Bionic robot

Abstract

The invention relates to a biomimetic robot which comprises a trunk part, a main body part and an auxiliary body part, the hand part is positioned on the outer side of the trunk part; the driving device is at least arranged between the trunk part and the hand parts so that the hand parts can be movably connected relative to the trunk part, and the driving device connected between the trunk part and the hand parts is located in the inner cavity and movably connected with the hand parts located on the outer side of the trunk part through connecting pieces; the driving device is provided with a first axis, a second axis and a third axis, and the driving device can drive the hand to rotate with one or more of the first axis, the second axis and the third axis as rotation axes; the first axis, the second axis and the third axis are perpendicular to one another and have the same intersection point, and the robot has the advantages that the size of the connecting position of the trunk part and the hand part is reduced, and meanwhile the operation flexibility of the hand part is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a bionic robot. Background Art

[0002] With the rapid development of robotics technology, people's requirements for robot functions have been increasing, and they are no longer satisfied with the traditional clumsy concept. For this reason, the bionic performance of robots has gradually become important, and they need to be able to highly simulate the joint movements of humans or animals.

[0003] However, current humanoid robots typically use joint motors instead of motors at their joints. However, these motors are often large because they must meet the torque requirements for the corresponding positions. Furthermore, achieving multiple degrees of freedom between two connected structures (such as the torso and hand) typically requires the use of multiple motors. This makes it difficult to achieve multiple degrees of freedom around a single center point, resulting in large joints and hindering the biomimetic effect. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defects in the prior art, thereby providing a bionic robot.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A bionic robot comprising: the trunk, with an inner cavity; hands, located on the outside of the torso; a drive device, at least disposed between the trunk and the hand, to achieve movable connection of the hand relative to the trunk, wherein the drive device connected between the trunk and the hand is located within the inner cavity and is movably connected to the hand located outside the trunk via a connecting member; The driving device has a first axis, a second axis and a third axis, and the driving device is capable of driving the hand to rotate with one or more of the first axis, the second axis and the third axis as a rotation axis; The first axis, the second axis, and the third axis are perpendicular to each other and have the same intersection point.

[0006] Preferably, the drive device comprises a first housing, a second housing, a first drive assembly, a second drive assembly and a third drive assembly; The second shell is movably mounted on the outside of the first shell; The first driving assembly is connected between the first housing and the second housing to drive the second housing to rotate relative to the first housing with the first axis as the rotation axis; The second driving assembly is connected between the first housing and the second housing to drive the second housing to rotate relative to the first housing with the second axis as the rotation axis; The third drive assembly is connected to the first housing or the second housing to drive the first housing, the second housing, the first drive assembly and the second drive assembly to rotate synchronously with the third axis as the rotation axis relative to the third drive assembly.

[0007] Preferably, the driving device connected between the torso and the hand has a first shell rotatably mounted on the torso, a second shell movably mounted on the torso, and a third driving component partially fixedly mounted on the torso.

[0008] Preferably, it further comprises a waist; the waist is connected to the trunk via the driving device to drive the trunk to move relative to the waist; The driving device is located between the waist and the torso, wherein the first shell is rotatably mounted on the waist, the second shell is rotatably mounted on the torso, and the third driving component is partially fixedly mounted on the waist.

[0009] Preferably, it further comprises a waist and legs, wherein the legs are connected to the waist via the driving device to drive the legs to move relative to the waist; The driving device is located between the waist and the legs, and its first shell is rotatably connected relative to the legs, and its second shell is rotatably installed at the lower end of the waist; its third driving component is partially fixed to the legs.

[0010] Preferably, a ball groove is provided at the lower end of the waist; a protruding shaft is provided on the outer side of the second shell, and is rotatably installed in the ball groove through the protruding shaft; It also includes an auxiliary driving device for driving the second shell to rotate around the central axis of the protruding shaft, and the central axis of the protruding shaft coincides with the second axis.

