An Artificial Intelligence Ethical Risk and Prevention Virtual Simulation Method, System and Robot

Abstract

The present invention relates to the field of robot technology, specifically an artificial intelligence ethics risk and prevention virtual simulation method, system and robot. S1: Input data based on the existing inspection framework, and input multiple artificial intelligence inspection alternative data, wherein the ethics inspection framework input data includes general basic motion modes and several emergency handling modes based on different scenarios; S2: Obtain the artificial intelligence operation path and scenario data; S3: Perform rule risk judgment, and sequentially judge whether multiple obtained scenario data conform to the artificial intelligence ethics rules in multiple artificial intelligence alternative rules; through the data collection component, data can be quickly collected and analyzed, equipment failures can be discovered and processed in a timely manner, the inspection efficiency can be improved, and the robot can work in harsh environments such as dim, humid, toxic and harmful, reducing the risk of manual inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and specifically to a virtual simulation method, system and robot for artificial intelligence ethical risks and prevention. Background Art

[0002] Orbital corridor inspection robots are widely used in the inspection tasks of urban underground integrated corridors. These corridors usually centrally lay municipal pipelines such as electricity, communication, gas, and water supply, and are an important part of urban infrastructure. The robot can move autonomously along the track in the corridor, real-time monitor environmental parameters and equipment status, and ensure the stable operation of the corridor system.

[0003] When the orbital corridor inspection robot conducts a long-distance inspection, the track may not always be straight. In order to more accurately detect the environment and working status of each component, the track may be designed according to the height of each component, that is, the track may be in an arc state. When the robot moves along the track, it will pass through an upward arc. During this process, the robot is in an inclined state, and jitter may occur if it moves too fast. Frequent jitter may affect the accuracy of the detection equipment set at the bottom. Summary of the Invention

[0004] In view of the problems in the prior art, the present invention provides a virtual simulation method, system and robot for artificial intelligence ethical risks and prevention.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a virtual simulation method for artificial intelligence ethical risks and prevention, and this ethical risks and prevention virtual simulation method includes the following steps:

[0006] S1: Based on the existing inspection framework input data, input multiple artificial intelligence inspection alternative data,

[0007] wherein the ethical inspection framework input data includes general basic motion modes and several emergency handling modes based on different scenarios;

[0008] S2: Obtain the artificial intelligence operation path and scenario data;

[0009] S3: Rule risk judgment. Judge whether multiple obtained scenario data conform to the artificial intelligence ethical rules in multiple artificial intelligence alternative rules in turn. Use the obtained conforming scenario data as the scenario data of the artificial intelligence rules, and then use the obtained non-conforming scenarios as the risk scenarios of the artificial intelligence rules. At the same time, send an instruction to the user of the non-conforming scenario to comply with the artificial intelligence rules;

[0010] Suppose the multi-artificial intelligence alternative rules are A, A = {A1, A2, A3,..., An}, where A1, A2, A3,..., An are each artificial intelligence ethical rule, and θ1, θ2, θ3,..., θn are the risk assessment results corresponding to each artificial intelligence ethical rule, where θ1, θ2, θ3,..., θn ∈ {0, 1}.

[0011] Therefore, the risk assessment result of the multi-artificial intelligence alternative rules can be expressed as:

[0012]

[0013] That is Indicates that the risk assessment of the multi-artificial intelligence alternative rules passes and the scenario can be executed; When it indicates that the risk assessment of the multi-artificial intelligence alternative rules fails, the scenario needs to give an alarm;

[0014] S4: Use all the scenario data of the artificial intelligence rules in the scenarios that comply with the ethical guidelines as the behaviors of all compliant artificial intelligence agents, and give an alarm for each non-compliant scenario for risk prevention.

[0015] Furthermore, among the artificial intelligence ethical rules obtained in S1, according to the scenario input, there are mandatory rules, optional rules, or a combination of mandatory rules and optional rules.

[0016] Furthermore, in S3, incorporate the scenario data that complies with the multi-artificial intelligence alternative rules into the risk successfully prevented knowledge base, and subsequent learning can be carried out through the risk successfully prevented knowledge base.

[0017] The present invention also provides an artificial intelligence ethics risk and prevention virtual simulation system, which is used for the operation of the above-mentioned artificial intelligence ethics risk and prevention virtual simulation method.

