Body movement joint of robot and robot

Abstract

The embodiment of the invention belongs to the technical field of robots, and relates to a body movement joint of a robot and the robot, the output end of a first rotation driving part is fixedly connected with the first end of a first joint, so that the first joint is driven by the first rotation driving part to rotate with a first center shaft as the axis; the second end of the first joint is fixedly connected with the input end of the second rotary driving part; a second central shaft of the second rotary driving piece is perpendicular to the first central shaft; the output end of the second rotary driving part is fixedly connected with the first end of the second joint; the second rotary driving part is arranged closer to the rear of the robot than the first rotary driving part; the second end of the second joint is fixedly connected with the input end of the third rotary driving part; and the first end of the third joint is fixedly connected with the output end of the third rotary driving part. According to the technical scheme, the space operation range of the robot can be widened.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more specifically, to a motion joint of a robot body and the robot. Background Art

[0002] With the development of science and technology, humanoid robots have gradually become popular in all walks of life, so there are higher requirements for the flexibility of robot body movements.

[0003] Currently, humanoid robots that use a mobile chassis and have a folding waist often have three rotating joints arranged at the waist, so that the robot has a variety of working postures. However, existing robots with a folding waist function generally have the following defects: on the one hand, the forward tilt of the waist is relatively small, resulting in a limited working range. Summary of the invention

[0004] Based on this, an embodiment of the present application provides a motion joint of a robot's body and a robot to increase the robot's spatial operating range.

[0005] In a first aspect, the embodiments of the present application provide a motion joint of a robot body and a robot, which adopts the following technical solution:

[0006] A motion joint of a robot body, the robot comprising a bottom, comprising: a first rotary drive member, a second rotary drive member, a third rotary drive member, a first joint, a second joint and a third joint;

[0007] The input end of the first rotary drive member is used to be fixedly connected to the bottom of the robot, and the first central axis of the first rotary drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotary drive member is fixedly connected to the first end of the first joint;

[0008] The second end of the first joint is fixedly connected to the input end of the second rotary drive member; the second central axis of the second rotary drive member is arranged perpendicular to the first central axis; the output end of the second rotary drive member is fixedly connected to the first end of the second joint; wherein the second rotary drive member is arranged closer to the rear of the robot than the first rotary drive member;

[0009] The second end of the second joint is fixedly connected to the input end of the third rotation driving member; the first end of the third joint is fixedly connected to the output end of the third rotation driving member; wherein the second center axis of the second rotation driving member is arranged parallel to the third center axis of the third rotation driving member.

[0010] Furthermore, the rotation angle of the second rotary drive member includes a rotation within a range of 160 degrees toward the front direction of the robot.

[0011] Furthermore, the rotation angle of the third rotary drive member includes a rotation within a range of 160 degrees toward the front direction of the robot.

[0012] Further, the ratio of the height of the first joint to the height of the second joint is: 1.5:1 to 2:1; and / or,

[0013] The ratio of the height of the third joint to the height of the second joint is: 1.5:1 to 2:1; and / or,

[0014] The ratio of the height of the bottom to the height of the first joint is 1:1 to 1.5:1.

[0015] Furthermore, the widths of the first joint, the second joint and the third joint are smaller than the width of the bottom of the robot.

[0016] Further, the surface of the first joint facing the front of the robot is concave to form a first concave area; and / or,

[0017] The surface of the second joint facing the rear of the robot is concave to form a second concave area; and / or,

[0018] The surface of the third joint facing the rear of the robot is concave to form a third concave area.

[0019] The first recessed area, the second recessed area and the third recessed area cooperate with each other when the first joint, the second joint and the third joint rotate to the folded state, so as to reduce the obstruction to the rotation to the folded state.

[0020] Further, the bottom of the robot includes a chassis drive, wheels and a chassis body;

[0021] The chassis driving member is arranged on the chassis body;

[0022] The output end of the chassis driving member is fixedly connected to the wheel, and the chassis body is mounted on the wheel, so that the chassis driving member drives the chassis body to move through the wheel.