[0011] Preferably, the first driving assembly includes a first transmission part, a first driven part, and a first power source; the first transmission part is used to transmit power from the first power source to the first driven part, and drive the first driven part to rotate, thereby driving the second housing to rotate about the first axis as the rotation axis; The second driving assembly includes a second transmission part, a second driven part, and a second power source, wherein the second transmission part is used to transmit power of the second power source to the second driven part and drive the second driven part to rotate, thereby driving the second housing to rotate about the second axis as the rotation axis; The driving device also includes an internal support portion, which is located in the cavity of the first shell and fixedly connected to the first shell; the internal support portion is at least used to install the first driven portion and the second driven portion, and the central axis of the first driven portion, the central axis of the second driven portion, the central axis of the internal support portion and the second axis are collinear.

[0012] Preferably, the first driven part includes a central shaft, a first gear and a first rack; The central shaft is rotatably mounted on the inner support portion, and the central axis of the central shaft coincides with the central axis of the inner support portion; The first gear is fixedly mounted on the end of the central shaft and meshes with the first rack for transmission; The first rack is fixedly connected to the second housing.

[0013] Preferably, the second driven part includes a rotating disk and a rotating pin; The turntable is rotatably connected to the inner support portion via a support bearing; One end of the rotating pin is rotatably mounted on the turntable, and the other end passes through a guide slot provided on the first shell and is rotatably connected to the second shell, and the central axis of the rotating pin is collinear with the first axis.

[0014] Preferably, the third drive assembly comprises a first spur gear, a second spur gear and a third power source; The first spur gear is fixedly connected to the first housing or the second housing; the second spur gear is connected to the power shaft of the third power source and meshes with the first spur gear for transmission.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The bionic robot provided by the present invention utilizes a drive mechanism installed within the inner cavity of the torso and connected to the hand located outside the torso via a connector. Compared to prior art methods that directly install the drive mechanism (involving multiple motor structures) at the torso-hand junction, this effectively reduces the size of the torso-hand junction. Furthermore, the drive mechanism can drive the hand to rotate about one or more of its first, second, and third axes, meaning the hand can rotate simultaneously in one or more directions, effectively increasing its operational flexibility.

[0016] In addition, the first axis, the second axis and the third axis are perpendicular to each other and have the same intersection (that is, they can form a three-dimensional coordinate system), so that the hand can achieve multi-degree-of-freedom movement at the same center point, thereby ensuring the flexible operation of the hand in multiple degrees of freedom to better simulate human hand movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a structural schematic diagram of one example of the bionic robot provided by the present invention.

[0019] Figure 2 for Figure 1 Schematic diagram of the structure after partial sectioning of the mid-torso, waist and legs.

[0020] Figure 3 Schematic diagram of the connection between the hand and the drive device.

[0021] Figure 4 for Figure 3 Schematic diagram of the D1 position in the figure.

[0022] Figure 5 This is a structural diagram of an example of a driving device.

[0023] Figure 6 for Figure 5 Schematic diagram of the explosion (partial structure not shown).

[0024] Figure 7 Schematic diagram of the connection between the second housing and the first drive assembly.

[0025] Figure 8 Schematic diagram of the positions of the first housing and the second driving assembly.

[0026] Figure 9 This is a structural diagram of the drive component from another perspective (part of the structure is not shown).

[0027] Figure 10 for Figure 9 Schematic diagram of the cut along section AA.

[0028] Figure 11 for Figure 9 Schematic diagram of the cut along section BB.

[0029] Figure 12 for Figure 2 Schematic diagram of the enlarged D2 position.

[0030] Figure 13 for Figure 2 Schematic diagram of the enlarged D3 position.

[0031] Figure 14 for Figure 2 Schematic diagram of the enlarged D4 position.

[0032] Figure 15 This is a connection diagram of the legs, drive unit and auxiliary drive unit.

[0033] Figure 16 for Figure 1 Schematic diagram of the drive device arranged between the head and the torso.

