Robot and robot control method

Abstract

The invention discloses a robot and a control method of the robot, relates to the technical field of robots, and solves the technical problems that the operation height of the robot is limited and the operable space is small in the related technology. The robot comprises a trunk, an arm rod assembly, a leg rod assembly and a first adjusting structure, the first end of the arm rod assembly is connected to the trunk, a picking part is arranged at the second end of the arm rod assembly and used for picking an object to be carried, the first end of the leg rod assembly is connected to the trunk, and a rolling part is arranged at the second end of the leg rod assembly and used for rolling the object to be carried. The rolling part is used for making contact with the ground, and the first adjusting structure is arranged on the leg rod assembly so as to adjust the distance between the first end and the second end of the leg rod assembly.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of robotics, and in particular to a robot and a robot control method. Background Art

[0002] With the improvement of intelligence, people use robots to pick up objects to be transported, but the operating height of robots in related technologies is limited and their operating space is small. Summary of the invention

[0003] The present application provides a robot and a control method for the robot, which can expand the operating height range of the robot and thereby increase the operable space of the robot.

[0004] In the first aspect, the present application provides a robot, comprising a torso, an arm assembly, a leg assembly and a first adjustment structure, wherein the first end of the arm assembly is connected to the torso, the second end of the arm assembly is provided with a picking portion, and the picking portion is used to pick up an object to be transported, the first end of the leg assembly is connected to the torso, the second end of the leg assembly is provided with a rolling portion, and the rolling portion is used to contact the ground, and the first adjustment structure is provided on the leg assembly to adjust the distance between the first end of the leg assembly and the second end of the leg assembly.

[0005] The robot provided by the present application has a first adjustment structure arranged on the leg rod assembly, and the first adjustment structure can adjust the distance between the first end of the leg rod assembly and the second end of the leg rod assembly, thereby driving the operating height reached by the trunk to be variable, and further driving the operating height reached by the picking portion of the second end of the arm rod assembly connected to the trunk to be variable. In other words, the picking portion of the second end of the arm rod assembly can reach different operating heights, so that the robot can pick up objects to be transported at different heights, expanding the operating height range of the robot, and further improving the robot's operable space. Compared with the operating height limitation of the robot in the related art, the picking portion of the robot can only pick up objects to be transported at one operating height. By setting the first adjustment component, the present application can enable the robot to pick up objects to be transported at different heights, which has the technical effect of expanding the operating height range of the robot and further improving the robot's operable space.

[0006] In an implementable method provided in the present application, the leg rod assembly includes a first leg rod and a second leg rod, the first end of the first leg rod is connected to the torso, and the second end of the second leg rod is provided with a rolling portion, the first adjustment structure includes a first adjustment hole provided on the second end of the first leg rod and a first adjustment column provided at the first end of the second leg rod, the first adjustment column extends into the first adjustment hole and adapts to the first adjustment hole, and the first adjustment column extends and retracts relative to the first adjustment hole to adjust the distance between the first end of the first leg rod and the second end of the second leg rod.

[0007] In an implementation provided in the present application, the robot further includes a second adjustment structure, which is disposed on the arm assembly to adjust the distance between the first end of the arm assembly and the second end of the arm assembly.

[0008] In an implementation method provided in the present application, the arm assembly includes a first arm and a second arm, the first end of the first arm is connected to the torso, the second end of the second arm is provided with a picking portion, the second adjustment structure includes a second adjustment hole provided at the second end of the first arm and a second adjustment column provided at the first end of the second arm, the second adjustment column extends into the second adjustment hole and adapts to the second adjustment hole, and the second adjustment column extends and retracts relative to the second adjustment hole to adjust the distance between the first end of the first arm and the second end of the second arm.

[0009] In an implementable method provided in the present application, the trunk includes a driving shaft portion, a first trunk portion and a second trunk portion, the driving shaft portion is respectively connected to the first trunk portion and the second trunk portion to respectively drive the first trunk portion and the second trunk portion to rotate, the first end of the leg rod assembly is connected to the driving shaft portion, there are two arm rod assemblies, the first ends of the two arm rod assemblies are respectively connected to the first trunk portion and the second trunk portion, the picking portions of the two arm rod assemblies are opposite along the relative setting direction of the first trunk portion and the second trunk portion, and are used to clamp the objects to be transported.

[0010] In an implementable method provided in the present application, a first slide groove is provided on the first trunk portion, a first protrusion is provided on one of the two arm assemblies, and the first protrusion can be slidably arranged in the first slide groove, and / or a second slide groove is provided on the second trunk portion, a second protrusion is provided on the other of the two arm assemblies, and the second protrusion can be slidably arranged in the second slide groove, so as to adjust the distance between the picking parts on the two arm assemblies along the relative setting direction of the first trunk portion and the second trunk portion; wherein, the extension directions of the first slide groove and the second slide groove are the same as the relative setting direction of the first trunk portion and the second trunk portion.

[0011] In an implementable method provided in the present application, the robot also includes a telescopic component, and the picking part is arranged at the second end of the arm assembly through the telescopic component, and the telescopic direction of the telescopic component is the relative setting direction of the first torso and the second torso.

[0012] In an implementable method provided in the present application, the robot also includes a visual module, which is used to obtain information about the object to be transported, and the visual module is electrically connected to the arm assembly, the leg assembly and the first adjustment structure respectively.