[0023] Further, the chassis driving member includes a rotation driving member; and / or,

[0024] The chassis drive is a dual-wheel differential drive.

[0025] Further, the second central axis of the second rotary drive member is arranged along the direction of the central axis of the robot rotating forward and backward; and / or,

[0026] The second end of the third joint is used to be fixedly connected to the upper part of the robot.

[0027] In a second aspect, an embodiment of the present application provides a robot, comprising motion joints of the robot body as described in any one of the above items.

[0028] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0029] In the embodiment of the present application, the first central axis of the first rotating drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotating drive member is fixedly connected to the first end of the first joint, so as to drive the first joint to rotate around the first central axis through the first rotating drive member; the second end of the first joint is fixedly connected to the input end of the second rotating drive member, the second central axis of the second rotating drive member is arranged perpendicular to the first central axis, and the output end of the second rotating drive member is fixedly connected to the first end of the second joint, so as to drive the second joint to rotate around the second central axis toward the front / back of the robot; the second end of the second joint is fixedly connected to the input end of the third rotating drive member, the first end of the third joint is fixedly connected to the output end of the third rotating drive member, the second central axis of the second rotating drive member is arranged parallel to the third central axis of the third rotating drive member, so as to drive the third joint to rotate around the second central axis toward the front / back of the robot, and through the cooperation of the second joint and the third joint, the robot body can be folded and stretched within the front and rear directions, and combined with the rotation movement of the first joint, the spatial operation range of the robot is effectively improved.

[0030] In addition, by arranging the second rotary drive member closer to the rear of the robot relative to the first rotary drive member, the center of gravity of the robot can be well maintained near the center of the chassis during operation, and the robot has a high anti-overturning ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the scheme of the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 A first overall structural schematic diagram of an embodiment of the robot provided by the present application in an upright state;

[0033] Figure 2 for Figure 1 A second overall structural schematic diagram of an embodiment of the provided robot in a first extended state;

[0034] Figure 3 for Figure 1 A third overall structural schematic diagram of an embodiment of the provided robot in a second extended state;

[0035] Figure 4 for Figure 1 A third overall structural schematic diagram of an embodiment of the provided robot in a second extended state;

[0036] Figure 5 for Figure 1 A fourth overall structural schematic diagram of an embodiment of the provided robot in a folded state;

[0037] Figure 6 for Figure 1 Schematic diagram of the partial explosion structure of the robot provided.

[0038] Figure numerals: 10 robot, 11 motion joints of the body, 12 bottom, 13 top, 111 first rotation driving member, 112 second rotation driving member, 113 third rotation driving member, 114 first joint, 115 second joint, 116 third joint, 01 first center axis, 02 second center axis, 03 third center axis. DETAILED DESCRIPTION

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0040] Reference to "embodiments" herein 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 an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0041] Unless otherwise defined, references herein to a certain structural member being "fixed to", "fixedly connected to" another structural member and other similar descriptions include fixing methods such as the two structural members being prefabricated as one piece or being fixedly connected via a centering member.

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0043] like Figure 1 and Figure 6 As shown, Figure 1 A first overall structural schematic diagram of an embodiment of the robot provided by the present application in an upright state; Figure 6 for Figure 1 Schematic diagram of the partial explosion structure of the robot provided.

[0044] An embodiment of the present application provides a motion joint 11 of a robot's body, and the motion joint 11 of the body includes: a first rotation driving member 111 , a second rotation driving member 112 , a third rotation driving member 113 , a first joint 114 , a second joint 115 and a third joint 116 .

[0045] It should be noted that the first rotary drive member, the second rotary drive member and the third rotary drive member described in the embodiment of the present application can adopt various existing or future developed drive members that can realize rotary drive as needed, such as: rotary motor or rotary motor module.

[0046] The first center axis 01 of the first rotating driving member 11 is arranged perpendicular to the bottom 12 of the robot 10; the output end of the first rotating driving member 111 is fixedly connected to the first end of the first joint 114, so that the first rotating driving member 111 drives the first joint 114 to rotate around the first center axis 01 as the axis.