[0034] Description of reference numerals: 1. Torso; 11. Inner cavity; 12. First bracket; 13. Second bracket; 2. Hand; 3. Drive mechanism; 301. First axis; 302. Second axis; 303. Third axis; 31. First housing; 311. First half housing; 312. Second half housing; 32. Second housing; 320. Projecting shaft; 321. First support rod; 322. Arc housing; 33. First drive assembly; 331. First transmission unit; 3311. First bevel gear; 3312. Second bevel gear; 3313. First transmission shaft; 332. First driven unit; 3321. Center shaft; 3322. First gear; 3323. First rack; 333 , first power source; 34, second drive assembly; 341, second transmission part; 3411, bevel rack; 3412, third bevel gear; 3413, second transmission shaft; 342, second driven part; 3421, turntable; 3422, rotating pin; 343, second power source; 35, third drive assembly; 351, first spur gear; 352, second spur gear; 353, third power source; 36, inner support part; 37, support bearing; 38, guide groove; 4, connecting part; 5, waist; 51, ball groove; 6, leg; 61, third bracket; 7, auxiliary drive device; 71, driven wheel; 72, transmission gear set; 73, auxiliary power source; 8, connecting block. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0038] See also Figures 1 to 16 An embodiment of the present invention provides a bionic robot comprising a trunk 1, a hand 2, and a drive device 3. The trunk 1 has an inner cavity 11; the hand 2 is located outside the trunk 1; and the drive device 3 is disposed at least between the trunk 1 and the hand 2 to enable the hand 2 to be movably connected relative to the trunk 1. The drive device 3 connected between the trunk 1 and the hand 2 is located within the inner cavity 11 and movably connected to the hand 2 located outside the trunk 1 via a connector 4. Compared to the prior art method of directly installing the drive device 3 (involving multiple motor structures) at the connection point between the trunk 1 and the hand 2, this method can effectively reduce the size of the connection point between the trunk 1 and the hand 2.

[0039] Specifically, the drive device 3 has a first axis 301, a second axis 302, and a third axis 303. The drive device 3 is capable of driving the hand 2 to rotate about one or more of the first axis 301, the second axis 302, and the third axis 303. This means that the hand 2 can rotate simultaneously in one or more directions, effectively increasing the flexibility of the hand 2. Furthermore, the first axis 301, the second axis 302, and the third axis 303 are mutually perpendicular and intersect at the same point (i.e., they form a three-dimensional coordinate system), enabling the hand 2 to achieve multiple degrees of freedom of motion about a common center point. This, in turn, ensures flexible multi-degree-of-freedom operation of the hand 2, thereby better simulating the movements of a human hand 2.

[0040] The driving device 3 can be set to a variety of structures, which can realize multi-angle operation between two relatively connected structures (such as torso 1 and hand 2, torso 1 and head, torso 1 and waist 5, waist 5 and leg 6, hand 2 and palm, leg 6 and foot).

[0041] See also Figures 3 to 11 , the driving device 3 connected between the trunk 1 and the hand 2 is taken as an example for explanation.

[0042] In this embodiment, the drive device 3 includes a first housing 31, a second housing 32, a first drive assembly 33, a second drive assembly 34, and a third drive assembly 35. The second housing 32 is movably mounted on the outside of the first housing 31; the first drive assembly 33 is connected between the first housing 31 and the second housing 32 to drive the second housing 32 to rotate relative to the first housing 31 with the first axis 301 as the rotation axis; the second drive assembly 34 is connected between the first housing 31 and the second housing 32 to drive the second housing 32 to rotate relative to the first housing 31 with the second axis 302 as the rotation axis; and the third drive assembly 35 is connected to the first housing 31 or the second housing 32 to drive the first housing 31, the second housing 32, the first drive assembly 33, and the second drive assembly 34 to rotate synchronously with the third drive assembly 35 with the third axis 303 as the rotation axis.