[0013] In a second aspect, the present application provides a method for controlling a robot, which is the robot provided by any one of the first aspects, comprising: in response to an instruction that an object to be transported needs to be transported, controlling a first adjustment structure to adjust the distance between the first end and the second end of a leg rod assembly; and controlling a picking portion at the second end of the arm rod assembly to pick up the object to be transported.

[0014] The robot in the robot control method provided by the present application is the robot control method provided by any one of the first aspects, and therefore has the same technical effect, that is, it can expand the robot's operating height range, thereby increasing the robot's operable space.

[0015] In an implementation provided in the present application, the robot also includes a second adjustment structure, which is arranged on the arm assembly to adjust the distance between the first end of the arm assembly and the second end of the arm assembly. The method also includes: controlling the second adjustment structure to adjust the distance between the first end and the second end of the arm assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the robot structure provided in an embodiment of the present application;

[0017] Figure 2 A schematic diagram of a structure in which the distance between the first end of the leg rod assembly and the second end of the leg rod assembly in the robot provided in an embodiment of the present application is increasing;

[0018] Figure 3 A schematic diagram of a structure in which the distance between the first end of the arm assembly and the second end of the arm assembly in the robot provided in an embodiment of the present application is increased;

[0019] Figure 4 A schematic diagram of a structure in which a first trunk and a second trunk of a robot provided in an embodiment of the present application both rotate;

[0020] Figure 5 A schematic diagram of a structure in which only the second torso rotates in the robot provided in an embodiment of the present application;

[0021] Figure 6 A schematic diagram of a structure in which the distance between two arm assemblies in the relative arrangement direction of the first body part and the second body part increases in the robot provided in an embodiment of the present application;

[0022] Figure 7 A schematic diagram of a structure in which the distance between the picking parts of the two arm lever assemblies of the robot provided in an embodiment of the present application is reduced along the relative arrangement direction of the first body part and the second body part;

[0023] Figure 8A schematic structural diagram of the increase in the distance between the picking parts of the two arm assemblies of the robot provided in an embodiment of the present application along the relative setting direction of the first torso and the second torso.

[0024] Reference numerals:

[0025] 1-robot; 11-torso; 111-driving shaft; 112-first torso; 113-second torso; 12-arm assembly; 121-picking part; 122-first arm; 123-second arm; 13-leg assembly; 131-rolling part; 132-first leg; 133-second leg; 14-telescopic assembly; 141-first telescopic rod; 141-second telescopic rod. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of the present application and should not be regarded as an improper limitation on the present application.

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0028] In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more.

[0029] In addition, in the embodiments of the present application, directional terms such as "up", "down", "left" and "right" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they may change accordingly according to the changes in the orientation of the components in the drawings.

[0030] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0031] In the embodiments of the present application, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element, that is, it may also include multiple elements.

[0032] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0033] Reference Figure 1 and Figure 2 Material handling and box transfer are widely proposed in industrial scene needs. In the past, they were all handled manually. However, with the aging of the population and the difficulty of recruiting workers in factories, some low-value-added labor-intensive industries have been forced to turn to technology-intensive industries, which in turn gave birth to new things such as robots 1. Robots 1 can pick up objects to be transported and replace manual labor. This can improve production efficiency, reduce production costs, ensure personnel safety, and alleviate factory employment pressure. At the same time, it has further promoted the advancement of robot 1 technology and has the opportunity to play a greater value in the future.

[0034] In view of this, and referring to Figure 1 and Figure 2 An embodiment of the present application provides a robot 1, which includes a trunk 11, an arm assembly 12, a leg assembly 13 and a first adjustment structure, wherein a first end of the arm assembly 12 is connected to the trunk 11, and a second end of the arm assembly 12 is provided with a picking portion 121, and the picking portion 121 is used to pick up an object to be transported, a first end of the leg assembly 13 is connected to the trunk 11, and a second end of the leg assembly 13 is provided with a rolling portion 131, and the rolling portion 131 is used to contact the ground, and a first adjustment structure is provided on the leg assembly 13 to adjust the distance between the first end of the leg assembly 13 and the second end of the leg assembly 13.

[0035] The robot 1 provided in the embodiment of the present application may be made of metal such as steel or aluminum alloy, or may be made of non-metallic materials such as carbon fiber, aramid fiber, and glass fiber, and the embodiment of the present application does not limit this.

[0036] The robot 1 provided in the embodiment of the present application can be applied to factories. On the cargo box assembly line of the factory, the robot can flexibly pick up boxes, unpack and transport them, and stack them into whole stacks. The robot 1 provided in the embodiment of the present application can be applied to supermarkets. When supermarkets deliver goods wholesale, the robot can flexibly unload and transport them according to the vehicles.

[0037] In the embodiment of the present application, the first end of the arm assembly 12 is connected to the torso 11. Here, the first end of the arm assembly 12 can be fixedly connected to the torso 11. In other words, the position of the first end of the arm assembly 12 relative to the torso 11 does not change, and the first end of the arm assembly 12 can neither slide nor rotate relative to the torso 11; of course, the first end of the arm assembly 12 can be movably connected to the torso 11. In other words, the position of the first end of the arm assembly 12 relative to the torso 11 can change, the first end of the arm assembly 12 can slide relative to the torso 11, and / or, the first end of the arm assembly 12 can rotate relative to the torso 11, and this embodiment of the present application is not limited to this.

