Drive device and robot

Abstract

The invention relates to the field of robots, in particular to a driving device and a robot, the driving device comprises a base, a first connecting rod, a second connecting rod, a first driving structure and a second driving structure, the first connecting rod is arranged on the base, and the first connecting rod is rotationally connected with the base; the second connecting rod is hinged to the first connecting rod; one end of the first driving structure is rotationally connected with the base, and the other end of the first driving structure is rotationally connected with a first connecting rod so as to drive the first connecting rod to rotate relative to the base; one end of the second driving structure is rotationally connected with the base, and the other end of the second driving structure is rotationally connected with a second connecting rod so as to drive the second connecting rod to move in the height direction and / or the front-back direction. Therefore, the driving device is easy to control while driving the second connecting rod to have high motion flexibility in the front-back and up-down space.

Description

Technical Field

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

[0002] Mobile robots are used in many fields such as industry, service industry, aviation and daily life. In the application process of mobile robots, many application scenarios have certain requirements for the "squatting", "standing up", "leaning forward" and "leaning back" movements of mobile robots, while traditional robots have certain limitations in spatial movement and operation. Therefore, how to improve the flexibility of mobile robots has become a technical problem that needs to be solved. Summary of the invention

[0003] The present application provides a driving device and a robot for improving the movement flexibility of a mobile robot.

[0004] In a first aspect, an embodiment of the present application provides a driving device, the driving device comprising:

[0005] Base;

[0006] A first connecting rod, the first connecting rod is arranged on the base, and the first connecting rod is rotatably connected to the base;

[0007] a second connecting rod, the second connecting rod being hinged to the first connecting rod;

[0008] a first driving structure, wherein one end of the first driving structure is rotatably connected to the base, and the other end of the first driving structure is rotatably connected to a first connecting rod, so as to drive the first connecting rod to rotate relative to the base; and

[0009] A second driving structure, one end of the second driving structure is rotatably connected to the base, and the other end of the second driving structure is rotatably connected to the second connecting rod to drive the second connecting rod to move in the height direction and / or the front-rear direction.

[0010] The present application provides a driving device, which includes a base, a first connecting rod, a second connecting rod, a first driving structure, and a second driving structure. The first connecting rod is arranged on the base, and the first connecting rod is rotatably connected to the base; the second connecting rod is hinged to the first connecting rod; one end of the first driving structure is rotatably connected to the base, and the other end of the first driving structure is rotatably connected to the first connecting rod, so as to drive the first connecting rod to rotate relative to the base; one end of the second driving structure is rotatably connected to the base, and the other end of the second driving structure is rotatably connected to the second connecting rod, so as to drive the second connecting rod to move in the height direction and / or the front-rear direction, so that the driving device has a high degree of movement flexibility while driving the second connecting rod in the front-rear upper and lower spaces, and is simple to control.

[0011] In an optional embodiment, the base includes a first rotating seat and a second rotating seat provided on the base, and one end of the first driving structure is rotatably connected to the first rotating seat.

[0012] The first connecting rod includes a first connecting portion, a second connecting portion and a third connecting portion.

[0013] The first connection portion is rotatably connected to the first rotating seat, the second connection portion is connected to the other end of the first driving structure, and the third connection portion is connected to the second connecting rod.

[0014] In an optional embodiment, the first rotating seat includes a first sub-rotating seat and a second sub-rotating seat arranged along a first direction;

[0015] The first driving structure includes a first driving component, a second driving component and a rotating shaft, one end of the first driving component is rotatably connected to the first sub-rotating seat, the other end of the first driving component is connected to one end of the rotating shaft, one end of the second driving component is rotatably connected to the second sub-rotating seat, the other end of the second driving component is rotatably connected to the other end of the rotating shaft, and the middle section of the rotating shaft is connected to the second connecting portion.

[0016] In an optional implementation, the second connection portion, the first connection portion, and the third connection portion are arranged in sequence.

[0017] In an optional embodiment, a first connecting section is between the second connecting portion and the first connecting portion, a second connecting section is between the first connecting portion and the third connecting portion, and an angle between the straight line where the first connecting section is located and a reference plane is greater than an angle between the straight line where the second connecting section is located and the reference plane.

[0018] In an optional implementation, the length of the first connecting segment is smaller than the length of the second connecting segment.

[0019] In an optional implementation, the first driving structure and the third connecting portion are located on the same side of the second connecting portion.

[0020] In an optional embodiment, the first driving structure includes a first driving member and a first telescopic push rod, one end of the first driving member is rotatably connected to the first rotating seat, the other end of the first driving member is connected to one end of the first telescopic push rod, the first driving member is configured to drive the first telescopic push rod to extend and retract relative to the first driving member, and the other end of the first telescopic push rod is rotatably connected to the second connecting portion;

[0021] When the first driving member drives the first telescopic push rod to extend a first length, the first connecting rod has a first angle with a reference plane; when the first driving member drives the first telescopic push rod to extend a second length, the first connecting rod has a second angle with the reference plane, the second length is greater than the first length, and the second angle is less than the first angle.

[0022] In an optional embodiment, the second connecting rod includes a fourth connecting portion and a fifth connecting portion, and the fourth connecting portion is rotatably connected to the third connecting portion;

[0023] The driving device further comprises a third rotating seat, one end of the second driving assembly is rotatably connected to the third rotating seat, and the other end of the second driving assembly is rotatably connected to the fifth connecting portion.

[0024] In an optional implementation, the third rotating seat is located between the first rotating seat and the second rotating seat, and the orthographic projection of the fifth connecting portion on the base is located on a side of the third rotating seat away from the second rotating seat.

[0025] In an optional embodiment, the second connecting rod also includes a sixth connecting portion, which is located on the side of the fourth connecting portion away from the fifth connecting portion, the distance between the sixth connecting portion and the base is greater than the distance between the fourth connecting portion and the base, and the distance between the fifth connecting portion and the base is less than or equal to the distance between the fourth connecting portion and the base.

[0026] In an optional embodiment, the second connecting rod also includes a bending portion located between the sixth connecting portion and the fourth connecting portion, a third connecting segment is between the sixth connecting portion and the bending portion, and a fourth connecting segment is between the bending portion and the fourth connecting portion, and an angle between the straight line where the third connecting segment is located and a reference plane is greater than an angle between the straight line where the fourth connecting segment is located and the reference plane.

[0027] In an optional embodiment, the second driving structure includes a second driving member and a second telescopic push rod, one end of the second driving member is rotatably connected to the second rotating seat, the other end of the second driving member is connected to one end of the second telescopic push rod, the second driving member is configured to drive the second telescopic push rod to extend and retract relative to the second driving member, and the other end of the second telescopic push rod is rotatably connected to the second connecting portion;

[0028] When the second driving member drives the second telescopic push rod to extend to a third length, the second connecting rod has a third angle with the reference plane; when the second driving member drives the second telescopic push rod to extend to a fourth length, the second connecting rod has a fourth angle with the reference plane, the fourth length is greater than the third length, and the third angle is smaller than the fourth angle.

[0029] In an optional embodiment, the driving device also includes an elastic support member, one end of the elastic support member is connected to the second connecting rod, and the other end of the elastic support member is rotatably connected to the first connecting rod or the base, the angle between the elastic support member and the reference plane is greater than the angle between the first connecting rod and the reference plane, and the connection position between the elastic support member and the second connecting rod, the connection position between the first connecting rod and the second connecting rod, and the connection position between the second driving assembly and the second connecting rod are arranged in sequence.

[0030] In an optional embodiment, the driving device also includes a first sensor and a second sensor, the first sensor is arranged on the first rotating seat, and the first sensor is used to detect the rotation angle of the first connecting rod compared to the first rotating seat; the second sensor is arranged on the first connecting rod, and the second sensor is used to detect the rotation angle of the second connecting rod compared to the first connecting rod.

[0031] In the second aspect, an embodiment of the present application provides a robot, comprising a chassis driving assembly, an upper body skeleton assembly, a waist rotation connection assembly and the driving device described in the first aspect, wherein the base of the driving device is arranged on the chassis driving assembly, the waist rotation connection assembly is connected between the second connecting rod and the upper body skeleton assembly, and the waist rotation connection assembly is configured to drive the upper body skeleton assembly to rotate relative to the second connecting rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0033] Figure 1 is a schematic diagram of a three-dimensional structure of a robot provided in an embodiment of the present application;

[0034] Figure 2 is a three-dimensional structural schematic diagram of the internal structure of the robot provided by an embodiment of the present application in a standing state;

[0035] Figure 3 is a three-dimensional structural schematic diagram of the internal structure of the robot provided by an embodiment of the present application in a squatting state;

[0036] Figure 4 is a side view structural diagram of the internal structure of the robot provided by an embodiment of the present application in a standing state;

[0037] Figure 5 The three-dimensional structure diagram of the driving device provided in the first embodiment of the present application is shown in FIG. Figure 1 ;

[0038] Figure 6 The three-dimensional structure diagram of the driving device provided in the first embodiment of the present application is shown in FIG. Figure 2 ;

[0039] Figure 7 This is a side view of the structure of the driving device provided in Example 1 of the present application. Figure 1 ;

[0040] Figure 8 This is a side view of the structure of the driving device provided in Example 1 of the present application. Figure 2 ;

[0041] Fig. 9 This is a three-dimensional schematic diagram of the driving device provided in the first embodiment of the present application omitting the second driving structure. Figure 1 ;