[0018] On the other hand, the present invention also provides a robot, including a housing, and a notch suitable for an I-shaped track is opened on the side wall of the housing;

[0019] A chassis; the chassis is fixedly connected to the bottom of the housing;

[0020] A lateral guide wheel, which is connected to the chassis; a groove is opened in the middle of the lateral guide wheel for clamping the I-shaped track, and an inclined angle of 45° is provided at the edge of the inner wall of the groove;

[0021] A support wheel; the support wheel is placed in the middle of the I-shaped track, one side of the support wheel passes through the support frame through a shaft, a side connection groove is opened on the side wall of the support frame, and a pressing plate is arranged between the side connection groove and the lateral guide wheel.

[0022] Further, the pressing plate is an elastic metal sheet, and the lower surface of the middle part of the pressing plate is fixedly connected to the upper surface of the chassis through a pneumatic rod;

[0023] One end of the pressing plate extends into the side connection groove opened on the side wall of the support frame. The other end of the pressing plate is provided with a chamfer, and is adapted to the bevel angle of the groove provided in the middle of the transverse guide wheel.

[0024] Further, bases are symmetrically and rotatably arranged at the end of the upper surface of the chassis. The two bases placed at the same end of the chassis are connected by a double-hook tension spring;

[0025] A limiting column is fixedly penetrated through the middle of the end of the chassis far from the rotation axis; the transverse guide wheel is sleeved on the outer wall of the limiting column through a bearing.

[0026] Further, a limiting guide ring is sleeved on the outer wall of the limiting column. The bearing is placed in the ring groove provided in the middle of the limiting guide ring, and the width of the ring groove is greater than the thickness of the bearing.

[0027] Further, a plurality of through holes are opened on the inner wall of the groove provided on the side wall of the transverse guide wheel. Buffer beads are placed in the through holes, and the buffer beads are larger than the diameter of the through holes.

[0028] Further, an elastic snap ring is arranged inside the transverse guide wheel. The elastic snap ring is placed in the groove opened on the inner wall of the transverse guide wheel and contacts the outer wall of one end of the transverse guide wheel where the elastic snap ring is placed.

[0029] Further, a motor is fixedly arranged on the upper surface of the chassis. The output end of the motor is connected to a drive shaft through a belt, and first belt pulleys are fixedly connected to both ends of the drive shaft.

[0030] Further, a support block is fixedly connected to the upper surface of the chassis. The support frame and the support block are connected by a nitrogen cylinder.

[0031] Further, a second belt pulley is fixedly sleeved on the shaft end of one side of the support wheel. The second belt pulley and the first belt pulley are connected by a connecting toothed belt.

[0032] Further, the second belt pulley includes a side limiting member. A relief groove is opened on the side wall of the side limiting member. A meshing protrusion meshing with the connecting toothed belt is slidably arranged on the inner wall of the relief groove. The meshing protrusion and the relief groove are connected by a support spring.

[0033] The beneficial effects of the present invention:

[0034] (1) The present invention can quickly collect and analyze data through data collection elements, timely discover and handle equipment failures, and improve inspection efficiency. The robot can work in harsh environments such as dim, humid, toxic and harmful environments, reducing the risk of manual inspection. The robot is trained multiple times to inspect the corridor with tracks, realizing comprehensive, real-time and efficient inspection of the environment and equipment in the corridor. The track-type inspection robot can move autonomously on a specific track without human intervention, realizing fully automatic inspection.

[0035] (2) The present invention provides a clamping plate. When the clamping plate moves to the I-rail and bends upward to form an arc-shaped guide rail, the clamping plate will move downward under the downward pressure generated by the lateral guide wheel. At the same time, it will press down on the support wheel so that the support wheel and the I-rail fit more tightly, avoiding large shaking during the cornering process and ensuring the stability of the robot during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0037] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 It is a schematic diagram of the internal components of the housing of the present invention;

[0039] Figure 3 This is a schematic diagram of the positions of the support wheels and the support frame of the present invention;

[0040] Figure 4 For the present invention Figure 3 Schematic diagram of the structure at A in the middle;

[0041] Figure 5 is a cross-sectional view of a second pulley of the present invention;

[0042] Figure 6 This is a schematic diagram of the three-dimensional structure of the transverse guide wheel of the present invention;

[0043] Figure 7 It is a schematic diagram of the three-dimensional structure of the base of the present invention;

[0044] Figure 8 This is a schematic diagram of the connection between the present invention and the I-shaped track;

[0045] Figure 9 The figure is a flow chart of the method of the present invention.