[0047] In an optional embodiment, the input end of the first rotary driving member 111 is used to be fixedly connected to the bottom 12 of the robot 10 .

[0048] Specifically, the bottom of the robot can be a base fixed at a certain position, or a movable chassis or robot legs can be used as needed. For ease of understanding, the embodiments of the present application are mainly described by taking the bottom as a movable chassis as an example. The shape of the base can be in any form as needed, and this application does not limit it.

[0049] Exemplarily, the stator of the first rotary driving member 111 may be fixed to the bottom 12 of the robot 10 at one end (ie, the input end) close to the bottom 12 of the robot.

[0050] The second end of the first joint 114 is fixedly connected to the input end of the second rotary drive member 112 , and the second central axis 02 of the second rotary drive member 112 is arranged perpendicular to the first central axis 01 ; the output end of the second rotary drive member 112 is fixedly connected to the first end of the second joint 115 .

[0051] Continue as Figure 6As shown, exemplarily, a first connecting extension portion can be formed at the second end of the first joint 114 corresponding to the two ends of the stator of the second rotating driving member 112 (i.e., the input end of the second rotating driving member 112), and the first connecting extension portion is fixedly connected to the two ends of the stator of the second rotating driving member 112 (for example, fixedly connected by locking screws).

[0052] Continue as Figure 6 As shown, for example, the first end of the second joint 115 can be formed into a cylindrical structure that is compatible with the second rotary drive member 112, the second rotary drive member 112 is arranged in the cylindrical structure, and then the output end of the mover of the second rotary drive member 112 is fixedly connected to the end corresponding to the cylindrical structure of the second joint 115.

[0053] In an optional embodiment, the second central axis 02 of the second rotary drive member 112 is usually arranged along the direction of the central axis of the robot's rotation forward (exemplarily, taking a humanoid robot as an example, the front is the direction facing the robot's face) and backward, so that the robot's second joint 115 can rotate forward (for example: the second rotary drive member 112 rotates counterclockwise) and / or backward (for example: the second rotary drive member 112 rotates clockwise) around the second central axis 02, thereby increasing the range of the robot's rotational movement forward and / or backward. Exemplarily, the second rotary drive member 112 and the second joint 112 can be regarded as at least a part of the motion joint of the robot's waist, so that the second rotary drive member 112 of the robot 10 drives the second joint 115 to rotate forward and / or backward of the robot.

[0054] The second rotary driving member 112 is arranged closer to the rear of the robot than the first rotary driving member 111 .

[0055] Specifically, the first joint 114 may be arranged to form an angle less than 90 degrees with the first central axis 01 , so that the second rotary drive member 112 is closer to the rear of the robot relative to the first rotary drive member 111 .

[0056] In the embodiment of the present application, the second end of the first joint 114 is fixedly connected to the input end of the second rotating drive member 112, so as to drive the first joint 114 through the first rotating drive member 111, and then drive the second rotating drive member 112 to rotate around the first center axis 01; in addition, by arranging the second rotating drive member closer to the rear of the robot relative to the first rotating drive member, the center of gravity of the robot is moved backward, so that during the forward tilting operation of the robot, the center of gravity of the robot can be well maintained near the center of the chassis, and has a high anti-overturning ability.

[0057] The second end of the second joint 115 is fixedly connected to the input end of the third rotation driving member 113 ; the first end of the third joint 116 is fixedly connected to the output end of the third rotation driving member 112 .

[0058] Continue as Figure 6 As shown, exemplarily, when the stator of the third rotation driving member 113 is located outside the mover, the second end of the second joint can form a cylindrical structure surrounding the third rotation driving member 112, and the third rotation driving member 113 can be arranged in the cylindrical structure and fixedly connected to the periphery or both ends of the stator to achieve the above-mentioned "the second end of the second joint 115 is fixedly connected to the input end of the third rotation driving member 113".