[0042] Fig.10 This is a three-dimensional schematic diagram of the driving device provided in the first embodiment of the present application omitting the second driving structure. Figure 2 ;

[0043] Fig.11 It is a side view structural schematic diagram of the driving device provided in the first embodiment of the present application in a squatting state;

[0044] Fig.12 is a schematic diagram of the three-dimensional structure of the driving device provided in the second embodiment of the present application;

[0045] Fig.13 is a side structural schematic diagram of the driving device provided in the second embodiment of the present application;

[0046] Fig.14 is a side view structural diagram of the internal structure of a robot provided in an embodiment of the present application;

[0047] Fig.15 is a schematic diagram of a robot provided by an embodiment of the present application when it is in the highest upright posture;

[0048] Fig.16 is a schematic diagram of a robot provided by an embodiment of the present application in a half-squat height posture;

[0049] Fig.17 is a schematic diagram of a robot provided by an embodiment of the present application in a fully squatting posture;

[0050] Fig.18 is a schematic diagram of a robot provided by an embodiment of the present application when the robot is in a forward moving posture;

[0051] Fig.19 is a schematic diagram of a robot provided by an embodiment of the present application when the robot is in a backward movement posture;

[0052] Fig. 20is a schematic diagram of a robot provided by an embodiment of the present application when the robot is in a forward leaning posture;

[0053] Fig.21 This is a schematic diagram of a robot provided in an embodiment of the present application when the robot is in a posture where the body is leaning forward to a maximum limit position.

[0054] Description of Figure Numbers:

[0055] Robot 1000; driving device 100; base 1; first connecting rod 4; second connecting rod 9; first driving structure 71; second driving structure 72; bearing surface 1a; first rotating seat 2; first sub-rotating seat 21; second sub-rotating seat 22; first connecting portion 41; second connecting portion 42; third connecting portion 43; moving end 4a; supporting end 9a; third rotating seat 20; first connecting section 44; second connecting section 45; second rotating seat 3; first driving member 711; first telescopic push rod 712; second driving member 721; second telescopic push rod 722; first driving assembly 713; first The second driving component 714; the rotating shaft 715; the first sub-driving component 7131; the first sub-telescopic push rod 7132; the second sub-driving component 7141; the second sub-telescopic push rod 7142; the first rotating shaft 411; the fourth connecting part 91; the fifth connecting part 92; the elastic support part 24; the first sensor 18; the second sensor 17; the sixth connecting part 93; the bending part 94; the third connecting section 95; the fourth connecting section 96; the chassis driving component 15; the upper body skeleton component 12; the waist rotating connecting component 11; the chassis driving wheel 151; the battery module 16; the mechanical arm 14; the display 13. DETAILED DESCRIPTION

[0056] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described in the present application are only a part of the embodiments, not all of the embodiments. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present application.

[0057] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It can be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0058] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example: a component or device including one or more parts is not limited to the one or more parts listed, but optionally includes one or more parts that are not listed but inherent to the exemplified product, or one or more parts that it should have based on the described function.

[0059] See also Figures 1 to 4 The present application provides a driving device 100 and a robot 1000 that improve the movement flexibility of the mobile robot 1000 and are simple to control.

[0060] See also Figures 1 to 4 , the embodiment of the present application provides a driving device 100. The driving device 100 can be applied to a two-dimensional motion platform, a robot 1000, an unmanned aerial vehicle, a transportation device, and other devices that need to have multiple degrees of freedom in space.

[0061] See also Figure 5 and Figure 6 The driving device 100 includes a base 1 , a first connecting rod 4 , a second connecting rod 9 , a first driving structure 71 and a second driving structure 72 .

[0062] Optionally, the base 1 has a bearing surface 1a, which is parallel or substantially parallel to the XY plane. The bearing surface 1a may also be referred to as a horizontal plane or a reference plane in this document.

[0063] See also Figure 5 and Figure 6 , the first connecting rod 4 is arranged on the base 1, and the first connecting rod 4 is rotatably connected to the base 1. Optionally, the driving device 100 further includes a first rotating seat 2, the first rotating seat 2 is installed on the base 1, and the first rotating seat 2 is arranged along the Z direction (up and down direction, and also the height direction). The first connecting rod 4 is rotatably connected to the first rotating seat 2.

[0064] See also Figure 5 and Figure 6 The second connecting rod 9 is hinged to the first connecting rod 4. The first connecting rod 4 includes a first connecting portion 41, a second connecting portion 42 and a third connecting portion 43. The second connecting rod 9 includes a fourth connecting portion 91 and a fifth connecting portion 92.

[0065] The third connection part 43 is rotatably connected to the fourth connection part 91 through a first rotating shaft. The first rotating shaft includes but is not limited to a rotating shaft bolt. The fourth connection part 91 is an end or a non-end.

[0066] Optionally, the third connecting portion 43 of the first connecting rod 4 is divided into two branches, so that the two branches of the first connecting rod 4 are respectively arranged on both sides of the second connecting rod 9, and the first rotating shaft member passes through the two branches of the first connecting rod 4 and the second connecting rod 9, and connects the first connecting rod 4 and the second connecting rod 9 in width. The first connecting rod 4 and the second connecting rod 9 can rotate with each other via the first rotating shaft member. Optionally, the first connecting rod 4 can be an integrated structure or a plurality of split rods fixed by screws.

[0067] One end of the first driving structure 71 is rotatably connected to the base 1 .

[0068] The present application does not specifically limit the first driving structure 71. Optionally, the first driving structure 71 includes but is not limited to being driven by a motor, hydraulic, pneumatic, electromagnetic, etc. Further, optionally, the first driving structure 71 is a linear push rod mechanism for driving the rotation of the first connecting rod 4. The first driving structure 71 can also use a hydraulic push rod or a cable structure to achieve the same function.

[0069] Optional, see Figure 5 and Figure 6 The driving device 100 further includes a second rotating seat 3, which is mounted on the base 1 and arranged along the Z direction (up and down direction, or height direction).

[0070] Optionally, the second rotating seat 3 is located toward the rear side of the base 1 . One end of the first driving structure 71 is rotatably connected to the second rotating seat 3 .

[0071] The other end of the first driving structure 71 is rotatably connected to the first connecting rod 4 to drive the first connecting rod 4 to rotate relative to the base 1 .

[0072] Specifically, the second connection portion 42 of the first connecting rod 4 can be an end portion or a non-end portion of the first connecting rod 4 , and the end of the first driving structure 71 away from the second rotating seat 3 is rotationally connected to the second connection portion 42 of the first connecting rod 4 .

[0073] The first driving structure 71 can be extended and retracted in its extension direction, so the first driving structure 71 has a translational degree of freedom along its extension direction. In addition, the first driving structure 71 also has a rotational degree of freedom compared to the second rotating seat 3. Therefore, the driving end of the first driving structure 71 (the end away from the second rotating seat 3) has a composite degree of freedom of translational degree of freedom + rotational degree of freedom. The rotation center of the driving end of the first driving structure 71 is the location of the second rotating seat 3. One end of the first driving structure 71 is rotatably connected to the second rotating seat 3 and can be extended and retracted, and can compensate for the displacement of the second connecting portion 42 of the first connecting rod 4 during the rotation process, so that the first connecting rod 4 rotates smoothly.

[0074] See also Figure 5 and Figure 6 , one end of the second driving structure 72 is rotatably connected to the base 1. Specifically, the driving device 100 further includes a third rotating seat 20, and the third rotating seat 20 is disposed on the base 1. One end of the second driving structure 72 is rotatably connected to the third rotating seat 20.

[0075] Optionally, the second driving structure 72 includes but is not limited to motor, hydraulic, pneumatic, electromagnetic, etc. Further optionally, the second driving structure 72 is a linear push rod mechanism for driving the rotation of the second connecting rod 9. The second driving structure 72 can also use a hydraulic push rod or a cable structure to achieve the same function.

[0076] See also Figure 5 and Figure 6 , the other end of the second driving structure 72 is rotatably connected to the second connecting rod 9 to drive the second connecting rod 9 to move in the height direction and / or the front-rear direction. Optionally, the fifth connecting portion 92 of the second connecting rod 9 is spaced apart from the fourth connecting portion 91, and the end of the second driving structure 72 away from the third rotating seat 20 is rotatably connected to the fifth connecting portion 92.

[0077] The second driving structure 72 can be telescopic in its extension direction, so the second driving structure 72 has a translational degree of freedom along its extension direction. In addition, the second driving structure 72 also has a rotational degree of freedom compared to the third rotating seat 20. Therefore, the driving end of the second driving structure 72 (the end away from the third rotating seat 20) has a composite degree of freedom of translational degree of freedom + rotational degree of freedom. The rotation center of the driving end of the second driving structure 72 is the location of the third rotating seat 20. The fifth connecting portion 92 of the second connecting rod 9 is rotationally connected to the other end of the second driving structure 72 (that is, the driving end of the aforementioned second driving structure 72). Driven by the second driving structure 72, the fifth connecting portion 92 has a composite degree of freedom of translational degree of freedom + rotational degree of freedom.

[0078] In addition, one end of the second driving structure 72 is rotatably connected to the third rotating seat 20 and can be retracted, so as to compensate for the displacement of the fifth connecting portion 92 of the second connecting rod 9 during the rotation process, so that the second connecting rod 9 can rotate smoothly.