[0046] In the figure: 100, outer shell; 200, data collection element; 300, elastic protective cover; 410, lateral guide wheel; 4111, buffer bead; 411, limit upright post; 413, base; 414, double-hook tension spring; 415, pressing plate; 416, spring hole; 417, elastic snap ring; 418, limit guide ring; 419, pneumatic rod; 420, motor; 421, drive shaft; 422, first pulley; 423, connecting toothed belt; 430, support wheel; 460, support frame; 461, side connection groove; 462, nitrogen cylinder; 464, support block; 470, second pulley; 471, side limit member; 472, relief groove; 473, support spring; 474, meshing protrusion; 600, I-shaped track; 700, chassis. Detailed implementation manners

[0047] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0048] As Figures 1 - 9 shown, an artificial intelligence ethics risk and prevention virtual simulation method of the present invention, the ethics risk and prevention virtual simulation method includes the following steps:

[0049] S1: Input data based on the existing patrol inspection framework, and input multiple artificial intelligence patrol inspection alternative data,

[0050] wherein the input data of the ethics patrol inspection framework includes general basic motion modes and several emergency handling modes based on different scenarios;

[0051] Input based on the existing artificial intelligence ethics risk prevention criteria. First, one or more scenarios need to be obtained. These scenarios should cover all scenarios of the artificial intelligence application. Collect data in each scenario, set multiple possible human behavior decision options to simulate the behavior of the artificial intelligence and its ethical impact under different decisions; select one of the given decision options as the first choice to simulate its behavior in the actual scenario; the system executes the corresponding operation and simulates the human behavior decision result corresponding to the operation; the system feedbacks the result of the decision execution to the user, including the possible risks and their impacts; according to the decision result of the artificial intelligence, the system updates the scenario to simulate the subsequent development under different decisions;

[0052] When collecting data for the artificial intelligence in different scenarios or monitoring and collecting data for different components, through multiple trainings, the accuracy of the artificial intelligence decision result is increased.

[0053] S2: Obtain the artificial intelligence operation path and scenario data;

[0054] When collecting data, artificial intelligence needs to collect data multiple times, store and analyze the data simultaneously, and place the artificial intelligence in different environments for data collection to achieve the purpose of making the decision results more accurate. When data anomalies are found, an alarm can be issued in a timely manner;

[0055] S3: Rule risk judgment. Judge whether multiple obtained scenario data conform to the artificial intelligence ethics rules in the multiple artificial intelligence alternative rules in turn. The obtained conforming scenario data are used as the scenario data of the artificial intelligence rules, and the obtained non-conforming scenarios are used as the risk scenarios of the artificial intelligence rules. At the same time, an instruction to comply with the artificial intelligence rules is issued to the users of the non-conforming scenarios;

[0056] Suppose the multiple artificial intelligence alternative rules are A, A = {A1, A2, A3,..., An}, where A1, A2, A3,..., An are each artificial intelligence ethics rule, and θ1, θ2, θ3,..., θn are the risk assessment results corresponding to each artificial intelligence ethics rule, where θ1, θ2, θ3,..., θn ∈ {0, 1}.

[0057] Therefore, the risk assessment result of the multiple artificial intelligence alternative rules can be expressed as:

[0058]

[0059] That is Indicates that the risk assessment of the multiple artificial intelligence alternative rules passes and the scenario can be executed; Indicates that the risk assessment of the multiple artificial intelligence alternative rules fails, and the scenario needs to be alarmed;

[0060] During the work process, a series of data such as component data and working environment data (such as surrounding temperature and humidity) will be collected. At the same time, photos of the components will be taken and transmitted together with the data. Taking communication equipment as an example, many communication equipment are designed and manufactured considering their adaptability in various environments, so they usually have a relatively wide working temperature range. Generally speaking, this range may be between 0°C and 50°C; for some special types of communication equipment, such as fiber optic temperature measurement hosts, etc., their working temperature ranges may have more specific requirements. For example, the working temperature of the fiber optic temperature measurement host may be required to be between 5°C and 40°C to ensure its measurement accuracy and stability; when it is detected that the temperature of the fiber optic temperature measurement host is higher than the preset range, if the optimization event library can display that the working temperature of the fiber optic temperature measurement host may be required to be between 5°C and 40°C, then there is a risk in the monitoring. After fault diagnosis and early warning, other specifications in the working environment of the fiber optic temperature measurement host, such as humidity, etc., will be calibrated one by one; if no data can be found in the database or it does not meet the preset standards, then the fault will be diagnosed again to avoid misjudgment. At this time, the early warning mode will be activated, and the data will be compared with the data in the risk assessment specification one by one. If all are in line, it will continue to execute. If there is non-compliance, it will immediately change from the early warning state to the alarm state to remind the staff to carry out maintenance.

