connecting arm 12. Then, the third drive member 13 of the robotic arm 50 is installed at the second end of the connecting arm 12.

[0087] Finally, by installing the end arm 514 and the output end housing 133 of the third drive unit 13, the robotic arm 50, which only has one connecting arm 12, can be assembled. Figure 19 and Figure 20 As shown, the end arm 514 includes a tail-end rotating end cap 5140, a tail-end housing 5141, and a tail-end operating part 5142, which is fixedly connected to the outer wall of the tail-end housing 5141. The tail-end operating part 5142 can be a human-shaped hand, a suction cup assembly, a fork, or a mechanical clamping device. In this embodiment, the tail-end operating part 5142 is preferably a mechanical clamping device, which is widely and maturely used in the prior art and will not be described in detail here. Specifically, the tail-end housing 5141 is provided with a tail-end placement space 5143, and the inner wall of the tail-end placement space 5143 is provided with a plurality of tail-end cantilever arms 5144 arranged circumferentially, preferably with two centrally symmetrical tail-end cantilever arms 5144. Furthermore, the inner wall of the tail end placement space 5143 is provided with a tail end stepped surface 5145 corresponding to the tail end cantilever 5144, and a tail end assembly opening 5146 is formed between the free end of the tail end cantilever 5144 and the tail end stepped surface 5145. The inner side wall of the tail end rotating end cover 5140 is provided with a plurality of tail end catches 5147 extending radially, preferably two tail end catches 5147 arranged opposite to each other. When the tail end rotating end cover 5140 is installed onto the tail end housing 5141, the two tail end catches 5147 are respectively aligned with the two tail end assembly openings 5146, so that the tail end assembly openings 5146 can be opened slightly, thereby allowing the tail end catches 5147 to enter between the tail end cantilever 5144 and the tail end stepped surface 5145. Under normal circumstances, when the tail end assembly opening 5146 is not expanded, the tail end catch 5147 is difficult to disengage from between the tail end cantilever 5144 and the tail end stepped surface 5145, thus confining the tail end rotating cover 5140 to the tail end housing 5141. Furthermore, the tail end catch 5147 can rotate and slide between the tail end cantilever 5144 and the tail end stepped surface 5145. The output end housing 133 of the third drive member 13 is inserted into the tail end placement space 5143, aligning the insertion port 1331 and the corresponding tail end catch 5147 until the tail end catch 5147 enters the insertion port 1331. Then, the tail end rotating cover 5140 is rotated, causing the tail end catch 5147 to slide into the slot 1332 along the slot 1332. In this way, one side of the groove wall of the slot 1332 is blocked by the tail end catch 5147 and the tail end cantilever 5144 working together, and at this time, one side of the groove wall of the slot 1332 abuts against the tail end cantilever 5144.

[0088] When it is necessary to extend the extension length of the robotic arm 50, the number of connecting arms 12 and the number of drive components 13 to be added can be selected according to the actual extension length required. All connecting arms 12 and each drive component 13 are then connected in series to form an extension module of the robotic arm 50. Then, the series-connected extension module is connected in series with the head end arm 513 and the end arm 514 respectively to complete the extension of the robotic arm 50.

[0089] like Figure 15 and Figure 16 As shown, the robotic arm 50 is mounted to the drive unit 13 and the adapter 51 of the first arm support housing 5131 for connection and fixation. Specifically, the adapter 51 includes an adapter plate frame 5101, a first adapter housing 5102, and a second adapter housing 5103.

[0090] like Figure 15 and Figure 16 As shown, along the length of the intelligent robot, multiple snap-fit ​​blocks 511 protrude from both the left and right sides of the adapter plate 5101. Preferably, two snap-fit ​​blocks 511 protrude from each of the left and right sides. When the adapter plate 5101 is installed on the vehicle frame 21, the inner surface of the adapter plate 5101 abuts against the main control module 30, thereby securing the main control module 30 within the vehicle frame 21.