[0059] Exemplarily, the first end of the third joint 116 can be extended toward the two ends of the mover of the third rotating drive member 113 to form a second connecting extension portion, and fixedly connected to the two ends of the mover of the third rotating drive member 112 through the second connecting extension portion to achieve the above-mentioned "the first end of the third joint 116 is fixedly connected to the output end of the third rotating drive member 112".

[0060] The second central axis 02 of the second rotation driving member 112 is arranged in parallel with the third central axis 03 of the third rotation driving member 113 .

[0061] In the embodiment of the present application, the second center axis 02 of the second rotating drive member 112 is arranged parallel to the third center axis 03 of the third rotating drive member 113. The second center axis 02 and the third center axis 03 cooperate with each other, so that the robot can move to a larger range of operating space forward and backward.

[0062] In an optional embodiment, the second end of the third joint 116 is used to be fixedly connected to the upper part 13 of the robot 10 .

[0063] Exemplarily, the second end of the third joint 116 is fixedly connected to the bottom of the robot's chest (ie, a part of the upper part 13 of the robot).

[0064] The upper part of the robot can be any part of the robot according to the design requirements, such as: Figure 1 As shown, taking a humanoid robot as an example, the upper part of the robot can be the robot chest cavity and the head and arm parts connected to the chest cavity. The motion joints of the robot body in the embodiment of the present application can be called the waist of the robot.

[0065] In the embodiment of the present application, the first central axis of the first rotating drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotating drive member is fixedly connected to the first end of the first joint, so as to drive the first joint to rotate around the first central axis through the first rotating drive member; the second end of the first joint is fixedly connected to the input end of the second rotating drive member, the second central axis of the second rotating drive member is arranged perpendicular to the first central axis, and the output end of the second rotating drive member is fixedly connected to the first end of the second joint, so as to drive the second joint to rotate around the second central axis toward the front / back of the robot; the second end of the second joint is fixedly connected to the input end of the third rotating drive member, the first end of the third joint is fixedly connected to the output end of the third rotating drive member, the second central axis of the second rotating drive member is arranged parallel to the third central axis of the third rotating drive member, so as to drive the third joint to rotate around the second central axis toward the front / back of the robot, and through the cooperation of the second joint and the third joint, the robot body can be folded and stretched within the front and rear directions, and combined with the rotation movement of the first joint, the spatial operation range of the robot is effectively improved.

[0066] In addition, by arranging the second rotary drive member closer to the rear of the robot relative to the first rotary drive member, the center of gravity of the robot can be well maintained near the center of the chassis during operation, and the robot has a high anti-overturning ability.

[0067] like Figures 2 to 4 As shown, Figure 2 for Figure 1 A second overall structural schematic diagram of an embodiment of the provided robot in a first extended state; Figure 3 for Figure 1 A third overall structural schematic diagram of an embodiment of the provided robot in a second extended state; Figure 4 for Figure 1 A third overall structural schematic diagram of an embodiment of the provided robot in a second extended state.

[0068] In an optional embodiment, the rotation angle of the second rotary drive member includes a rotation within a range of 160 degrees toward the front direction of the robot.

[0069] For example, Figure 2 and Figure 3 As shown, the second rotary drive member 112 of the robot rotates in the direction of the front of the robot (for example: Figure 2 and 3 As shown, the robot rotates counterclockwise within a range of 160 degrees, thereby driving the second joint 114 to extend toward the front of the robot, thereby increasing the operable range of the robot that can reach forward.

[0070] The embodiment of the present application sets the rotation angle of the second rotary drive member to include a rotation within a range of 160 degrees in the direction toward the front of the robot, so that the waist of the robot can be extended forward to a larger range, thereby increasing the forward movement range of the robot.

[0071] In an optional embodiment, the rotation angle of the third rotary drive member includes rotation in the direction of the front of the robot (for example: Figure 4 As shown, counterclockwise rotation) within 160 degrees.

[0072] like Figure 4 As shown, the embodiment of the present application can make the robot's waist further extend forward to a larger range by cooperating with the second rotating drive member by adjusting the rotation angle of the third rotating drive member to within a range of 160 degrees toward the front of the robot, thereby further improving the robot's forward movement range.