[0038] In the embodiment of the present application, a picking portion 121 is provided at the second end of the arm assembly 12, and the picking portion 121 is used to pick up the object to be transported. The picking portion 121 can pick up the object to be transported by a negative pressure adsorption picking method, or by a clamping method, or by a magnetic adsorption method, etc., and the embodiment of the present application does not limit this.

[0039] In the embodiment of the present application, a picking portion 121 is provided at the second end of the arm assembly 12, and the picking portion 121 is used to pick up the object to be transported. Here, the object to be transported can be a bag-shaped object, a box-shaped object, a bottle-shaped object, etc.; the object to be transported can be made of metal material, the object to be transported can be made of plastic, and the object to be transported can be made of paper material. The embodiment of the present application does not limit the shape and type of the object to be transported.

[0040] In the embodiment of the present application, the first end of the leg rod assembly 13 is connected to the trunk 11. Here, the first end of the leg rod assembly 13 can be fixedly connected to the trunk 11. In other words, the first end of the leg rod assembly 13 can remain unchanged in position relative to the trunk 11, and the first end of the leg rod assembly 13 can neither slide nor rotate relative to the trunk 11; of course, the first end of the leg rod assembly 13 can also be movably connected to the trunk 11. In other words, the first end of the leg rod assembly 13 can change its position relative to the trunk 11, and the first end of the leg rod assembly 13 can slide relative to the trunk 11, and / or the first end of the arm rod assembly 12 can rotate relative to the trunk 11. This embodiment of the present application does not limit this.

[0041] In an embodiment of the present application, a rolling portion 131 is provided at the second end of the leg rod assembly 13, and the rolling portion 131 is used to contact the ground. Here, the rolling portion 131 can be a roller without a balancing function provided at the second end of the leg rod assembly 13. In other words, the balancing function of the robot 1 requires manual control. Of course, the rolling portion 131 can also be a roller with a balancing function provided at the second end of the leg rod assembly 13. In other words, the balancing function of the robot 1 does not need to be manually controlled. Further, the robot 1 can also be called a self-balancing robot 1. In an implementable method provided in an embodiment of the present application, the roller portion is a roller with a balancing function provided at the second end of the leg rod assembly 13, and the roller has a hub motor with a single output shaft.

[0042] In the embodiment of the present application, the first adjustment structure is arranged on the leg rod assembly 13 to adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13. Here, the first adjustment structure can be a spring arranged between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13. By compressing the spring, the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 is reduced, and by uncompressing the spring, the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 is increased; the first adjustment structure can be an adjustment hole and an adjustment column arranged between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13, the adjustment column extends into the adjustment hole, and the adjustment column is extended relative to the adjustment hole, so that the leg rod assembly 1 3 and the second end of the leg rod assembly 13 increases, and the adjustment column is shortened relative to the adjustment hole, so that the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 is reduced; the first adjustment structure can be a telescopic track arranged between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13, the telescopic track is extended, so that the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 increases, and the telescopic track is shortened, so that the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 is reduced; of course, the first adjustment structure can also be other ways to adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13, and this embodiment of the present application is not limited to this.

[0043] In an embodiment of the present application, a first adjustment structure is disposed on the leg rod assembly 13 to adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13. For example, the leg rod assembly 13 includes two leg rods, and the first adjustment structure can be disposed between the two leg rods, so that the two leg rods are lengthened or shortened, thereby adjusting the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13. For another example, the leg rod assembly 13 includes at least three leg rods, and a first adjustment structure is disposed between at least one adjacent leg rod, so that the two adjacent leg rods are lengthened or shortened, thereby adjusting the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13.

[0044] In an embodiment of the present application, a first adjustment structure is arranged on the leg rod assembly 13 to adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13. Here, the change in the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 causes a change in the working height of the robot 1.

[0045] The robot 1 provided in the embodiment of the present application has a first adjustment structure arranged on the leg rod assembly 13, and the first adjustment structure can adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13, so that the working height reached by the trunk 11 can be changed, and further the working height reached by the picking portion 121 at the second end of the arm rod assembly 12 connected to the trunk 11 can be changed. In other words, the picking portion 121 at the second end of the arm rod assembly 12 can reach different working heights, so that the robot 1 can pick up objects to be transported at different heights, expanding the working height range of the robot 1, and thus improving the operable space of the robot 1. Compared with the working height limitation of the robot 1 in the related art, the picking portion 121 of the robot 1 can only pick up objects to be transported at one working height. By setting the first adjustment component, the present application can enable the robot 1 to pick up objects to be transported at different heights, which has the technical effect of expanding the working height range of the robot 1 and thus improving the operable space of the robot 1.

[0046] Correspondingly, an embodiment of the present application also provides a control method for a robot 1, comprising: in response to an instruction that an object to be transported needs to be transported, controlling a first adjustment structure to adjust the distance between the first end and the second end of the leg rod assembly 13; and controlling a picking portion 121 at the second end of the arm rod assembly 12 to pick up the object to be transported.

[0047] Furthermore, when it is necessary to move the object to be transported placed on the table and it is found that the height of the object to be transported is not compatible with the height of the picking-up portion 121, the first adjustment structure is controlled to adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 to make the height of the picking-up portion 121 compatible with the height of the object to be transported.