[0061] S4: Use all the scenario data of the artificial intelligence rules in the scenarios that comply with ethical guidelines as the behaviors of all compliant artificial intelligence agents, and alarm each non-compliant scenario for risk prevention.

[0062]

[0063] Specifically, among them, the input in the artificial intelligence obtained in S1 is based on the scenario, and there are mandatory rules, optional rules, or a combination of mandatory rules and optional rules.

[0064] The mandatory rules include stopping in time when there is an obstacle ahead to avoid collisions and damages; the data collected by the robot should be strictly protected;

[0065] The optional rules include that when the phenomenon of too low battery power occurs during operation, it can directly move to the charging place for charging, or it can monitor the current environmental data and then charge the battery. Through the estimation of the charging duration, selective adjustment can be achieved.

[0066] Specifically, in S3, the scenario data that complies with the alternative rules of artificial intelligence is incorporated into the risk successfully prevented knowledge base, and subsequent learning can be carried out through the risk successfully prevented knowledge base.

[0067] Through the learning of artificial intelligence, subsequent judgments can be made more accurate.

[0068] The present invention also provides an artificial intelligence ethics risk and prevention virtual simulation system, which is used for running the above-mentioned artificial intelligence ethics risk and prevention virtual simulation method.

[0069] The present invention also provides a robot, including a housing 100, and a notch adapted to an I-shaped track 600 is provided on the side wall of the housing 100;

[0070] A chassis 700; the chassis 700 is fixedly connected to the bottom of the housing 100;

[0071] A lateral guide wheel 410, the lateral guide wheel 410 is connected to the chassis 700; a groove is provided in the middle of the lateral guide wheel 410 for clamping the I-shaped track 600, and an inclined 45° bevel is provided at the edge of the inner wall of the groove;

[0072] A support wheel 430; the support wheel 430 is placed in the middle of the I-shaped track 600, one side of the support wheel 430 passes through a support frame 460 through a shaft, a side connection groove 461 is provided on the side wall of the support frame 460, and a pressing plate 415 is provided between the side connection groove 461 and the lateral guide wheel 410.

[0073] Before use, the robot needs to be trained multiple times to perform inspections in a track-type utility tunnel, so as to achieve comprehensive, real-time, and efficient inspections of the environment and equipment in the utility tunnel. The track-type inspection robot can move autonomously on a specific track without manual intervention, realizing fully automatic inspection. The installed data collection component 200 includes advanced sensors, cameras, and data processing systems, which can monitor the environmental parameters and equipment status in the utility tunnel in real time. At the same time, the data collection component 200 can quickly collect and analyze data, discover and handle equipment failures in time, improve the inspection efficiency. The robot can work in harsh environments such as dim, humid, toxic, and harmful environments, reducing the risk of manual inspection. It has anti-collision and autonomous obstacle avoidance functions, and can automatically stop and alarm when encountering obstacles to prevent damage caused by collisions. The elastic protective cover 300 can bend and deform to make way when the data collection component 200 is blocked, avoiding damage to the data collection component 200.

[0074] During the driving process of the robot on the I-shaped track 600, the lateral guide wheel 410 is clamped at the protruding position at the lower end of the I-shaped track 600. During the linear movement, the pulling force of the double hook tension spring 414 received by the same group of lateral guide wheels 410 can be the same, so as to ensure that the base 700 is always located directly below the track and avoid the phenomenon of shaking.

[0075] When moving to the arc-shaped guide track formed by the upward bending of the I-shaped track 600 through the setting of the pressing plate 415, at this time, the pressing plate 415 will move downward under the downward pressure generated by the lateral guide wheel 410, and at the same time, it will press down the supporting wheel 430 to make the supporting wheel 430 fit more tightly with the I-shaped track 600, avoiding the phenomenon of large shaking during the turning process and ensuring the stability of the robot during movement.

[0076] An inclined 45° bevel is provided at the edge of the inner wall of the groove opened in the middle of the lateral guide wheel 410, which can ensure that the lateral guide wheel 410 smoothly passes through the moving arc track.