[0079] The other end of the second connecting rod 9 (defined as the supporting end 9a in this article) is also used to carry the component to be driven. In this embodiment, the component to be driven is the upper body skeleton component 12 of the robot 1000.

[0080] In this embodiment, the fifth connecting portion 92 of the second connecting rod 9 can have a composite degree of freedom of translation + rotation under the drive of the second driving component, and the fourth connecting portion 91 of the second connecting rod 9 can have a rotational degree of freedom under the action of the first connecting rod 4. In addition, the rotational freedom of the fourth connecting portion 91 of the second connecting rod 9 is independent of the rotational freedom of the fifth connecting portion 92. In this way, the supporting end 9a of the second connecting rod 9 can move forward, backward, increase height (stand up), decrease height (squat), move toward the front and upper, rear and upper, front and lower, rear and lower directions within a certain range of the YZ plane, that is, it can move in any direction within a certain range of the YZ plane. When the driving device 100 is applied to the robot 1000, the driving device 100 can drive the upper body skeleton component 12 of the robot 1000 to achieve various postures such as moving forward, moving backward, squatting, and standing upright.

[0081] The present application provides a driving device 100, which includes a base 1, a first connecting rod 4, a second connecting rod 9, a first driving structure 71, and a second driving structure 72. The first connecting rod 4 is arranged on the base 1, and the first connecting rod 4 is rotatably connected to the base 1; the second connecting rod 9 is hinged to the first connecting rod 4; one end of the first driving structure 71 is rotatably connected to the base 1, and the other end of the first driving structure 71 is rotatably connected to the first connecting rod 4, so as to drive the first connecting rod 4 to rotate relative to the base 1; one end of the second driving structure 72 is rotatably connected to the base 1, and the other end of the second driving structure 72 is rotatably connected to the second connecting rod 9, so as to drive the second connecting rod 9 to move in the height direction and / or the front-to-back direction. In other words, the first driving structure 71 can drive the second connecting rod 9 via the first connecting rod 4, and the second connecting rod 9 moves in the height direction, or in the front-to-back direction, or backward and upward, or backward and downward, or forward and upward, or forward and downward under the drive of the second driving structure 72 and the first connecting rod 4, so as to realize that the driving device 100 has high flexibility of movement in the front-to-back and upper-lower spaces, and has a simple structure and convenient control. This allows the driving device 100 to have a high degree of flexibility in driving the second connecting rod 9 in the front, rear, upper and lower spaces while being easy to control.

[0082] Optional, see Figure 5 and Figure 6 The first driving structure 71 includes a first driving member 711 and a first telescopic push rod 712 .

[0083] One end of the first driving member 711 is rotatably connected to the second rotating seat 3, and the other end of the first driving member 711 is connected to one end of the first telescopic push rod 712. The first driving member 711 is configured to drive the first telescopic push rod 712 to extend and retract relative to the first driving member 711, and the other end of the first telescopic push rod 712 is rotatably connected to the second connecting portion 42 of the first connecting rod 4.

[0084] Optionally, the first driving member 711 is a motor. The first driving member 711 and the first telescopic push rod 712 are arranged side by side in the width direction. The first telescopic push rod 712 includes but is not limited to a screw. The output shaft of the first driving member 711 is connected to the first telescopic push rod 712 through a transmission member (transmission gear, etc.) to drive the first telescopic push rod 712 to rotate. The first telescopic push rod 712 extends or retracts relative to the first driving member 711 while rotating, so as to drive the second connecting portion 42 to rotate around the second rotating seat 3.

[0085] Optional, see Figure 5 and Figure 6 The second driving structure 72 includes a second driving member 721 and a second telescopic push rod 722 .

[0086] One end of the second driving member 721 is rotatably connected to the third rotating base 20, and the other end of the second driving member 721 is connected to one end of the second telescopic push rod 722. The second driving member 721 is configured to drive the second telescopic push rod 722 to extend and retract relative to the second driving member 721, and the other end of the second telescopic push rod 722 is rotatably connected to the fifth connecting portion 92 of the second connecting rod 9.

[0087] Optionally, the second driving member 721 is a motor. The second driving member 721 and the second telescopic push rod 722 are arranged side by side in the width direction. The second telescopic push rod 722 includes but is not limited to a screw. The output shaft of the second driving member 721 is connected to the second telescopic push rod 722 through a transmission member (transmission gear, etc.) to drive the second telescopic push rod 722 to rotate. The second telescopic push rod 722 extends or retracts relative to the second driving member 721 while rotating, so as to drive the fifth connecting portion 92 to rotate around the third rotating seat 20.

[0088] The driving device 100 further includes a control component (not shown), which is electrically connected to the first driving member 711 and the second driving member 721. The control component is used to send a first control signal to the first driving member 711 to control the first telescopic push rod 712 to be telescopic compared to the first driving member 711; the control component is used to send a second control signal to the second driving member 721 to control the second telescopic push rod 722 to be telescopic compared to the second driving member 721. Optionally, the control component may send the first control signal alone to control the first driving structure 71, at which time, the second telescopic push rod 722 in the second driving structure 72 may not be telescopic. Optionally, the control component may send the second control signal alone to control the second driving structure 72, at which time, the first telescopic push rod 712 in the first driving structure 71 may not be telescopic. Optionally, the control component can simultaneously send a first control signal to the first driving member 711 and a second control signal to control the second driving structure 72. At this time, the first telescopic push rod 712 in the first driving structure 71 and the second telescopic push rod 722 in the second driving structure 72 are both telescoped.

[0089] The specific structure of the first connecting rod 4 is illustrated below with reference to the accompanying drawings. The present application is not limited to the first connecting rod 4 being a straight rod, a bent rod, a curved rod, etc. In an optional embodiment, the first connecting rod 4 is a straight rod. In another optional embodiment, the first connecting rod 4 is a bent rod.

[0090] Optionally, the first connecting portion 41 , the second connecting portion 42 and the third connecting portion 43 are respectively different parts of the first connecting rod 4 .

[0091] The present application is not limited to the order, specific position, etc. of the first connection portion 41, the second connection portion 42, and the third connection portion 43. In an optional embodiment, the first connection portion 41, the second connection portion 42, and the third connection portion 43 are arranged in sequence. In another optional embodiment, the second connection portion 42, the first connection portion 41, and the third connection portion 43 are arranged in sequence.

[0092] See also Figure 7 and Figure 8 The first connecting portion 41 is rotatably connected to the first rotating seat 2 , so that the first connecting rod 4 can rotate relative to the first rotating seat 2 .

[0093] Optionally, when the first connection portion 41 is the end of the first connecting rod 4, the end of the first connecting rod 4 is rotatably connected to the first rotating seat 2. Optionally, when the first connection portion 41 is the non-end position of the first connecting rod 4, the non-end position of the first connecting rod 4 is connected to the first rotating seat 2.

[0094] See also Figure 7 and Figure 8The fourth connecting portion 91 of the second connecting rod 9 is connected to the third connecting portion 43. The extending direction of the second connecting rod 9 intersects with the extending direction of the first connecting rod 4.

[0095] For ease of description, this embodiment takes the application of the driving device 100 to the robot 1000 as an example, the front side is the side facing the display 13 of the robot 1000, and the rear side is the side facing away from the display 13 of the robot 1000. The lower side is the side close to the base 1, and the upper side is the side away from the base 1.

[0096] An example is given in which the control component sends a first control signal to the first drive structure 71 and sends a second control signal to the second drive structure 72. The first drive structure 71 drives the first connecting rod 4 to rotate according to the first control signal, and the second connecting rod 9 moves in the ZY plane under the drive of the first connecting rod 4 and the second drive structure 72.

[0097] Specifically, the angle between the first connecting rod 4 and the bearing surface 1a is an acute angle. The first connecting rod 4 extends toward the rear side of the driving device 100. The end of the first connecting rod 4 away from the bearing surface 1a is a moving end 4a.

[0098] Under the action of the first control signal, the first driving structure 71 drives the angle between the first connecting rod 4 and the bearing surface 1 a to increase, so that the moving end 4 a of the first connecting rod 4 moves toward the front and upward direction.

[0099] Under the action of the second control signal, the first driving structure 71 drives the angle between the first connecting rod 4 and the bearing surface 1 a to decrease, so that the moving end 4 a of the first connecting rod 4 moves toward the rear and downward direction.

[0100] Optionally, the movable end 4a of the first connecting rod 4 is rotatably connected to the fourth connecting portion 91 of the second connecting rod 9. The movable end 4a is the first rotation center. The front upper side end of the second connecting rod 9 is the support end 9a, and the support end 9a is spaced apart from the movable end 4a. The support end 9a is used to support the component to be driven. When the driving device 100 is applied to the robot 1000, the support end 9a of the second connecting rod 9 is used to support the upper body parts of the robot 1000, such as the upper body skeleton component 12, the mechanical arm 14, and the display 13.

[0101] The second connecting rod 9 as a whole moves forward and upward (or rearward and downward) along with the moving end 4a (the first rotation center), and the second connecting rod 9 can also rotate relative to the moving end 4a under the drive of the second driving structure 72. The extension direction of the second connecting rod 9 intersects with the extension direction of the first connecting rod 4, so that the supporting end 9a of the second connecting rod 9 can also move toward the front downward and rearward and upward. Therefore, the movement freedom of the supporting end 9a of the second connecting rod 9 is a composite degree of freedom. The movement freedom of the supporting end 9a is the superposition of the movement freedom of the moving end 4a and the movement freedom of the second connecting rod 9, so that the supporting end 9a of the second connecting rod 9 can move freely relative to the base 1 vertically upward, vertically downward, front upward, front downward, horizontally forward, horizontally backward, rear upward, or rear downward, etc. In other words, the supporting end 9a of the second connecting rod 9 can move to any position within a certain range in the YZ plane.