[0048] Reference Figure 1 and Figure 2 The embodiment of the present application provides a robot 1, wherein a leg rod assembly 13 includes a first leg rod 132 and a second leg rod 133, wherein the first end of the first leg rod 132 is connected to the trunk 11, and the second end of the second leg rod 133 is provided with a rolling portion 131, and a first adjustment structure includes a first adjustment hole provided on the second end of the first leg rod 132 and a first adjustment column provided at the first end of the second leg rod 133, the first adjustment column extends into the first adjustment hole and is adapted to the first adjustment hole, and the first adjustment column is retracted relative to the first adjustment hole to adjust the distance between the first end of the first leg rod 132 and the second end of the second leg rod 133.

[0049] In the embodiment of the present application, the first adjustment structure includes a first adjustment column arranged at the first end of the second leg rod 133. Here, the first adjustment column can be integrally formed with the first end of the second leg rod 133, and the first adjustment column can also be separately formed by connecting with the first end of the second leg rod 133 through a connecting structure. This embodiment of the present application is not limited to this.

[0050] In the embodiment of the present application, the first adjustment column extends into the first adjustment hole and is adapted to the first adjustment hole. Here, the axial direction of the first adjustment hole is the same as the setting direction of the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13.

[0051] The robot 1 provided in the embodiment of the present application has a leg rod assembly 13 that only includes a first leg rod 132 and a second leg rod 133. The first adjustment structure is provided with a first adjustment hole provided on the second end of the first leg rod 132 and a first adjustment column provided at the second end of the second leg rod 133. The first adjustment column is telescopic relative to the first adjustment hole, that is, the distance between the first end of the first leg rod 132 and the second end of the second leg rod 133 can be adjusted. The robot 1 has a simple structure and a technical effect of convenient processing.

[0052] Reference Figure 2 and Figure 3 An embodiment of the present application provides a robot 1, which also includes a second adjustment structure, which is arranged on the arm assembly 12 to adjust the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12.

[0053] In the embodiment of the present application, the second adjustment structure is arranged on the arm assembly 12 to adjust the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12. Here, the second adjustment structure can be a spring arranged between the first end of the arm assembly 12 and the second end of the leg assembly 13. By compressing the spring, the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12 is reduced, and by uncompressing the spring, the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12 is increased; the second adjustment structure can be an adjustment hole and an adjustment column arranged between the first end of the arm assembly 12 and the second end of the arm assembly 12, the adjustment column extends into the adjustment hole, and the adjustment column is extended relative to the adjustment hole, so that the arm assembly The distance between the first end of 12 and the second end of the arm assembly 12 increases, and the adjusting column is shortened relative to the adjusting hole, so that the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12 decreases; the second adjusting structure can be a telescopic track arranged between the first end of the arm assembly 12 and the second end of the arm assembly 12, the telescopic track is extended, so that the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12 increases, and the telescopic track is shortened, so that the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12 decreases; of course, the second adjusting structure can also be other ways to adjust the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12, and this is not limited to the embodiments of the present application.

[0054] In an embodiment of the present application, a second adjustment structure is disposed on the arm assembly 12 to adjust the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12. For example, the arm assembly 12 includes two arms, and the second adjustment structure can be disposed between the two arms, so that the two arms are lengthened or shortened to thereby adjust the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12. For another example, the arm assembly 12 includes at least three arms, and a second adjustment structure is disposed between at least one adjacent arm, so that the two adjacent arms are lengthened or shortened to thereby adjust the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12.

[0055] The robot 1 provided in the embodiment of the present application has a second adjusting component set between the first end of the arm assembly 12 and the second end of the arm assembly 12. The second adjusting component can adjust the distance between the first end of the arm assembly 12 and the second end of the arm assembly 12, thereby increasing the accessible space for the picking portion 121 to pick up the object to be transported, thereby improving the operational flexibility of the robot 1. On this basis, since the first adjusting component is set between the first end of the leg assembly 13 and the second end of the leg assembly 13, the first adjusting component can adjust the distance between the first end of the leg assembly 13 and the second end of the leg assembly 13, and the arm assembly 12 and the leg assembly 13 cooperate with each other to further expand the operating range.

[0056] Correspondingly, an embodiment of the present application also provides a control method for a robot 1, comprising: in response to an instruction that an object to be transported needs to be transported, controlling the first adjustment structure to adjust the distance between the first end and the second end of the leg rod assembly 13; and / or controlling the second adjustment structure to adjust the distance between the first end and the second end of the arm rod assembly 12; controlling the picking portion 121 at the second end of the arm rod assembly 12 to pick up the object to be transported.

[0057] Furthermore, if it is necessary to move the objects to be transported placed on the bottom surface, the first adjustment structure can be controlled to adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13, and then the second adjustment structure can be controlled to adjust the distance between the first end of the arm rod assembly 12 and the second end of the leg rod assembly 13 to pick up the objects to be transported.