[0077] Specifically, the pressing plate 415 is an elastic metal sheet, and the lower surface of the middle part of the pressing plate 415 is fixedly connected to the upper surface of the chassis 700 through a pneumatic rod 419;

[0078] One end of the pressing plate 415 extends into the side connection groove 461 opened on the side wall of the support frame 460, and the other end of the pressing plate 415 is provided with a chamfer, which is adapted to the groove bevel provided in the middle of the lateral guide wheel 410.

[0079] The pressing plate 415 is an elastic metal sheet, which can transfer the pressure to the supporting wheel 430 when the lateral guide wheel 410 moves to the upward arc of the I-shaped track 600 to make the supporting wheel 430 fit more tightly with the I-shaped track 600. At the same time, when the pressure reaches the preset value, the pressing plate 415 will deform using the elasticity of the metal itself, and it can return to the initial state when moving to the horizontal I-shaped track 600.

[0080] Specifically, base seats 413 are symmetrically and rotatably arranged at the end of the upper surface of the chassis 700, and two base seats 413 on the same end of the chassis 700 are connected by a double-hook tension spring 414;

[0081] A limit upright column 411 is fixedly penetrated through the middle of the end of the chassis 700 far from the rotation axis; the lateral guide wheel 410 is sleeved on the outer wall of the limit upright column 411 through a bearing.

[0082] A limit guide ring 418 is sleeved on the outer wall of the limit upright column 411, and the bearing is placed in the ring groove provided in the middle of the limit guide ring 418, and the width of the ring groove is greater than the thickness of the bearing.

[0083] On one side of the two bases 412 close to each other, there are spring holes 416 for hanging the double-hook tension spring 414. The two transverse guide wheels 410 are pressed against the I-beam track 600 through the double-hook tension spring 414. The bearing sleeve is placed in the annular groove provided in the middle of the limit guide ring 418. When walking to the arc-shaped transverse guide wheel 410, it can be tilted within an angle of less than 10°, ensuring that the transverse guide wheel 410 can pass smoothly. The width of the annular groove is greater than the thickness of the bearing, and the transverse guide wheel 410 can be tilted, and at the same time, the maximum tilt angle is within the preset range.

[0084] The inner wall of the bearing is rough, which can cause greater friction with the inner wall of the annular groove and reduce relative sliding

[0085] Specifically, a plurality of through holes are opened on the inner wall of the groove provided on the side wall of the transverse guide wheel 410, and buffer beads 4111 are placed in the through holes. The buffer beads 4111 are larger than the diameter of the through holes.

[0086] An elastic snap ring 417 is arranged inside the transverse guide wheel 410. The elastic snap ring 417 is placed in the groove opened on the inner wall of the transverse guide wheel 410 and contacts the outer wall of one end of the transverse guide wheel 410 where the elastic snap ring 417 is located.

[0087] When the transverse guide wheel 410 moves to the arc-shaped inclined I-beam track 600, the buffer beads 4111 placed on the upper surface of the I-beam track 600 will be squeezed and enter the transverse guide wheel 410. The elastic snap ring 417 will be deformed when being squeezed by the buffer beads 4111. At this time, the buffer beads 4111 on the upper surface of the I-beam track 600 are still in a pressed state with the I-beam track 600, further ensuring the stability when the transverse guide wheel 410 moves to the arc-shaped inclined I-beam track 600. At the same time, the buffer beads 4111 placed on the lower surface of the I-beam track 600 will move outward to the outside of the transverse guide wheel 410 under the extrusion of the elastic snap ring 417 in contact and are still in a pressed state with the lower surface of the I-beam track 600.

[0088] Specifically, a motor 420 is fixedly arranged on the upper surface of the chassis 700. The output end of the motor 420 is connected to a drive shaft 421 through a belt. Both ends of the drive shaft 421 are fixedly connected with a first pulley 422;

[0089] A support block 464 is fixedly connected to the upper surface of the chassis 700. The support frame 460 and the support block 464 are connected through a nitrogen cylinder 462.

[0090] A second pulley 470 is fixedly sleeved on the shaft end of one side of the support wheel 430. The second pulley 470 is connected to the first pulley 422 through a connecting toothed belt 423.

[0091] The second pulley 470 includes a side limiting member 471. A relief groove 472 is formed in the side wall of the side limiting member 471. A meshing protrusion 474 that meshes with the connecting toothed belt 423 is slidably disposed on the inner wall of the relief groove 472. The meshing protrusion 474 is connected to the relief groove 472 by a support spring 473.