[0102] In other words, the first link 4 enables the moving end 4a to have two-dimensional spatial freedom of movement in the YZ plane, and the second link 9 enables the supporting end 9a to have two-dimensional spatial freedom of movement in the YZ plane compared to the moving end 4a, and the supporting end 9a has double degrees of freedom.

[0103] The increase in degrees of freedom can improve the flexibility and adaptability of the robot 1000, and enable the robot 1000 to work in more complex environments and tasks. In general technology, the increase in degrees of freedom will lead to an increase in the complexity of the control system, but in this application, only one driving structure 7 is used to achieve that the support end 9a of the second connecting rod 9 can move arbitrarily within a certain range in the YZ plane, which not only meets the needs of multiple degrees of freedom, but also realizes simplified control.

[0104] Specifically, the support end 9a of the second connecting rod 9 moves vertically upward relative to the base 1: the displacements of the moving end 4a and the support end 9a in the front-rear direction are offset, and the combined displacement of the moving end 4a and the support end 9a in the vertical direction is in the upward direction. It should be noted that, unless otherwise specified, the movement of the support end 9a described herein refers to the movement of the support end 9a relative to the moving end 4a.

[0105] The supporting end 9a of the second connecting rod 9 moves vertically downward relative to the base 1: the movement displacements of the moving end 4a and the supporting end 9a in the front-to-back direction cancel each other out, and the combined vertical displacement of the moving end 4a and the supporting end 9a is downward.

[0106] The supporting end 9a of the second connecting rod 9 moves toward the front and upper direction compared to the base 1: the combined displacement of the moving end 4a and the supporting end 9a in the front-to-back direction is forward, and the combined displacement of the moving end 4a and the supporting end 9a in the vertical direction is upward.

[0107] The supporting end 9a of the second connecting rod 9 moves toward the front and bottom relative to the base 1: the combined displacement of the moving end 4a and the supporting end 9a in the front-to-back direction is forward, and the combined displacement of the moving end 4a and the supporting end 9a in the vertical direction is downward.

[0108] The supporting end 9a of the second connecting rod 9 moves forward horizontally relative to the base 1: the combined displacement of the moving end 4a and the supporting end 9a in the front-to-back direction is forward, and the combined displacement of the moving end 4a and the supporting end 9a in the vertical direction cancels each other out.

[0109] The supporting end 9a of the second connecting rod 9 moves horizontally backward compared to the base 1: the combined displacement of the moving end 4a and the supporting end 9a in the front-to-back direction is backward, and the combined displacement of the moving end 4a and the supporting end 9a in the vertical direction cancels each other.

[0110] The supporting end 9a of the second connecting rod 9 moves toward the rear and upward direction compared to the base 1: the combined displacement of the moving end 4a and the supporting end 9a in the front-to-back direction is backward, and the combined displacement of the moving end 4a and the supporting end 9a in the vertical direction is upward.

[0111] The supporting end 9a of the second connecting rod 9 moves toward the rear and downward direction compared to the base 1: the combined displacement of the moving end 4a and the supporting end 9a in the front-to-back direction is backward, and the combined displacement of the moving end 4a and the supporting end 9a in the vertical direction is downward.

[0112] It can be seen from the above that the embodiment of the present application only needs to control the first driving structure 71 and the second driving structure 72, so as to realize that the supporting end 9a of the second connecting rod 9 can move with multiple degrees of freedom in the ZY plane, so as to realize movement in the height direction relative to the base 1, or movement in the front-to-back direction, or rearward and upward, or rearward and downward, or forward and upward, or forward and downward, so as to realize that the driving device 100 has a high degree of flexibility in movement in the front, rear, upper and lower space (YZ plane), and the control is simple and convenient.

[0113] In addition, since the movable end 4a of the first connecting rod 4 is subject to certain restrictions in its forward and upward movement, it needs to move along a fixed trajectory, that is, the displacement in the Y direction is associated with the displacement in the Z direction, and the supporting end 9a of the second connecting rod 9 can decouple the displacement in the Y direction from the displacement in the Z direction to achieve movement to any position in the ZY plane.

[0114] Optional, see Fig. 9 and Fig.10 The first rotating seat 2 includes a first sub-rotating seat 21 and a second sub-rotating seat 22 arranged along a first direction. The first direction is the X direction.

[0115] See also Fig. 9 and Fig.10The first driving structure 71 includes a first driving component 713, a second driving component 714 and a rotating shaft 715. One end of the first driving component 713 is rotatably connected to the first sub-rotating seat 21, the other end of the first driving component 713 is connected to one end of the rotating shaft 715, one end of the second driving component 714 is rotatably connected to the second sub-rotating seat 22, the other end of the second driving component 714 is rotatably connected to the other end of the rotating shaft 715, and the middle section of the rotating shaft 715 is connected to the second connecting portion 42.

[0116] The arrangement of the first driving assembly 713 and the second driving assembly 714 can increase the driving torque to reduce the size of each driving assembly.

[0117] See also Fig. 9 and Fig.10 The first driving assembly 713 includes a first sub-driving member 7131 and a first sub-telescopic push rod 7132 .

[0118] One end of the first sub-driving member 7131 is rotatably connected to the first sub-rotating seat 21, and the other end of the first sub-driving member 7131 is connected to one end of the first sub-telescopic push rod 7132. The first sub-driving member 7131 is configured to drive the first sub-telescopic push rod 7132 to extend and retract relative to the first sub-driving member 7131, and the other end of the first sub-telescopic push rod 7132 is rotatably connected to one end of the rotating shaft 715.

[0119] When the first driving member 711 drives the first telescopic push rod 712 to extend to a first length, the first connecting rod 4 has a first angle with the reference plane. When the first driving member 711 drives the first telescopic push rod 712 to extend to a second length, the first connecting rod 4 has a second angle with the reference plane, the second length is greater than the first length, and the second angle is less than the first angle. In other words, the first driving member 711 drives the first telescopic push rod 712 to extend and retract, so that the angle between the first connecting rod 4 and the reference plane changes.

[0120] See also Fig. 9 and Fig.10 The second driving assembly 714 includes a second sub-driving member 7141 and a second sub-telescopic push rod 7142 .

[0121] One end of the second sub-driving member 7141 is rotatably connected to the second sub-rotating seat 22, and the other end of the second sub-driving member 7141 is connected to one end of the second sub-telescopic push rod 7142. The second sub-driving member 7141 is configured to drive the second sub-telescopic push rod 7142 to extend and retract relative to the second sub-driving member 7141, and the other end of the second sub-telescopic push rod 7142 is rotatably connected to the other end of the rotating shaft 715.

[0122] When the second driving member 721 drives the second telescopic push rod 722 to extend to a third length, the second connecting rod 9 has a third angle with the reference plane. When the second driving member 721 drives the second telescopic push rod 722 to extend to a fourth length, the second connecting rod 9 has a fourth angle with the reference plane, the fourth length is greater than the third length, and the third angle is less than the fourth angle. In other words, the second driving member 721 drives the second telescopic push rod 722 to extend and retract, so that the angle between the second connecting rod 9 and the reference plane changes.

[0123] When the first sub-telescopic push rod 7132 and the second sub-telescopic push rod 7142 are extended, the movement trend of the second connecting rod 9 and the upper body skeleton assembly 12 supported by it is downward, otherwise it is upward; when the second telescopic push rod 722 is extended, the movement trend of the second connecting rod 9 and the upper body skeleton assembly 12 supported by it is downward, otherwise it is upward.

[0124] The combined movement of the first driving structure 71 and the second driving structure 72 can enable the second connecting rod 9 and the upper body frame assembly 12 supported by it to stop at any point within a certain range.

[0125] In this embodiment, the first driving assembly 713 and the second driving assembly 714 provide balanced forces for both ends of the rotating shaft 715 to drive the second connecting portion 42 of the first connecting rod 4 to rotate in the YZ plane, thereby reducing the problem of instability caused by the deflection in the X direction.

[0126] Furthermore, there may be a movable gap between the rotating shaft 715 and the second connecting part 42 to allow the first sub-telescopic push rod 7132 of the first driving component 713 and the second sub-telescopic push rod 7142 of the second driving component 714 to have a telescopic error (asynchronous) to prevent the telescopic push rod 722 from being stuck and damaging the motor, or the uneven force on the two ends of the second connecting part 42 causing breakage, etc.

[0127] The specific structure of the first connecting rod 4 is described below with reference to the accompanying drawings.

[0128] In the first optional implementation of the first connecting rod 4, please refer to Figure 7 and Figure 8 The second connection part 42, the first connection part 41, and the third connection part 43 are arranged in sequence.

[0129] Specifically, the second connecting portion 42 and the third connecting portion 43 are respectively located at the two ends of the first connecting rod 4 .

[0130] See also Figure 7 and Figure 8The first rotating seat 2 is rotatably connected to the first connecting portion 41 at one end away from the base 1. Specifically, a first rotating shaft hole is provided on the first rotating seat 2. The first connecting portion 41 is rotatably connected to the first rotating shaft hole through a first rotating shaft 411.