[0058] Reference Figure 2 and Figure 3 The embodiment of the present application provides a robot 1, the arm assembly 12 includes a first arm 122 and a second arm 123, the first end of the first arm 122 is connected to the torso 11, the second end of the second arm 123 is provided with a picking portion 121, the second adjustment structure includes a second adjustment hole provided at the second end of the first arm 122 and a second adjustment column provided at the first end of the second arm 123, the second adjustment column extends into the second adjustment hole and adapts to the second adjustment hole, and the second adjustment column is telescopic relative to the second adjustment hole to adjust the distance between the first end of the first arm 122 and the second end of the second arm 123.

[0059] In the embodiment of the present application, the second adjustment structure includes a second adjustment column opened at the first end of the second arm rod 123. Here, the second adjustment column can be integrally formed with the first end of the second arm rod 123, and the second adjustment column can also be separately formed with the first end of the second leg rod 133 through a connecting structure. This embodiment of the present application is not limited to this.

[0060] In the embodiment of the present application, the second adjustment column extends into the second adjustment hole and is adapted to the second adjustment hole. Here, the axial direction of the second adjustment hole is the same as the setting direction of the first end of the arm assembly 12 and the second end of the arm assembly 12 .

[0061] The robot 1 provided in the embodiment of the present application makes the arm assembly 12 include only the first arm 122 and the second arm 123. The second adjustment structure is a second adjustment hole set at the second end of the first arm 122 and a second adjustment column set at the first end of the second arm 123. The second adjustment column is telescopic relative to the first adjustment hole, so as to adjust the distance between the first end of the first arm 122 and the second end of the second arm 123, and has the technical effect of simple structure and convenient processing.

[0062] Reference Figure 4and Figure 5 The embodiment of the present application provides a robot 1, wherein a trunk 11 includes a driving shaft portion 111, a first trunk portion 112 and a second trunk portion 113, wherein the driving shaft portion 111 is connected to the first trunk portion 112 and the second trunk portion 113, respectively, to respectively drive the first trunk portion 112 and the second trunk portion 113 to rotate, wherein the first end of a leg rod assembly 13 is connected to the driving shaft portion 111, and there are two arm rod assemblies 12, wherein the first ends of the two arm rod assemblies 12 are respectively connected to the first trunk portion 112 and the second trunk portion 113, and the picking portions 121 of the two arm rod assemblies 12 are opposite to each other along the relative setting direction of the first trunk portion 112 and the second trunk portion 113, and are used for clamping objects to be transported.

[0063] The robot 1 provided in the embodiment of the present application has a driving shaft portion 111 respectively connected to the first trunk portion 112 and the second trunk portion 113, and the first ends of the two arm assemblies 12 are respectively connected to the first trunk portion 112 and the second trunk portion 113. In this way, the two arm assemblies 12 can choose to swing one of the arm assemblies 12 separately according to the shape of the object to be transported, thereby realizing actions such as slapping or pulling of a single arm assembly 12, thereby making the arm assembly 12 of the robot 1 more flexible.

[0064] Correspondingly, the embodiment of the present application also provides a control method for a robot 1, comprising: in response to an instruction that an object to be transported needs to be transported, controlling the first adjustment structure to adjust the distance between the first end and the second end of the leg rod assembly 13; and / or controlling the driving shaft portion 111 to drive at least one of the first torso portion 112 and the second torso portion 113 to rotate; and controlling the picking portion 121 at the second end of the arm rod assembly 12 to pick up the object to be transported.

[0065] Furthermore, when it is necessary to move an object to be transported placed on a table, and it is found that the height of the object to be transported is not compatible with the height of the picking-up portion 121, and an arm assembly 12 is needed to pick it up, the first adjustment structure is controlled to adjust the distance between the first end of the leg assembly 13 and the second end of the leg assembly 13 to make the height of the object to be transported compatible with the height of the picking-up portion 121, and then the driving shaft portion 111 is controlled to drive at least one of the first body portion 112 and the second body portion 113 to rotate, and the picking-up portion 121 of one of the arm assemblies 12 is controlled to pick up the object to be transported.

[0066] Reference Figure 2 and Figure 6, an embodiment of the present application provides a robot 1, a first slide groove is provided on the first trunk portion 112, a first protrusion is provided on one of the two arm assemblies 12, and the first protrusion can be slidably arranged in the first slide groove, and / or a second slide groove is provided on the second trunk portion 113, a second protrusion is provided on the other of the two arm assemblies 12, and the second protrusion can be slidably arranged in the second slide groove, so as to adjust the distance between the picking parts 121 on the two arm assemblies 12 along the relative setting direction of the first trunk portion 112 and the second trunk portion 113; wherein, the extension directions of the first slide groove and the second slide groove are the same as the relative setting directions of the first trunk portion 112 and the second trunk portion 113.

[0067] The robot 1 provided in the embodiment of the present application adjusts the distance between the picking-up parts 121 on the two arm assemblies 12 along the relative setting direction of the first torso 112 and the second torso 113 by means of sliding grooves and protrusions between the two arm assemblies 12 and the corresponding first torso 112 and the second torso 113, so that the two arm assemblies 12 can slide together or individually according to the size of the objects to be transported, thereby maximizing the range of the robot 1 to transport the objects to be transported, and further transporting objects of different sizes.

[0068] Correspondingly, an embodiment of the present application also provides a control method for a robot 1, comprising: in response to an instruction that an object to be transported needs to be transported, controlling a first adjustment structure to adjust the distance between the first end and the second end of the leg rod assembly 13; and / or controlling a first protrusion of one of the arm rod assemblies 12 to slide in a first slide groove, and a second protrusion of the other arm rod assembly 12 to slide in a second slide groove; controlling the picking portions 121 of the two arm rod assemblies 12 to clamp the object to be transported.