[0073] In an optional embodiment, the ratio of the height of the first joint to the height of the second joint is: 1.5:1 to 2:1; and / or,

[0074] The ratio of the height of the third joint to the height of the second joint is: 1.5:1 to 2:1; and / or,

[0075] The ratio of the height of the bottom to the height of the first joint is: 1:1 to 1.5:1.

[0076] The embodiment of the present application can further enhance the stability of the robot by forming the heights of the various joints into the above-mentioned proportions.

[0077] In an optional embodiment, the width of the first joint, the width of the second joint, and the width of the third joint are smaller than the width of the bottom of the robot.

[0078] The embodiment of the present application can reduce the limitation of the robot's waist movement range caused by the excessive volume of the waist structure by designing the width of the first joint, the second joint and the third joint to be smaller than the width of the bottom of the robot; in addition, it can also improve the aesthetic effect of the robot; and it can also reduce the weight of the robot.

[0079] like Figure 5 As shown, in an optional embodiment, the surface of the first joint 114 facing the front of the robot is recessed to form a first recessed area; and / or,

[0080] The surface of the second joint 115 facing the rear of the robot is concave to form a second concave area; and / or,

[0081] The surface of the third joint 116 facing the rear of the robot is concave to form a third concave area.

[0082] The first recessed area, the second recessed area and the third recessed area cooperate with each other when the first joint 114 , the second joint 115 and the third joint 116 rotate to the folded state, so as to reduce the obstruction when rotating to the folded state.

[0083] The embodiment of the present application reduces obstruction to the folding angle of the robot by cooperating the first recessed area of ​​the first joint, the second recessed area of ​​the second joint, and the third recessed area of ​​the third joint when the three joints of the robot are folded and overlapped, thereby reducing the space occupied by the entire robot in the folded state.

[0084] like Figure 6 As shown, in an optional embodiment, the bottom 12 of the robot 10 may include a chassis drive member (omitted in the figure), wheels 122 and a chassis body 121;

[0085] The chassis driving member is disposed on the chassis body 121;

[0086] The output end of the chassis driving member is fixedly connected to the wheel 122, so that the chassis driving member drives the chassis body 121 through the wheel 122, thereby driving the robot body to move.

[0087] In the embodiment of the present application, the bottom of the robot includes a chassis drive component, wheels and a chassis body, so that the bottom of the robot can control its movement by itself, thereby facilitating the robot to move to a desired location, thereby further expanding the robot's operable space range.

[0088] In an optional embodiment, the chassis driving component of the robot includes: a rotation driving component; in addition, it may also include a linear driving component.

[0089] Usually, the rotary drive member is arranged at the center of the chassis body. In addition, it can also be arranged at any desired position of the chassis body as required.

[0090] The embodiment of the present application adopts a chassis driving member including a rotating driving member, through which the initial control of the robot's rotation can be performed. Combined with the rotation of the first joint of the robot around the first center axis, the rotation angle control accuracy is high (for example: the accuracy can reach 0.1 degrees), and the rotation control of the robot can be completed more quickly.

[0091] In an optional embodiment, the chassis drive is a two-wheel differential drive.

[0092] Typically, the rotation center of the two-wheel differential drive member is located at the center of the chassis body. In addition, it can also be set at any desired position of the chassis body as needed.

[0093] The dual-wheel differential drive utilizes two independently driven motors or electric machines to drive two drive wheels. When the two motors rotate at the same speed, the differential will cause the two drive wheels to rotate at the same speed, allowing the vehicle to move in a straight line; when the two motors rotate at different speeds, the differential will cause the two drive wheels to rotate at different speeds, thereby achieving a turn at the bottom of the robot.

[0094] The embodiment of the present application can flexibly control the robot to move forward, backward, and turn, etc. by setting a dual-wheel differential drive component, thereby further improving the application range of the robot; in addition, by enabling the dual-wheel differential drive component to perform initial control of the robot's rotation, combined with the rotation of the robot's first joint around the first center axis, the rotation angle control accuracy is high, and the robot's rotation control can be completed more quickly.