[0131] The first rotating shaft hole has a certain height, so that the first connecting portion 41 has a certain height compared to the bearing surface 1a, and a part of space is reserved for accommodating the second connecting portion 42. The height of the first rotating shaft hole is not specifically limited in the present application. Optionally, the height of the first rotating shaft hole is greater than the distance between the first connecting portion 41 and the second connecting portion 42, so that the first connecting rod 4 can smoothly rotate around the first rotating seat 2 via the first rotating shaft 411.

[0132] In an alternative implementation, see Figure 7 and Figure 8 , the first connecting rod 4 is a bent rod. Specifically, the first connecting section 44 is between the second connecting portion 42 and the first connecting portion 41. The second connecting section 45 is between the first connecting portion 41 and the third connecting portion 43. The angle between the straight line where the first connecting section 44 is located and the reference surface (bearing surface 1a) is greater than the angle between the straight line where the second connecting section 45 is located and the reference surface (bearing surface 1a).

[0133] Specifically, the first connecting rod 4 is inclined relative to the base 1. The third connecting portion 43 is inclined toward the rear side. In other words, the angle between the first connecting section 44 and the bearing surface 1a is an acute angle. The angle between the second connecting section 45 and the bearing surface 1a is an acute angle. And the angle between the straight line where the first connecting section 44 is located and the reference surface (bearing surface 1a) is greater than the angle between the straight line where the second connecting section 45 is located and the reference surface (bearing surface 1a). The angle between the first connecting section 44 and the second connecting section 45 is an obtuse angle. The present application does not make a specific limitation on the angle between the first connecting section 44 and the second connecting section 45. For example, the angle between the first connecting section 44 and the second connecting section 45 is close to 120°~160°.

[0134] See also Fig.11 When the first connecting rod 4 rotates to the first position, the first connecting section 44 is located at the front side of the first rotating seat 2, and the second connecting section 45 is located at the rear side of the first rotating seat 2, and the second connecting section 45 is nearly parallel to the bearing surface 1a. The movable end 4a is located at the third connecting portion 43. The movable end 4a moves to the rear side and is located at a lower position. At this time, the first connecting section 44 and the bearing surface 1a are at a first angle, and the second connecting section 45 and the bearing surface 1a are at a second angle, and the second angle is less than 10°. The first angle is greater than the second angle.

[0135] See also Figure 8When the first connecting rod 4 rotates to the second position, the first connecting section 44 is located at the front side of the first rotating seat 2, and the second connecting section 45 is located at the rear side of the first rotating seat 2, and the second connecting section 45 forms a larger angle with the bearing surface 1a. The movable end 4a is located at the third connecting portion 43. The movable end 4a moves to a higher position behind the center. At this time, the first connecting section 44 and the bearing surface 1a are at a third angle, and the second connecting section 45 and the bearing surface 1a are at a fourth angle. The third angle is greater than the fourth angle. The third angle is less than 90° or equal to 90°. For example, the third angle is 70 to 90°. The fourth angle is 30 to 60°. Of course, in other embodiments, the third angle can also be greater than or equal to 90°.

[0136] In the range of satisfying that the second connecting section 45 rotates from the angle of 10° with the bearing surface 1a to the angle of 60° with the bearing surface 1a, if the first connecting rod 4 is a straight rod, the first connecting section 44 rotates from the angle of 10° with the bearing surface 1a to the angle of 60° with the bearing surface 1a. In this process, the second connecting portion 42 of the first connecting rod 4 is relatively high in the height direction, and it is necessary to make the second connecting portion 42 have a large displacement in the height direction and the front-back direction, which brings great difficulty to the connection structure design and position layout of the first driving structure 71 and the second connecting portion 42.

[0137] Within the range of the second connecting section 45 rotating from an angle of 10° with the bearing surface 1a to an angle of 60° with the bearing surface 1a, if the angle between the first connecting section 44 and the second connecting section 45 is 135° as an example, the first connecting section 44 rotates from an angle of 35° with the bearing surface 1a to an angle of 85° with the bearing surface 1a. At this time, the height of the second connecting part 42 is relatively low, so that the displacement of the second connecting part 42 in the height direction and the front-to-back direction is relatively small, thereby facilitating the connection structure design and position layout of the first driving structure 71 and the second connecting part 42.

[0138] In addition, compared to the implementation embodiment in which the first connecting rod 4 is a straight rod, by setting the first connecting rod 4 as a bent rod, the size of the first connecting section 44 can also be shortened, so that the first connecting section 44 is shorter and combined with the driving force provided by the first driving structure 71, a relatively large torque is generated to drive the first connecting rod 4 to rotate.

[0139] Optionally, the length of the first connecting section 44 is smaller than the length of the second connecting section 45 .

[0140] The present application does not make any specific restrictions on the lengths of the first connecting segment 44 and the second connecting segment 45. Optionally, when the first driving structure 71 meets the torque design, the second connecting segment 45 can be much larger than the first connecting segment 44, and the driving structure 7 drives the second connecting portion 42 to rotate at a smaller angle to achieve a larger rotation angle of the third connecting portion 43. In addition, the movement stroke of the first connecting segment 44 away from the second connecting segment 45 can be shortened, and the movement stroke of the first driving structure 71 can also be reduced. The present application does not make any specific restrictions on the length ratio of the first connecting segment 44 to the second connecting segment 45.

[0141] Optionally, the first driving structure 71 and the third connecting portion 43 are located on the same side of the second connecting portion 42. In other words, the first connecting rod 4 extends from the front lower portion to the rear upper portion, and the first driving structure 71 is located at the rear side of the first connecting rod 4, so that the first driving structure 71 can effectively utilize the space formed between the first connecting rod 4 and the base 1.

[0142] Specifically, the second rotating seat 3 has a second rotating shaft hole. The height of the second rotating shaft hole compared to the bearing surface 1a is smaller than the height of the first rotating shaft hole compared to the bearing surface 1a, and the first driving structure 71 extends substantially in an inclined straight line.

[0143] See also Figure 8 When the first connecting rod 4 rotates to the second position, the angle between the straight line where the first driving structure 71 is located and the bearing surface 1a is small (for example, the angle is the smallest). For example, the angle between the straight line where the first driving structure 71 is located and the bearing surface 1a is close to 0° to 10°, and the first driving structure 71 is close to parallel to the bearing surface 1a.

[0144] See also Fig.10 When the first connecting rod 4 rotates to the first position, the second connecting portion 42 rotates to a relatively high position, and the angle between the straight line where the first driving structure 71 is located and the bearing surface 1a increases to a relatively large angle. For example, the angle between the straight line where the first driving structure 71 is located and the bearing surface 1a is close to 10° to 30°.

[0145] In this embodiment, one end of the first driving structure 71 is designed to be rotatably connected to the second rotating seat 3, and the other end of the first driving structure 71 is rotatably connected to the second connecting part 42, so that the first driving structure 71 has rotational freedom in the YZ plane. At the same time, the first driving structure 71 can also be telescopic, so the first driving structure 71 has translational freedom + rotational freedom, thereby driving the second connecting part 42 to rotate around the first rotating axis 411. The end of the first driving structure 71 connected to the second connecting part 42 can be displaced in the height direction and the front-to-back direction with the second connecting part 42, thereby avoiding the first driving structure 71 interfering with the movement of the second connecting part 42 in the height direction.

[0146] In addition, since the driving device 100 provided in this embodiment also needs to bear a load, this embodiment is designed so that one end of the first driving structure 71 is rotatably connected to the second rotating seat 3, and the other end of the first driving structure 71 is rotatably connected to the second connecting part 42, so that the first driving structure 71 can provide a relatively large torque.

[0147] In this embodiment, the first connecting rod 4 is designed to be a bent rod and is designed according to the rotation angle of the second connecting section 45, so that the height of the second connecting portion 42 of the first connecting rod 4 is relatively low, and the displacement range of the second connecting portion 42 during rotation is relatively small. In this way, the first driving structure 71 needs to have a relatively small telescopic displacement and a relatively small rotation angle, thereby reducing the performance requirements and structural design requirements for the first driving structure 71.

[0148] In a second optional implementation manner of the first connecting rod 4, the first connecting portion 41, the second connecting portion 42 and the third connecting portion 43 are arranged in sequence.

[0149] Optionally, the first connection portion 41 and the third connection portion 43 are respectively located at two ends of the first connecting rod 4. The second connection portion 42 is located between the first connection portion 41 and the third connection portion 43. The distance between the second connection portion 42 and the first connection portion 41 may be greater than, equal to, or less than the distance between the second connection portion 42 and the third connection portion 43. Optionally, the distance between the second connection portion 42 and the first connection portion 41 is less than the distance between the second connection portion 42 and the third connection portion 43, so that the translation displacement and rotation displacement of the first driving structure 71 are relatively small, reducing the performance requirements and structural design requirements for the first driving structure 71.

[0150] In this embodiment, the first rotating seat 2 does not need to be provided with a base. The first rotating seat 2 can be arranged in close contact with the base 1 to reduce the height of the first connecting rod 4, thereby reducing the design angle between the first driving structure 71 and the bearing surface 1a, and reducing the performance requirements and structural design requirements for the first driving structure 71.