[0069] Furthermore, when it is necessary to move the object to be transported placed on the table, it is found that the height of the object to be transported is not compatible with the height of the picking portion 121, and the distance between the picking portions 121 of the two arm assemblies 12 is not compatible with the size of the object to be picked up, the first adjustment structure is controlled to adjust the distance between the first end of the leg assembly 13 and the second end of the leg assembly 13 to make the height of the object to be transported match the height of the picking portion 121, and then the first protrusion of one of the arm assemblies 12 is controlled to slide in the first slide groove, and the second protrusion of the other arm assembly 12 is controlled to slide in the second slide groove; the picking portions 121 of the two arm assemblies 12 are controlled to clamp the object to be transported.

[0070] Reference Figure 7 and Figure 8 An embodiment of the present application provides a robot 1, which also includes a telescopic component 14. The picking portion 121 is arranged at the second end of the arm component 12 through the telescopic component 14. The telescopic direction of the telescopic component 14 is the relative setting direction of the first trunk 112 and the second trunk 113.

[0071] In the embodiment of the present application, the picking-up portion 121 is arranged at the second end of the arm assembly 12 through the telescopic assembly 14. Here, the telescopic assembly 14 may include a first telescopic rod 141 and a second telescopic rod 141. The first end of the first telescopic rod 141 and the first end of the second telescopic rod 141 can slide relative to the arm assembly 12 in a direction perpendicular to the relative setting direction of the first trunk portion 112 and the second trunk portion 113. The second end of the first telescopic rod 141 and the second end of the second telescopic rod 141 are fixed to the picking-up portion 121, and the first telescopic rod 141 and the second telescopic rod 141 are hinged at the intersection position. Of course, the telescopic assembly 14 can also be a telescopic cylinder, which is fixed to the second end of the arm assembly 12, and the telescopic portion of the telescopic cylinder is connected to the picking-up portion 121. Of course, the telescopic assembly 14 can also be other types of structures, which are not limited to the embodiments of the present application.

[0072] The robot 1 provided in the embodiment of the present application can achieve the clamping of the object to be transported within a small range by setting the picking portion 121 at the second end of the arm assembly 12 through the telescopic assembly 14, and the telescopic direction of the telescopic assembly 14 is the relative setting direction of the first body 112 and the second body 113. On this basis, the first protrusion of one arm assembly 12 slides in the first slide groove, and the second protrusion of the other arm assembly 12 slides in the second slide groove, so that the robot 1 has more clamping flexibility.

[0073] Correspondingly, the embodiment of the present application also provides a control method for a robot 1, comprising: in response to an instruction that an object to be transported needs to be transported, controlling the first adjustment structure to adjust the distance between the first end and the second end of the leg rod assembly 13; and / or, controlling the first protrusion of one of the arm rod assemblies 12 to slide in the first slide groove, and the second protrusion of the other arm rod assembly 12 to slide in the second slide groove; and / or, controlling the telescopic assemblies 14 of the two arm rod assemblies 12 to extend and retract, and controlling the picking parts 121 of the two arm rod assemblies 12 to clamp the object to be transported.

[0074] Furthermore, when it is necessary to move the object to be transported placed on the table, it is found that the height of the object to be transported is not compatible with the height of the picking portion 121, and the distance between the picking portions 121 of the two arm assemblies 12 is not compatible with the size of the object to be picked up, the first adjustment structure is controlled to adjust the distance between the first end of the leg assembly 13 and the second end of the leg assembly 13 to make the height of the object to be transported match the height of the picking portion 121, and then the first protrusion of one of the arm assemblies 12 is controlled to slide in the first slide groove, and the second protrusion of the other arm assembly 12 is controlled to slide in the second slide groove, and finally the telescopic assemblies 14 of the two arm assemblies 12 are controlled to telescope; the picking portions 121 of the two arm assemblies 12 are controlled to clamp the object to be transported.

[0075] Reference Figure 4 and Figure 5 An embodiment of the present application provides a robot 1, which has two driving shaft parts 111, one driving shaft part 111 is connected to the first trunk part 112, and the other driving shaft part 111 is connected to the second trunk part 113, and there are two leg rod assemblies 13, and the first ends of the two leg rod assemblies 13 are respectively connected to the two driving shaft parts 111.

[0076] The robot 1 provided in the embodiment of the present application is configured with two driving shaft portions 111, so that the two driving shaft portions 111 are respectively connected to the first trunk portion 112 and the second trunk portion 113. In this way, the rotation of the first trunk portion 112 and the second trunk portion 113 can be better and more conveniently controlled. On this basis, there are two leg rod assemblies 13, and the first ends of the two leg rod assemblies 13 are respectively connected to the two driving rotating portions. In this way, the stability of the robot 1 can be improved.

[0077] The embodiment of the present application provides a robot 1, which further includes a visual module, and the visual module is used to obtain information about the object to be transported. The visual module is electrically connected to the arm assembly 12, the leg assembly 13 and the first adjustment structure respectively.