[0091] like Figure 16 As shown, the first adapter housing 5102 can be a separate component relative to the adapter plate frame 5101, in which case the first adapter housing 5102 is fixedly mounted on the adapter plate frame 5101 by multiple screws; the first adapter housing 5102 can also be a structural component integrally formed with the adapter plate frame 5101. For example... Figure 16 As shown, the first adapter housing 5102 includes a bottom housing 51021, a first side wall 51022, and a second side wall 51023. In this embodiment, the bottom housing 51021 is preferably fixedly mounted on the adapter plate frame 5101 by a plurality of screws. The first side wall 51022 and the second side wall 51023 are connected to the bottom housing 51021 opposite to each other, so that two opposing limiting notches 51024 are formed between the first side wall 51022 and the second side wall 51023. Furthermore, the outer walls of the ends of the first side wall 51022 and the second side wall 51023 away from the bottom housing 51021 are each provided with a first buckling protrusion 51025.

[0092] like Figure 16As shown, the second adapter housing 5103 is provided with a through channel 51031. The inner wall of the through channel 51031 is provided with two opposing relief grooves 51032 and two opposing second latching protrusions 51033. The line connecting the two relief grooves 51032 and the line connecting the two second latching protrusions 51033 are perpendicular to each other. The second latching protrusions 51033 and the first latching protrusions 51025 cooperate with each other to restrict the second adapter housing 5103 onto the first adapter housing 5102. Specifically, the bottom shell 51021, the first side wall 51022, and the second side wall 51023 of the first adapter housing 5102 pass through the through channel 51031. Then, the bottom shell 51021 is fixedly installed on the adapter plate frame 5101 by multiple screws. At this time, the first latching protrusion 51025 blocks the second latching protrusion 51033, so the second adapter housing 5103 cannot detach from the first adapter housing 5102.

[0093] like Figure 16 As shown, when the robotic arm 50 is assembled with the drive component 13 and the adapter component 51 of the first arm support housing 5131, the two clearance grooves 51032 of the second adapter housing 5103 are aligned with the two limiting notches 51024 of the first adapter housing 5102. Then, the two mounting lugs 1311 of the drive component 13 enter the two limiting notches 51024 through the two clearance grooves 51032, and the mounting lugs 1311 abut against the bottom of the limiting notches 51024. At this point, the outer wall surface of the mounting lug 1311 facing away from the bottom of the limiting notch 51024 is basically flush with the wall surface of the second latching protrusion 51033 facing the first adapter housing 5102. Then, the second adapter housing 5103 is rotated so that the mounting lug 1311 is clamped between the bottom of the second latching protrusion 51033 and the limiting notch 51024. At this time, the two ends of each first latching protrusion 51025 are respectively fastened to the side surface of the two second latching protrusions 51033 facing the drive member 13. Furthermore, the end face openings of the two mounting lugs 1311 are exposed between the first adapter housing 5102 and the second adapter housing 5103, thereby facilitating the installation of the plug-in terminal.

[0094] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An intelligent robot, characterized in that, The utility model relates to a kind of intelligent robots, including: Multiple connecting arms and multiple driving members; Each driving member includes a housing and an output end housing, the driving member has an output shaft, the output end housing is rotatably mounted on the output shaft relative to the housing, the output end housing rotates synchronously with the output shaft, the housing is provided with multiple mounting lugs at one end away from the output end housing, the multiple mounting lugs are arranged at intervals around the central axis of the housing, each mounting lug is hollow, and the electrical cable of the internal components of the driving member is routed through the hollow mounting lug, or a plug-in terminal is mounted in the hollow mounting lug. Each connecting arm includes a first connecting portion, a second connecting portion and a rotating inner support, the first connecting portion includes a first sleeve and a first side wall connected to the first sleeve, the second connecting portion includes a cap portion and a second side wall connected to the cap portion, the cap portion covers the first sleeve, and the first sleeve and the cap portion cooperate to secure the first driving member, and the rotating inner support is rotatably engaged between the first sleeve and the cap portion, and the first side wall and the second side wall are connected oppositely. Wherein, by rotating the rotating inner support to fix two driving members, the output end housing of the first driving member is fixedly engaged in the first sleeve, and the opposite two mounting lugs of the second driving member are respectively engaged between the rotating inner support and the first side wall.