[0151] In this embodiment, one end of the first driving structure 71 is designed to be rotatably connected to the second rotating seat 3, and the other end of the first driving structure 71 is rotatably connected to the second connecting part 42, so that the first driving structure 71 has rotational freedom in the YZ plane. At the same time, the first driving structure 71 can also be telescopic, so the first driving structure 71 has translational freedom + rotational freedom, thereby driving the second connecting part 42 to rotate around the first rotating axis 411. The end of the first driving structure 71 connected to the second connecting part 42 can be displaced in the height direction and the front-to-back direction with the second connecting part 42, thereby avoiding the first driving structure 71 interfering with the movement of the second connecting part 42 in the height direction.

[0152] In addition, since the driving device 100 provided in this embodiment also needs to bear a load, this embodiment is designed so that one end of the first driving structure 71 is rotatably connected to the second rotating seat 3, and the other end of the first driving structure 71 is rotatably connected to the second connecting part 42, so that the first driving structure 71 can provide a relatively large torque.

[0153] See also Figure 7 and Figure 8 The second connecting rod 9 includes a fourth connecting portion 91 and a fifth connecting portion 92 which are arranged at intervals. The fourth connecting portion 91 is rotatably connected to the third connecting portion 43.

[0154] In this embodiment, the fourth connection portion 91 and the fifth connection portion 92 are two ends of the second connecting rod 9. The fourth connection portion 91 is the rotation center. The height of the fifth connection portion 92 is lower than the height of the fourth connection portion 91. In other embodiments, the height of the fifth connection portion 92 may be higher than the height of the fourth connection portion 91.

[0155] Optionally, the third rotating seat 20 is located between the first rotating seat 2 and the second rotating seat 3. The orthographic projection of the fifth connecting portion 92 on the base 1 is located on a side of the third rotating seat 20 away from the second rotating seat 3.

[0156] In the present embodiment, the second driving structure 72 is designed to extend from the third rotating seat 20 toward the upper rear, the first connecting rod 4 extends from the first rotating seat 2 toward the upper rear, and the second connecting rod 9 extends from the lower rear toward the upper front. On the one hand, it is convenient for the second driving structure 72 and the first connecting rod 4 to drive the second connecting rod 9 to have a relatively large rotation angle at a smaller rotation angle, thereby making the sixth connecting portion 93 of the second connecting rod 9 have a larger rotation range, so as to drive the upper body skeleton assembly 12 to have a larger movement range, so as to facilitate the robot 1000 to flexibly switch between the standing state and the squatting state, and between the forward state and the backward state; on the other hand, it is convenient for the second driving structure 72 and the first connecting rod 4 to provide a relatively small driving force to drive the second connecting rod 9 to rotate, thereby reducing the performance requirements for the second driving structure 72.

[0157] In another optional implementation, please refer to Figure 7 and Figure 8, the second connecting rod 9 also includes a sixth connecting portion 93. The sixth connecting portion 93 is located on the side of the fourth connecting portion 91 away from the fifth connecting portion 92. In other words, the sixth connecting portion 93, the fourth connecting portion 91 and the fifth connecting portion 92 are arranged in sequence. The fourth connecting portion 91 is the rotation center, and the sixth connecting portion 93 is the aforementioned support end 9a. Optionally, the distance between the sixth connecting portion 93 and the base 1 is greater than the distance between the fourth connecting portion 91 and the base 1, that is, the height of the sixth connecting portion 93 is higher than the height of the fourth connecting portion 91. The distance between the fifth connecting portion 92 and the base 1 is less than or equal to the distance between the fourth connecting portion 91 and the base 1. The height of the fourth connecting portion 91 is higher than or equal to the height of the fifth connecting portion 92. The sixth connecting portion 93 of the second connecting rod 9 is located at the front upper part, and the fifth connecting portion 92 of the second connecting rod 9 is located at the rear lower part.

[0158] When the driving device 100 is applied to the robot 1000, the sixth connection portion 93 is used to connect the upper body frame assembly 12. When the sixth connection portion 93 of the second connecting rod 9 moves to any position within a certain range in the YZ plane, the waist rotation connection assembly 11 and the upper body frame assembly 12 can be driven to move to any position within a certain range in the YZ plane.

[0159] In another optional embodiment, the second connecting rod 9 further includes a sixth connecting portion 93. The sixth connecting portion 93, the fifth connecting portion 92 and the fourth connecting portion 91 are arranged in sequence. The fourth connecting portion 91 is the rotation center, and the sixth connecting portion 93 is the aforementioned support end 9a. Optionally, the height of the sixth connecting portion 93 is higher than the height of the fifth connecting portion 92. The height of the fifth connecting portion 92 is higher than the height of the fourth connecting portion 91. The sixth connecting portion 93 of the second connecting rod 9 is located at the front upper part, and the fourth connecting portion 91 of the second connecting rod 9 is located at the rear lower part.

[0160] In an optional embodiment, the second connecting rod 9 is a linear rod.

[0161] In another optional embodiment, the second connecting rod 9 is a bending rod. The second connecting rod 9 also includes a bending portion 94 between the sixth connecting portion 93 and the fourth connecting portion 91. A third connecting segment 95 is located between the sixth connecting portion 93 and the bending portion 94. A fourth connecting segment 96 is located between the bending portion 94 and the fourth connecting portion 91. The angle between the straight line where the third connecting segment 95 is located and the reference plane is greater than the angle between the straight line where the fourth connecting segment 96 is located and the reference plane. In other words, the third connecting segment 95 extends toward the front and upward compared to the fourth connecting segment 96.

[0162] The present application does not specifically limit the angle between the third connecting segment 95 and the fourth connecting segment 96. For example, the angle between the third connecting segment 95 and the fourth connecting segment 96 includes but is not limited to 110° to 170°.

[0163] Optionally, the length between the fourth connecting portion 91 and the fifth connecting portion 92 is smaller than the length between the fourth connecting portion 91 and the sixth connecting portion 93, so that the first connecting rod 4 drives the second connecting rod 9 to rotate a smaller angle to achieve a relatively large angle rotation of the supporting end 9a of the second connecting rod 9.

[0164] When the driving device 100 is applied to the robot 1000, the sixth connection portion 93 is the position of the waist rotation connection component 11 and the upper body frame component 12, and the third connection segment 95 extends forward and upward compared to the fourth connection segment 96. In this way, the waist rotation connection component 11 and the upper body frame component 12 have a certain height and are relatively forwardly located to balance the center of gravity.

[0165] Optional, see Fig.12 and Fig.13 , the driving device 100 also includes an elastic support member 24. One end of the elastic support member 24 is connected to the second connecting rod 9, and the other end of the elastic support member 24 is rotatably connected to the first connecting rod 4 or the base 1. When the elastic support member 24 is connected to the first connecting rod 4, the elastic support member 24 is connected to the first connecting portion 41 of the first connecting rod 4. This position makes the other end of the elastic support member 24 not rotate with the rotation of the first connecting rod 4 during the rotation of the first connecting rod 4, or rotates less, so that the elastic support member 24 forms a supporting force for the second connecting rod 9, and the direction of action of the supporting force can be changed. Compared with being connected to the base 1, a relatively shorter elastic support member 24 can be set when the elastic support member 24 is connected to the first connecting rod 4.

[0166] The connection position between the elastic support member 24 and the second connecting rod 9, the connection position between the first connecting rod 4 and the second connecting rod 9, and the connection position between the second driving assembly 714 and the second connecting rod 9 are arranged in sequence. In other words, the elastic support member 24 provides support force for the position of the second connecting rod 9 close to the front side, so that the front side end (sixth connecting part 93) of the second connecting rod 9 can have a greater support force on the driven assembly. The elastic support member 24 is used to compensate for the gravity of the upper body skeleton assembly 12, the mechanical arm 14, the display 13, etc., and is used to offset the self-weight of the upper body skeleton assembly 12, the mechanical arm 14, the display 13, etc., so as to reduce the working pressure of the first driving structure 71.

[0167] The elastic support member 24 can offset the gravity of the upper body of the robot 1000, and the elastic support member 24 is a gravity compensation mechanism. The elastic support member 24 includes but is not limited to air springs, shock absorbers, rigid springs, gas springs, etc. The elastic support member 24 is used to provide support force for the fifth connecting portion 92 of the second connecting rod 9. Optionally, the support force provided by the elastic support member 24 is variable, so that the second connecting rod 9 has a strong support force for the waist rotation connection component 11 and the upper body skeleton component 12 supported by it, and can also allow the fifth connecting portion 92 to rotate around the fourth connecting portion 91, while also balancing the center of gravity of the entire robot 1000, and preventing the problem of the robot 1000 tipping over due to unstable center of gravity.

[0168] The angle between the elastic support member 24 and the reference plane is greater than the angle between the first connecting rod 4 and the reference plane. Since the weight required to be carried at the sixth connecting portion 93 of the second connecting rod 9 is heavier when the upper body skeleton assembly 12, the display 13 and the mechanical arm 14 are arranged at the sixth connecting portion 93 of the second connecting rod 9, the elastic support member 24 is arranged, and the supporting position of the elastic support member 24 for the second connecting rod 9 is located between the sixth connecting portion 93 and the fourth connecting portion 91, so as to provide a certain supporting force for the second connecting rod 9, so as to balance the center of gravity of the robot 1000 as a whole, and prevent problems such as unstable center of gravity of the robot 1000.

[0169] It should be noted that no matter what posture the robot 1000 is in, the first connecting rod 4, the first driving structure 71, the second driving structure 72, the elastic support member 24, etc. on the lower side of the second connecting rod 9 can all play a supporting role. In addition, the first connecting rod 4, the first driving structure 71, the second driving structure 72, and the elastic support member 24 can provide sufficient supporting force adaptively to maintain the center of gravity balance of the robot 1000 and maintain its posture.