[0095] like Figures 1 to 5 As shown, based on the motion joints of the robot body described in the above embodiments, an embodiment of the present application provides a robot 10.

[0096] The robot includes the motion joints 11 of the body of the robot 10 described in the above embodiment.

[0097] In an optional embodiment, the robot 10 further includes: an upper portion 13 and a lower portion 12. The upper portion 13 and the lower portion 12 of the robot are respectively connected via the robot's body motion joints 11.

[0098] It should be noted that the above-mentioned robot can be any robot that exists now or will be developed in the future, such as a humanoid robot.

[0099] For the relevant description of the moving joints of the robot's body, please refer to the above embodiments and will not be repeated here.

[0100] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A motion joint of a robot body, the robot comprising a bottom, characterized in that: include: A first rotary drive member, a second rotary drive member, a third rotary drive member, a first joint, a second joint, and a third joint; The input end of the first rotary drive member is used to be fixedly connected to the bottom of the robot, and the first central axis of the first rotary drive member is arranged perpendicular to the bottom of the robot; the output end of the first rotary drive member is fixedly connected to the first end of the first joint; The second end of the first joint is fixedly connected to the input end of the second rotary drive member; the second central axis of the second rotary drive member is arranged perpendicular to the first central axis; the output end of the second rotary drive member is fixedly connected to the first end of the second joint; wherein the second rotary drive member is arranged closer to the rear of the robot than the first rotary drive member; The second end of the second joint is fixedly connected to the input end of the third rotation driving member; the first end of the third joint is fixedly connected to the output end of the third rotation driving member; wherein the second center axis of the second rotation driving member is arranged parallel to the third center axis of the third rotation driving member.

2. The motion joint of the robot body according to claim 1, characterized in that: The rotation angle of the second rotary drive member includes a rotation range of 160 degrees in the direction toward the front of the robot.

3. The motion joint of the robot body according to claim 1 or 2, characterized in that: The rotation angle of the third rotary drive member includes a rotation range of 160 degrees in the direction toward the front of the robot.

4. The motion joint of the robot body according to claim 1 or 2, characterized in that: The ratio of the height of the first joint to the height of the second joint is: 1.5:1 to 2:1; and / or, The ratio of the height of the third joint to the height of the second joint is: 1.5:1 to 2:1; and / or, The ratio of the height of the bottom to the height of the first joint is 1:1 to 1.5:

1.

5. The motion joint of the robot body according to claim 1 or 2, characterized in that: The widths of the first joint, the second joint, and the third joint are smaller than the width of the bottom of the robot.

6. The motion joint of the robot body according to claim 1 or 2, characterized in that: The surface of the first joint facing the front of the robot is concave to form a first concave area; and / or, The surface of the second joint facing the rear of the robot is concave to form a second concave area; and / or, The surface of the third joint facing the rear of the robot is concave to form a third concave area. The first recessed area, the second recessed area and the third recessed area cooperate with each other when the first joint, the second joint and the third joint rotate to the folded state, so as to reduce the obstruction to the rotation to the folded state.

7. The motion joint of the robot body according to claim 1 or 2, characterized in that: The bottom of the robot includes a chassis drive member, wheels and a chassis body; The chassis driving member is arranged on the chassis body; The output end of the chassis driving member is fixedly connected to the wheel, and the chassis body is mounted on the wheel, so that the chassis driving member drives the chassis body to move through the wheel.

8. The motion joint of the robot body according to claim 7, characterized in that: The chassis drive comprises a rotary drive; and / or, The chassis drive is a dual-wheel differential drive.

9. The motion joint of the robot body according to claim 1 or 2, characterized in that: The second central axis of the second rotary drive member is arranged along the direction of the central axis of the robot rotating forward and backward; and / or, The second end of the third joint is used to be fixedly connected to the upper part of the robot.

10. A robot, characterized in that: The robot comprises the motion joints of the body of the robot according to any one of claims 1 to 9.

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