[0078] In the embodiment of the present application, the visual module may be a camera, the visual module may be a mobile phone, etc., and the embodiment of the present application does not limit this.

[0079] In an embodiment of the present application, the visual module is used to obtain information about the object to be transported. Here, the information about the object to be transported may include distance information between the object to be transported and the robot 1, and the information about the object to be transported may include size information of the object to be transported; the information about the object to be transported may include shape information of the object to be transported, etc. Here, it should be supplemented that the information about the object to be transported may not be limited to one type of information of the object to be transported. In other words, the information about the object to be transported may include distance information and size information, etc.

[0080] The robot 1 provided in the embodiment of the present application is provided with a visual module, and the visual module is used to obtain information about the object to be transported. In this way, the accuracy of the robot 1 in picking up the object to be transported can be improved.

[0081] Correspondingly, an embodiment of the present application also provides a control method for a robot 1, comprising: controlling the leg rod assembly 13 to roll to the position to be transported in response to an instruction that the object to be transported needs to be transported and information about the object to be transported; controlling the first adjustment structure to adjust the distance between the first end and the second end of the leg rod assembly 13; and controlling the picking portion 121 at the second end of the arm rod assembly 12 to pick up the object to be transported.

[0082] Furthermore, when it is necessary to move the object to be transported placed on the table, and it is found that the height of the object to be transported is not matched with the height of the picking portion 121, and there is a distance between the leg rod assembly 13 and the object to be transported, the leg rod assembly 13 is controlled to roll to the transport position, and the first adjustment structure is controlled to adjust the distance between the first end of the leg rod assembly 13 and the second end of the leg rod assembly 13 to make the height of the object to be transported match the height of the picking portion 121.

[0083] In one example, when the robot 1 receives an instruction that an object to be transported needs to be transported from the ground to a truck, the control vision module can obtain the current distance between the object to be transported on the ground and the robot 1, the size information of the object to be transported, the height of the truck, and the distance between the truck and the object to be transported placed on the ground. When the robot 1 finds that the object to be transported on the floor is far away from the robot according to the vision module, the robot can control the rolling part 131 of the robot 1 to roll to the object to be transported according to the current distance between the object to be transported and the robot 1 obtained by the vision module; when the robot 1 finds that the arm assembly 12 of the robot 1 is high and the picking part 121 has difficulty picking up the object to be transported according to the vision module, the driving shaft part 111 is controlled to drive at least one of the first body part 112 and the second body part 113 to rotate, and the picking part 121 of at least one arm assembly 12 is controlled to face the ground, and then the second adjustment component is controlled to adjust the arm assembly 12 facing the ground so that the distance between the first end and the second end of the arm assembly 12 is reduced, so that the arm assembly 12 is extended and the picking part 121 picks up the object to be transported; when the robot According to the visual module, when the arm assembly 12 toward the ground is controlled to extend and the picking portion 121 still cannot pick up the object to be transported, the first adjustment structure is controlled to adjust the distance between the first end and the second end of the leg assembly 13 to shorten the leg assembly 13 so that the picking portion 121 of the arm assembly 12 can pick up the object to be transported; when the robot 1 finds that the distance between the two arm assemblies 12 of the robot 1 is large and the two picking portions 121 cannot clamp the object to be transported according to the visual module, the first protrusion of one of the arm assemblies 12 is controlled to be in the first slide groove. Slide, the second protrusion of the other arm assembly 12 slides in the second slide groove, and the picking-up parts 121 of the two arm assemblies 12 are controlled to clamp the object to be transported; when the robot 1 finds that the two arm assemblies 12 slide in the first slide groove and the second slide groove respectively according to the visual module, and it is still difficult to clamp the object to be transported, the telescopic assemblies 14 of the two arm assemblies 12 are controlled to extend so that the picking-up parts 121 of the two arm assemblies 12 clamp the object to be transported. After one or more of the above steps, the picking-up parts 121 of the two arm assemblies 12 can clamp the object to be transported.

[0084] On this basis, the robot 1 needs to carry the object to be transported clamped by the picking-up parts 121 of the two arm assemblies 12 to the truck. When the robot 1 finds out according to the visual module that the current distance between the truck and the robot holding the object to be transported is far, the robot 1 can control the rolling part 131 of the robot 1 to roll to the truck according to the distance between the object to be transported placed on the ground and the truck obtained by the visual module; when the robot 1 finds out according to the visual module that the arm assembly 12 of the robot 1 is low and it is difficult to place the object to be transported on the truck, the robot 1 controls the driving shaft part 111 to drive at least one of the first trunk part 112 and the second trunk part 113 to rotate, controls the picking-up part 121 of at least one arm assembly 12 to face the truck, and then controls the second adjusting component to adjust the arm assembly 12 facing the truck so that the distance between the first end and the second end of the arm assembly 12 is extended, so that the height of the arm assembly 12 is increased to adapt to the height of the truck; when the robot 1 finds out according to the visual module that the control part 131 of the arm assembly 12 facing the truck When the arm assembly 12 is extended but still low, the first adjustment structure is controlled to adjust the distance between the first end and the second end of the leg assembly 13, so that the leg assembly 13 is extended, so that the height of the arm assembly 12 is increased to adapt to the height of the truck; when the robot 1 finds that the height of the arm assembly 12 is adapted to the height of the truck according to the visual module, the telescopic assemblies 14 of the two arm assemblies 12 are controlled to be shortened, so that the picking parts 121 of the two arm assemblies 12 can release the objects to be transported; when the robot 1 finds that the two arm assemblies 12 are shortened but the picking parts 121 still have difficulty in releasing the objects to be transported according to the visual module, the first protrusion of one of the arm assemblies 12 is controlled to slide in the first slide groove, and the second protrusion of the other arm assembly 12 is controlled to slide in the second slide groove, and the picking parts 121 of the two arm assemblies 12 are controlled to release the objects to be transported; after one or more of the above steps, the picking parts 121 of the two arm assemblies 12 can release the objects to be transported, so that the instruction that the objects to be transported need to be transported from the ground to the truck can be completed.