[0170] The present application does not limit the number of elastic support members 24 .

[0171] For example, the number of the elastic support members 24 is two, and the two elastic support members 24 are respectively disposed on two opposite sides of the first connecting rod 4 to provide more supporting force for the second connecting rod 9 .

[0172] Optional, see Fig.14 The driving device 100 further includes a first sensor 18 and a second sensor 17. The first sensor 18 is disposed on the first rotating seat 2. The first sensor 18 is used to detect the rotation angle of the first connecting rod 4 compared to the first rotating seat 2. The second sensor 17 is disposed on the first connecting rod 4. The second sensor 17 is used to detect the rotation angle of the second connecting rod 9 compared to the first connecting rod 4.

[0173] Optionally, the first sensor 18 is an encoder. The second sensor 17 is an encoder. The first sensor 18 feeds back the angle of the first connecting rod 4 to the control component, and the second sensor 17 feeds back the angle of the second connecting rod 9 to the control component. The control component calculates the specific spatial position through data fitting, and can also calculate the pushing length through the built-in encoder of the telescopic push rod 722 to fit the specific spatial position of the body.

[0174] See also Fig.14 , an embodiment of the present application also provides a robot 1000.

[0175] See also Fig.14 The robot 1000 includes a chassis driving component 15, an upper body skeleton component 12, a waist rotation connection component 11 and a driving device 100 described in any of the aforementioned embodiments.

[0176] See also Fig.14 The chassis drive assembly 15 includes a chassis drive wheel 151 and a bottom plate disposed on the chassis drive wheel 151. The chassis drive wheel 151 includes a set of front wheels and a set of rear wheels. Optionally, the chassis drive wheel 151 includes but is not limited to a McRae wheel.

[0177] The bottom end of the driving device 100 is disposed on the bottom plate of the chassis driving assembly 15. The bottom plate of the chassis driving assembly 15 can be the same structure as the aforementioned base 1.

[0178] See also Fig.14 The robot 1000 further includes a battery module 16. The battery module 16 is disposed between a set of front wheels and a set of rear wheels and is located at the bottom of the base plate.

[0179] The waist rotation connection component 11 is connected between the top of the driving device 100 and the upper body frame component 12. The waist rotation connection component 11 is configured to drive the upper body frame component 12 to rotate relative to the driving device 100. The waist rotation connection component 11 includes but is not limited to a waist joint motor, which rotationally connects the support end 9a of the second connecting rod 9 (the aforementioned sixth connecting portion 93) and the upper body frame component 12. The rotation axis direction of the waist joint motor is the horizontal lateral direction, so that the upper body frame component 12 rotates forward and backward. The waist rotation connection component 11 can also use a linear push rod or a cable to realize waist movements. Combined with the aforementioned support end 9a of the second connecting rod 9 being able to move at any position in the ZY plane and the waist rotation connection component 11 driving the upper body frame component 12 to rotate forward and backward, the robot 1000 can realize an upright posture, a half-squat posture, a full squat posture, a body forward posture, a body backward posture, a body forward leaning posture, a forward leaning posture to the maximum limit posture, etc.

[0180] The robot 1000 further includes a mechanical arm 14 and a display 13. The mechanical arm 14 is disposed on both sides of the width direction of the upper body frame component 12, and the display 13 is disposed on the upper side of the upper body frame component 12. The robot 1000 provided in the present application is combined with the aforementioned driving device 100 and the waist rotation connection component 11 to further expand the range of motion of the mechanical arm 14, so that the mechanical arm 14 can easily pick up objects on the ground.

[0181] The mechanical arm 14 , the display 13 , and the upper body frame assembly 12 are disposed toward the front side of the robot 1000 , so the driving device 100 is disposed toward the rear side to balance the center of gravity of the robot 1000 .

[0182] A robot 1000 provided in the present application includes a chassis driving component 15, an upper body skeleton component 12, a waist rotating connection component 11 and a driving device 100 as described in the first aspect, wherein the driving device 100 includes a base 1, a first connecting rod 4, a second connecting rod 9, a first driving structure 71, and a second driving structure 72, wherein the first connecting rod 4 is arranged on the base 1, and the first connecting rod 4 is rotatably connected to the base 1; the second connecting rod 9 is hinged to the first connecting rod 4; one end of the first driving structure 71 is rotatably connected to the base 1, and the other end of the first driving structure 71 is rotatably connected to the first connecting rod 4 to drive the first connecting rod 4 to rotate relative to the base 1; one end of the second driving structure 72 is rotatably connected to the base 1, and the other end of the second driving structure 72 is rotatably connected to the second connecting rod 9 to drive the second connecting rod 9 to move in the height direction and / or the front-to-back direction, so that the driving device 100 has a high degree of movement flexibility in driving the second connecting rod 9 in the front-to-back upper and lower spaces while being simple to control, and the driving The bottom end of the device 100 is arranged on the chassis driving component 15, and the waist rotating connection component 11 is connected between the top of the driving device 100 and the upper body frame component 12. The driving structure 7 drives the waist rotating connection component 11 and the upper body frame component 12 to move in the height direction, or in the front and back direction, or backward and upward, or backward and downward, or forward and upward, or forward and downward through the first connecting rod 4 and the second connecting rod 9, so that the waist rotating connection component 11 and the upper body frame component 12 have higher flexibility in movement in the front and back upper and lower spaces. On this basis, the upper body frame component 12 can rotate around the rotating waist rotating connection component 11, so the upper body frame component 12 can move with multiple degrees of freedom in the front and back upper and lower spaces. The movement ability of the robot 1000, generally, the higher the degree of freedom of the robot 1000, the more complex the control, and the present application only needs to control the driving structure 7 and the waist rotating connection component 11 to realize the multi-degree-of-freedom movement of the robot 1000 in the front and back upper and lower spaces, and realize multiple degrees of freedom while being simple to control.

[0183] The following describes various postures of the robot 1000 by taking the second connection portion 42 , the first connection portion 41 , and the third connection portion 43 of the first link 4 as an example in which the second connection portion 42 , the first connection portion 41 , and the third connection portion 43 are arranged in sequence.

[0184] See also Fig.15 , Fig.15 1 is a schematic diagram of the robot 1000 in the highest upright posture.

[0185] Please also read Fig.13 , the second connecting part 42 is located at position A1, the first connecting part 41 is located at position B, the third connecting part 43 and the fourth connecting part 91 are located at position C1, the fifth connecting part 92 is located at position D1, and the sixth connecting part 93 is located at position E1. At this time, the positions of the fifth connecting part 92 and the sixth connecting part 93 are both relatively high, and the first connecting rod 4 is rotated to a larger angle (such as the second position mentioned above). At this time, the robot 1000 is in the highest upright posture. The elastic support member 24 has a large angle with the bearing surface, providing support force for the position of the second connecting rod 9 close to the front side for gravity compensation, which is used to offset the dead weight of the upper body skeleton assembly 12, the mechanical arm 14, the display 13, etc., so as to reduce the working pressure of the first driving structure 71.

[0186] See also Fig.16 , Fig.16 1 is a schematic diagram of the robot 1000 in a half-squat height posture.

[0187] Please also read Fig.13 , the second connection part 42 is located at the A2 position, the first connection part 41 is located at the B position, the third connection part 43 and the fourth connection part 91 are located at the C2 position, the fifth connection part 92 is located at the D2 position, and the sixth connection part 93 is located at the E2 position. Compared with the upright highest posture, the positions of the third connection part 43, the fourth connection part 91, the fifth connection part 92, and the sixth connection part 93 are all lowered, the second connecting rod 9 moves downward, and the angle between the second connecting rod 9 and the base 1 is reduced. At this time, the position of the second connecting part 42 is raised, and the angle between the first connecting rod 4 and the base 1 is reduced (less than the angle between the first connecting rod 4 and the base 1 when the upright highest posture). At this time, the robot 1000 is in a half-squat height posture. The angle between the elastic support member 24 and the bearing surface is reduced, providing support force for the position of the second connecting rod 9 close to the front side for gravity compensation, which is used to offset the dead weight of the upper body skeleton assembly 12, the mechanical arm 14, the display 13, etc., to reduce the working pressure of the first drive structure 71.

[0188] See also Fig.17 , Fig.17 is a schematic diagram of the robot 1000 in a fully squatting posture.

[0189] Please also read Fig.13, the second connection part 42 is located at the A3 position, the first connection part 41 is located at the B position, the third connection part 43 and the fourth connection part 91 are located at the C3 position, the fifth connection part 92 is located at the D3 position, and the sixth connection part 93 is located at the E3 position. Compared with the half-squat height posture, the positions of the third connection part 43, the fourth connection part 91, the fifth connection part 92, and the sixth connection part 93 are all lowered, the second connecting rod 9 moves downward, and the angle between the second connecting rod 9 and the base 1 is reduced. The position of the second connecting part 42 is raised, and the angle between the first connecting rod 4 and the base 1 is reduced (for example, the first connecting rod 4 is located at the aforementioned first position, which is less than the angle between the first connecting rod 4 and the base 1 when the upright highest posture). At this time, the robot 1000 is in a completely squatting posture. The angle between the elastic support member 24 and the bearing surface is further reduced, providing support force for the position of the second connecting rod 9 close to the front side for gravity compensation, which is used to offset the dead weight of the upper body skeleton assembly 12, the mechanical arm 14, the display 13, etc., so as to reduce the working pressure of the first driving structure 71.