[0043] Specifically, the first drive assembly 33 includes a first transmission part 331, a first driven part 332 and a first power source 333; the first transmission part 331 is used to transmit the power of the first power source 333 to the first driven part 332, and drive the first driven part 332 to rotate, so as to drive the second shell 32 to rotate with the first axis 301 as the rotation axis. The second drive assembly 34 includes a second transmission part 341, a second driven part 342 and a second power source 343. The second transmission part 341 is used to transmit the power of the second power source 343 to the second driven part 342, and drive the second driven part 342 to rotate, so as to drive the second shell 32 to rotate with the second axis 302 as the rotation axis; the driving device 3 also includes an internal support part 36, which is located in the cavity of the first shell 31 and is fixedly connected to the first shell 31; the internal support part 36 is at least used to install the first driven part 332 and the second driven part 342, and the central axis of the first driven part 332, the central axis of the second driven part 342, the central axis of the internal support part 36 and the second axis 302 are collinear.

[0044] It is easy to understand that the first drive assembly 33 can drive the second housing 32 to rotate relative to the first housing 31 about the first axis 301, that is, the second housing 32 can rotate relative to the first housing 31 in the R1 direction or the opposite direction of the R1 direction. The second drive assembly 34 can drive the second housing 32 to rotate relative to the first housing 31 about the second axis 302, that is, the second housing 32 can rotate relative to the first housing 31 in the R2 direction or the opposite direction of the R2 direction, thereby achieving flexible adjustment of the drive device 3.

[0045] At the same time, the first driven part 332 of the first drive component 33 and the second driven part 342 of the second drive component 34 are coaxially installed through the internal support part 36, and the operation of the first drive component 33 and the second drive component 34 will not interfere with each other, so that the second shell 32 can simultaneously rotate relative to the second shell 32 with the first axis 301 and the second axis 302 as the rotation axis, so that the drive device 3 has three degrees of freedom, which can further increase the flexibility of the bionic robot.

[0046] Furthermore, the first driven portion 332 of the first drive assembly 33 and the second driven portion 342 of the second drive assembly 34 are coaxially mounted via the inner support portion 36, allowing the first drive assembly 33 and the second drive assembly 34 to be more compactly distributed within the chamber of the first housing 31. This ensures the stability of the installation of the first drive assembly 33 and the second drive assembly 34, facilitating the stable operation of the first drive assembly 33 and the second drive assembly 34. Furthermore, the size of the drive device 3 can be reduced to a certain extent, resulting in a smaller overall space requirement and a wider range of applications. Specifically, a bionic robot connected using the drive device 3 of the present invention has the advantages of high flexibility and stability, and a smaller space requirement for the connection locations of the two relatively connected structures (e.g., the torso 1 and the hand 2, the torso 1 and the waist 5, the waist 5 and the leg 6, the hand 2 and the palm, and the leg 6 and the foot).

[0047] Furthermore, the first driven part 332 includes a central shaft 3321, a first gear 3322 and a first rack 3323; wherein, the central shaft 3321 is rotatably mounted on the inner support part 36, and the central axis of the central shaft 3321 coincides with the central axis of the inner support part 36; the first gear 3322 is fixedly mounted on the end of the central shaft 3321, and meshes with the first rack 3323 for transmission; the first rack 3323 is fixedly connected to the second shell 32.

[0048] Furthermore, the central shaft 3321 passes through the inner support portion 36, and both ends of the central shaft 3321 are connected to a first gear 3322, and the two first gears 3322 are symmetrically distributed about the center point (the intersection of the first axis 301, the second axis 302 and the third axis 303), and two first racks 3323 are provided, which are respectively engaged with the two first gears 3322 for transmission.

[0049] Specifically, the second housing 32 includes a first support rod 321 and an arcuate shell 322. Two arcuate shells 322 are provided and are both fixedly connected to the first support rod 321. The two arcuate shells 322 are symmetrically arranged and form an arcuate groove between the two arcuate shells 322, extending circumferentially around the first axis 301. Two first racks 3323 are slidably mounted at opposite ends of the arcuate groove to opposite side walls of the groove.

[0050] It is not difficult to understand that when the first transmission part 331 drives the central shaft 3321 to rotate, it can drive the two first gears 3322 to rotate synchronously, and the two first gears 3322 are respectively engaged with their corresponding first racks 3323 for transmission, thereby enabling the second shell 32 to rotate with the first axis 301 as the rotation axis.