2. The intelligent robot of claim 1, wherein: the first side wall and the second side wall are connected to form opposite first and second avoiding openings, and the first side wall is provided with a first mounting through hole opposite to the first sleeve; the rotating inner support includes a second sleeve and a curved frame, both ends of the curved frame are connected to the second sleeve, the second sleeve is rotatably engaged between the first sleeve and the cap portion, the curved frame can rotate through the first avoiding opening or the second avoiding opening, and the curved frame is provided with a second mounting through hole opposite to the second sleeve; the two mounting lugs of the second driving member are respectively inserted into the first and second mounting through holes.

3. The intelligent robot of claim 2, wherein: the curved frame is shaped as a racetrack profile, and the curved frame smoothly transitions towards the outer side wall of the first mounting through hole.

4. The intelligent robot of claim 3, wherein: the curved frame is provided with a recessed groove towards the outer side wall of the first mounting through hole, and the extension direction of the recessed groove is consistent with the extension direction of the curved frame.

5. The intelligent robot of claim 2, wherein: the output end housing of any driving member is provided with multiple insertion openings and clamping grooves corresponding to the insertion openings at one end away from the housing. The first sleeve is provided with a plurality of gaps at intervals on the end of the cylinder cover part, the cylinder cover part covers the gaps to form a sliding guide groove, the inner wall of the second sleeve is provided with a plurality of clamping protrusions, each clamping protrusion corresponds to the gap, and the clamping protrusion slides in the sliding guide groove, and the periphery of the cylinder cover part is provided with a stop protrusion. When the first driving part is installed on the first sleeve, the clamping protrusion slides into the clamping groove from the insertion opening, and the clamping protrusion and the stop protrusion clamping fix one side groove wall of the clamping groove. 6.The intelligent robot according to claim 5, characterized in that, The number of gaps is two, and the two gaps are symmetrically arranged relative to the center axis of the first sleeve, and the number of clamping protrusions is two, and the two clamping protrusions are symmetrically arranged relative to the center axis of the second sleeve. 7.The intelligent robot according to claim 5, characterized in that, The intelligent robot further comprises a wheel, the wheel comprises a support shell and a rotating end cover, the support shell is provided with a containing space, the inner wall of the containing space is provided with a plurality of cantilever arms and a plurality of stepped surfaces arranged at intervals and corresponding to the cantilever arms, an assembly opening is formed between the free end of the cantilever arm and the stepped surface, and the inner side wall of the rotating end cover is provided with a plurality of clamping ears extending in the radial direction, each clamping ear corresponds to the assembly opening, and each clamping ear enters between the cantilever arm and the stepped surface from the corresponding assembly opening. The wheel is connected to the output end shell of the second driving part, wherein each clamping ear slides into the clamping groove from the corresponding insertion opening, and the clamping ear and the cantilever arm clamping fix one side groove wall of the clamping groove. 8.The intelligent robot according to claim 7, characterized in that, Each clamping ear is provided with a curved surface protruding towards the cantilever arm on one side of the cantilever arm. 9.The intelligent robot according to claim 8, characterized in that, Each clamping ear is provided with a bidirectional wedge-shaped surface spliced by two planes with opposite inclined directions on one side of the cantilever arm. 10.The intelligent robot according to any one of claims 1-9, characterized in that, The intelligent robot further comprises: A vehicle body frame, the bottom of the vehicle body frame is provided with a plurality of first insertion grooves on both sides in the length direction of the intelligent robot; A bottom cover connected to the bottom of the vehicle body frame, the bottom cover is provided with a plurality of second insertion grooves on both sides in the length direction, and the second insertion grooves correspond to the first insertion grooves one by one; Opposite two mounting lugs of the first driving part are inserted into the first insertion grooves and the second insertion grooves respectively, and the bottom cover and the vehicle body frame clamping fix the machine shell.

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