[0190] See also Fig.18 , Fig.18 1 is a schematic diagram of the robot 1000 in a forward-moving posture.

[0191] Please also read Fig.13 , the second connecting part 42 is located at the A4 position, the first connecting part 41 is located at the B position, the third connecting part 43 and the fourth connecting part 91 are located at the C4 position, the fifth connecting part 92 is located at the D4 position, and the sixth connecting part 93 is located at the E4 position. Compared with the half-squat height posture, the second connecting rod 9 moves downward, and the angle between the second connecting rod 9 and the base 1 decreases. At this time, the robot 1000 is in a forward body posture. The angle between the elastic support member 24 and the bearing surface is reduced, providing support force for the position of the second connecting rod 9 close to the front side for gravity compensation, which is used to offset the dead weight of the upper body skeleton assembly 12, the mechanical arm 14, the display 13, etc., so as to reduce the working pressure of the first driving structure 71.

[0192] See also Fig.19 , Fig.19 1 is a schematic diagram of the robot 1000 in a posture in which the body is moved backward.

[0193] Please also read Fig.13, the second connection part 42 is located at position A5, the first connection part 41 is located at position B, the third connection part 43 and the fourth connection part 91 are located at position C5, the fifth connection part 92 is located at position D5, and the sixth connection part 93 is located at position E5. Compared with the forward posture of the body, the positions of the third connection part 43, the fourth connection part 91, and the fifth connection part 92 are all lowered. The angle between the second connecting rod 9 and the base 1 increases. For example, the third connecting section 95 is close to being in a vertical state. The position of the sixth connection part 93 is raised, and the angle between the second connecting rod 9 and the base 1 increases. At this time, the robot 1000 is in a backward posture of the body. The mechanical arm 14 and the display 13, and the upper body skeleton assembly 12 are facing the rear side of the robot 1000. The angle between the elastic support member 24 and the bearing surface is reduced, providing support force for the position of the second connecting rod 9 close to the front side for gravity compensation, which is used to offset the dead weight of the upper body skeleton assembly 12, the mechanical arm 14, the display 13, etc., so as to reduce the working pressure of the first driving structure 71.

[0194] See also Fig. 20 , Fig. 20 1 is a schematic diagram of the robot 1000 in a forward leaning posture.

[0195] Please also read Fig.13 When the robot 1000 is in a half-squat height posture, the upper body frame assembly 12 is in a nearly vertical state. On the basis that the robot 1000 is in a half-squat height posture, the waist rotation connection assembly 11 of the robot 1000 drives the upper body frame assembly 12 to tilt forward, so that the robot 1000 is in a forward leaning posture.

[0196] See also Fig.21 , Fig.21 It is a schematic diagram of the robot 1000 when the body is in a forward leaning position to a maximum limit position.

[0197] Please also read Fig.13 On the basis that the robot 1000 is in a half-squatting height posture, the waist rotation connection component 11 of the robot 1000 drives the upper body skeleton component 12 to tilt toward the front side to a nearly horizontal state, so that the robot 1000 is in a forward leaning posture.

[0198] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A driving device, characterized in that: Base; A first connecting rod, the first connecting rod is arranged on the base, and the first connecting rod is rotatably connected to the base; a second connecting rod, the second connecting rod being hinged to the first connecting rod; A first driving structure, wherein one end of the first driving structure is rotatably connected to the base, and the other end of the first driving structure is rotatably connected to a first connecting rod, so as to drive the first connecting rod to rotate relative to the base; and A second driving structure, one end of the second driving structure is rotatably connected to the base, and the other end of the second driving structure is rotatably connected to the second connecting rod to drive the second connecting rod to move in the height direction and / or the front-rear direction.

2. The driving device according to claim 1, characterized in that: The driving device further comprises a first rotating seat and a second rotating seat arranged on the base, one end of the first driving structure is rotatably connected to the first rotating seat, The first connecting rod includes a first connecting portion, a second connecting portion and a third connecting portion. The first connection portion is rotatably connected to the first rotating seat, the second connection portion is connected to the other end of the first driving structure, and the third connection portion is connected to the second connecting rod.

3. The driving device according to claim 2, characterized in that: The first rotating seat comprises a first sub-rotating seat and a second sub-rotating seat arranged along a first direction; The first driving structure includes a first driving component, a second driving component and a rotating shaft, one end of the first driving component is rotatably connected to the first sub-rotating seat, the other end of the first driving component is connected to one end of the rotating shaft, one end of the second driving component is rotatably connected to the second sub-rotating seat, the other end of the second driving component is rotatably connected to the other end of the rotating shaft, and the middle section of the rotating shaft is connected to the second connecting portion.

4. The driving device according to claim 2, characterized in that: The second connection part, the first connection part, and the third connection part are arranged in sequence.

5. The driving device according to claim 2, characterized in that: A first connecting section is between the second connecting portion and the first connecting portion, a second connecting section is between the first connecting portion and the third connecting portion, and an angle between the straight line where the first connecting section is located and a reference plane is greater than an angle between the straight line where the second connecting section is located and the reference plane.

6. The driving device according to claim 5, characterized in that: The length of the first connecting section is smaller than the length of the second connecting section.

7. The driving device according to claim 2, characterized in that: The first driving structure and the third connecting portion are located on the same side of the second connecting portion.

8. The driving device according to claim 2, characterized in that: The first driving structure includes a first driving member and a first telescopic push rod, one end of the first driving member is rotatably connected to the first rotating seat, the other end of the first driving member is connected to one end of the first telescopic push rod, the first driving member is configured to drive the first telescopic push rod to extend and retract relative to the first driving member, and the other end of the first telescopic push rod is rotatably connected to the second connecting portion; When the first driving member drives the first telescopic push rod to extend a first length, the first connecting rod has a first angle with a reference plane; when the first driving member drives the first telescopic push rod to extend a second length, the first connecting rod has a second angle with the reference plane, the second length is greater than the first length, and the second angle is less than the first angle.

9. The driving device according to any one of claims 2 to 8, characterized in that: The second connecting rod includes a fourth connecting portion and a fifth connecting portion, and the fourth connecting portion is rotatably connected to the third connecting portion; The driving device further comprises a third rotating seat arranged on the base, one end of the second driving component is rotatably connected to the third rotating seat, and the other end of the second driving component is rotatably connected to the fifth connecting portion.

10. The driving device according to claim 9, characterized in that: The third rotating seat is located between the first rotating seat and the second rotating seat, and the orthographic projection of the fifth connecting portion on the base is located on a side of the third rotating seat away from the second rotating seat.

11. The driving device according to claim 9, characterized in that: The second connecting rod also includes a sixth connecting portion, which is located on the side of the fourth connecting portion away from the fifth connecting portion, the distance between the sixth connecting portion and the base is greater than the distance between the fourth connecting portion and the base, and the distance between the fifth connecting portion and the base is less than or equal to the distance between the fourth connecting portion and the base.

12. The driving device according to claim 11, characterized in that: The second connecting rod also includes a bending portion located between the sixth connecting portion and the fourth connecting portion, a third connecting segment is between the sixth connecting portion and the bending portion, a fourth connecting segment is between the bending portion and the fourth connecting portion, and an angle between the straight line where the third connecting segment is located and a reference plane is greater than an angle between the straight line where the fourth connecting segment is located and the reference plane.

13. The driving device according to claim 9, characterized in that: The second driving structure includes a second driving member and a second telescopic push rod, one end of the second driving member is rotatably connected to the second rotating seat, the other end of the second driving member is connected to one end of the second telescopic push rod, the second driving member is configured to drive the second telescopic push rod to extend and retract relative to the second driving member, and the other end of the second telescopic push rod is rotatably connected to the second connecting portion; When the second driving member drives the second telescopic push rod to extend to a third length, the second connecting rod has a third angle with the reference plane; when the second driving member drives the second telescopic push rod to extend to a fourth length, the second connecting rod has a fourth angle with the reference plane, the fourth length is greater than the third length, and the third angle is smaller than the fourth angle.

14. The driving device according to any one of claims 1 to 8 and 10 to 13, characterized in that: The driving device also includes an elastic support member, one end of which is connected to the second connecting rod, and the other end of which is rotatably connected to the first connecting rod or the base, the angle between the elastic support member and the reference plane is greater than the angle between the first connecting rod and the reference plane, and the connection position between the elastic support member and the second connecting rod, the connection position between the first connecting rod and the second connecting rod, and the connection position between the second driving assembly and the second connecting rod are arranged in sequence.

15. The driving device according to any one of claims 2 to 8 and 10 to 13, characterized in that: The driving device also includes a first sensor and a second sensor. The first sensor is arranged on the first rotating seat, and the first sensor is used to detect the rotation angle of the first connecting rod compared to the first rotating seat; the second sensor is arranged on the first connecting rod, and the second sensor is used to detect the rotation angle of the second connecting rod compared to the first connecting rod.

16. A robot, characterized in that: It includes a chassis driving component, an upper body frame component, a waist rotating connection component and a driving device as described in any one of claims 1 to 15, wherein the base of the driving device is arranged on the chassis driving component, the waist rotating connection component is connected between the second connecting rod and the upper body frame component, and the waist rotating connection component is configured to drive the upper body frame component to rotate relative to the second connecting rod.

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