[0085] Here, it should be added that when the robot 1 completes a transport instruction, the arm assembly 12, the leg assembly 13 and the picking part 121 of the robot 1 can be restored to the initial state, or maintain the final state of the last transport completed. This embodiment of the present application is not limited to this.

[0086] The above are only preferred embodiments of the present application and are not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A robot, characterized in that: include: trunk; An arm assembly, wherein a first end of the arm assembly is connected to the trunk, and a picking portion is provided at a second end of the arm assembly, and the picking portion is used to pick up an object to be transported; A leg rod assembly, wherein a first end of the leg rod assembly is connected to the trunk, and a second end of the leg rod assembly is provided with a rolling portion, and the rolling portion is used to contact the ground; A first adjustment structure is provided on the leg rod assembly to adjust the distance between the first end of the leg rod assembly and the second end of the leg rod assembly.

2. The robot according to claim 1, characterized in that: The leg rod assembly includes a first leg rod and a second leg rod, the first end of the first leg rod is connected to the torso, and the second end of the second leg rod is provided with the rolling portion, the first adjustment structure includes a first adjustment hole provided on the second end of the first leg rod and a first adjustment column provided on the first end of the second leg rod, the first adjustment column extends into the first adjustment hole and adapts to the first adjustment hole, and the first adjustment column extends and retracts relative to the first adjustment hole to adjust the distance between the first end of the first leg rod and the second end of the second leg rod.

3. The robot according to claim 1 or 2, characterized in that: The robot further includes a second adjustment structure disposed on the arm assembly to adjust a distance between a first end of the arm assembly and a second end of the arm assembly.

4. The robot according to claim 3, characterized in that: The arm assembly includes a first arm and a second arm, the first end of the first arm is connected to the torso, the second end of the second arm is provided with the picking portion, the second adjustment structure includes a second adjustment hole provided at the second end of the first arm and a second adjustment column provided at the first end of the second arm, the second adjustment column extends into the second adjustment hole and is adapted to the second adjustment hole, and the second adjustment column is telescoped relative to the second adjustment hole to adjust the distance between the first end of the first arm and the second end of the second arm.

5. The robot according to any one of claims 1 to 4, characterized in that: The trunk includes a driving shaft portion, a first trunk portion and a second trunk portion, the driving shaft portion being connected to the first trunk portion and the second trunk portion, respectively, to respectively drive the first trunk portion and the second trunk portion to rotate, the first end of the leg rod assembly being connected to the driving shaft portion, the arm rod assemblies being two, the first ends of the two arm rod assemblies being connected to the first trunk portion and the second trunk portion, respectively, the picking portions of the two arm rod assemblies being opposite to each other along the relative setting direction of the first trunk portion and the second trunk portion, to clamp the object to be transported.

6. The robot according to claim 5, characterized in that: A first slide groove is provided on the first trunk portion, a first protrusion is provided on one of the two arm lever assemblies, and the first protrusion is slidably arranged in the first slide groove, and / or a second slide groove is provided on the second trunk portion, a second protrusion is provided on the other of the two arm lever assemblies, and the second protrusion is slidably arranged in the second slide groove, so as to adjust the distance between the picking parts on the two arm lever assemblies along the relative arrangement direction of the first trunk portion and the second trunk portion; Wherein, the extension directions of the first sliding groove and the second sliding groove are the same as the relative setting directions of the first trunk portion and the second trunk portion.

7. The robot according to claim 6, characterized in that: The robot further comprises a telescopic assembly, the picking portion is arranged at the second end of the arm assembly through the telescopic assembly, and the telescopic direction of the telescopic assembly is the relative arrangement direction of the first trunk portion and the second trunk portion.

8. The robot according to any one of claims 1 to 7, characterized in that: The robot further includes a visual module, which is used to obtain information about the object to be transported. The visual module is electrically connected to the arm assembly, the leg assembly and the first adjustment structure respectively.

9. A robot control method, characterized in that: The robot is a robot according to any one of claims 1 to 9, and the method comprises: In response to an instruction that the object to be transported needs to be transported, controlling the first adjustment structure to adjust the distance between the first end of the leg rod assembly and the second end of the leg rod assembly; The picking-up portion at the second end of the arm assembly is controlled to pick up the object to be transported.

10. The robot control method according to claim 9, characterized in that: The robot further includes a second adjustment structure, the second adjustment structure being disposed on the arm assembly to adjust a distance between a first end of the arm assembly and a second end of the arm assembly, and the method further includes: The second adjustment structure is controlled to adjust the distance between the first end of the arm assembly and the second end of the arm assembly.

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