[0092] During the rotation of the motor 420, the drive shaft 421 can be driven to rotate synchronously. The drive shaft 421 drives the first pulleys 422 at both ends to rotate. While the first pulleys 422 are rotating, the second pulley 470 is driven to rotate through the connecting toothed belt 423. The support frame 460 and the support block 464 are connected by the nitrogen cylinder 462, which can play a role in shock absorption, ensure the stability during the movement, and is beneficial to the stable operation of the data collection element 200 connected at the bottom.

[0093] When the nitrogen cylinder 462 experiences elongation due to buffering or when the robot is suddenly subjected to a downward pulling force, the pressure between the connecting toothed belt 423 and the second pulley 470 will instantaneously increase. At this time, under the action of the pressure, the meshing protrusion 474 moves towards the middle of the side limiting member 471 to achieve yielding, avoiding the phenomenon of belt breakage or damage.

[0094] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A robot, characterized in that: It comprises a housing (100), wherein a side wall of the housing (100) is provided with a notch suitable for an I-shaped rail (600); A chassis (700); the chassis (700) is fixedly connected to the bottom of the housing (100); A transverse guide wheel (410), the transverse guide wheel (410) being connected to the chassis (700); a groove is provided in the middle of the transverse guide wheel (410) for clamping the I-shaped rail (600), and an inner wall edge of the groove is provided with an inclined angle of 45°; A support wheel (430); the support wheel (430) is placed in the middle of the I-shaped track (600); one side of the support wheel (430) passes through the support frame (460) through an axis; a side connection groove (461) is provided on a side wall of the support frame (460); a pressing plate (415) is provided between the side connection groove (461) and the transverse guide wheel (410); The clamping plate (415) is an elastic metal sheet, and the lower surface of the middle portion of the clamping plate (415) is fixedly connected to the upper surface of the chassis (700) via a gas pressure rod (419); One end of the clamping plate (415) extends into a side connection groove (461) provided on a side wall of the support frame (460), and the other end of the clamping plate (415) is provided with a chamfer that matches the angle of a groove provided in the middle of the transverse guide wheel (410); The ends of the upper surface of the chassis (700) are supported and rotatably provided with bases (413), and the two bases (413) disposed at the same end of the chassis (700) are connected via a double-hook tension spring (414); A limit column (411) is fixedly provided through the middle of one end of the chassis (700) away from the rotation axis; the transverse guide wheel (410) is mounted on the outer wall of the limit column (411) via a bearing sleeve; The outer wall of the limiting column (411) is sleeved with a limiting guide ring (418), and the bearing is placed in a ring groove provided in the middle of the limiting guide ring (418), and the width of the ring groove is greater than the thickness of the bearing.

2. A robot according to claim 1, characterized in that: A plurality of through holes are provided on the inner wall of the groove arranged on the side wall of the transverse guide wheel (410), and buffer beads (4111) are placed in the through holes. The buffer beads (4111) are larger than the diameter of the through holes.

3. A robot according to claim 2, characterized in that: An elastic snap ring (417) is provided inside the transverse guide wheel (410); the elastic snap ring (417) is placed in a groove provided on the inner wall of the transverse guide wheel (410) and is in contact with the outer wall of one end of the transverse guide wheel (410) where the elastic snap ring (417) is placed.

4. A robot according to claim 1, characterized in that: A motor (420) is fixedly arranged on the upper surface of the chassis (700); the output end of the motor (420) is connected to a drive shaft (421) via a belt; and both ends of the drive shaft (421) are fixedly connected to a first pulley (422).

5. A robot according to claim 4, characterized in that: A support block (464) is fixedly connected to the upper surface of the chassis (700), and the support frame (460) and the support block (464) are connected via a nitrogen cylinder (462).

6. A robot according to claim 5, characterized in that: A second belt pulley (470) is provided on a shaft end fixing sleeve on one side of the support wheel (430), and the second belt pulley (470) is connected to the first belt pulley (422) via a connecting toothed belt (423).

7. A robot according to claim 6, characterized in that: The second pulley (470) comprises a side limiter (471), a side wall of the side limiter (471) is provided with a clearance groove (472), an inner wall of the clearance groove (472) is provided with an engaging protrusion (474) which is slidably engaged with the connecting toothed belt (423), and the engaging protrusion (474) and the clearance groove (472) are connected via a supporting spring (473).

Images