[0051] Furthermore, the first transmission part 331 includes a first bevel gear 3311, a second bevel gear 3312 and a first transmission shaft 3313, wherein the first bevel gear 3311 is fixedly connected to the central axis 3321 of the first driven part 332, and meshes with the second bevel gear 3312 for transmission, the second bevel gear 3312 is fixedly mounted on one end of the first transmission shaft 3313, the first transmission shaft 3313 is rotatably mounted on the first housing 31, and is power-connected to the first power source 333.

[0052] Specifically, the second driven part 342 includes a turntable 3421 and a rotating pin 3422; the turntable 3421 is rotatably connected to the inner support part 36 through a support bearing 37; one end of the rotating pin 3422 is rotatably mounted on the turntable 3421, and the other end passes through the guide groove 38 provided on the first shell 31, and is rotatably connected with the second shell 32, and the central axis of the rotating pin 3422 is colinear with the first axis 301.

[0053] Furthermore, the second transmission part 341 includes a bevel rack 3411, a third bevel gear 3412 and a second transmission shaft 3413; the bevel rack 3411 is fixedly connected to the second driven part 342, and meshes with the third bevel gear 3412 for transmission, and the third bevel gear 3412 is fixed to one end of the second transmission shaft 3413; the second transmission shaft 3413 is rotatably mounted on the first housing 31, and one end of the second transmission shaft 3413 away from the third bevel gear 3412 extends to the outside of the first housing 31, and is rotationally connected to the second power source 343.

[0054] See also Figures 5 to 10 In order to facilitate the assembly of the entire driving device 3, in this embodiment, the first shell 31 includes a first half shell 311 and a second half shell 312, and the first half shell 311 and the second half shell 312 can be assembled to enclose a chamber.

[0055] Specifically, after the first half shell 311 and the second half shell 312 are engaged, they can be fixedly connected by screw fasteners, and the inner support portion 36 is installed in the chamber.

[0056] Furthermore, the inner support portion 36 may also be configured as a two-part split structure, which further facilitates the installation of the first drive assembly 33 and the second drive assembly 34 .

[0057] Furthermore, the inner support portion 36 and the first half shell 311, as well as the inner support portion 36 and the second half shell 312 are fixedly connected by screw fasteners, further increasing the connection stability of the entire drive device 3. The screw fasteners can be arranged in pairs, and the fasteners arranged in pairs can be arranged relative to each other. The central axis of the fastener can also pass through the geometric center of the inner support portion 36 to ensure that the inner support portion 36 is subjected to more uniform force.

[0058] Specifically, the third drive assembly 35 includes a first spur gear 351, a second spur gear 352 and a third power source 353; the first spur gear 351 is fixedly connected to the first shell 31 or the second shell 32; the second spur gear 352 is connected to the power shaft of the third power source 353 and meshes with the first spur gear 351 for transmission.

[0059] See also Figure 1 A three-dimensional coordinate system is provided, with mutually perpendicular X-axis, Y-axis, and Z-axis. When the robot is located in this three-dimensional coordinate system, the end face of the trunk 1 is parallel to the X-axis and perpendicular to the Y-axis, and the robot's standing direction (i.e., the vertical direction) is the Z-axis direction.

[0060] See also Figures 1 to 4 as well as Figure 12 The driving device 3 is connected between the trunk 1 and the hand 2, wherein the first shell 31 is rotatably mounted on the trunk 1, the second shell 32 is movably mounted on the trunk 1, and the third driving component 35 is partially fixedly mounted on the trunk 1.

[0061] Specifically, a first bracket 12 is disposed within the inner cavity 11 of the trunk 1, and a first housing 31 is rotatably connected to the first bracket 12. A third power source 353 of the third drive assembly 35 is fixedly mounted on the first bracket 12, and a first spur gear 351 of the third drive assembly 35 is fixedly connected to the first housing 31. It is readily understood that, at this point, the first axis 301 of the position drive device 3 is parallel to the Y-axis, the second axis 302 of the drive device 3 is parallel to the Z-axis, and the third axis 303 of the drive device 3 is parallel to the X-axis.

[0062] See also Figure 1 、 Figure 2 and Figure 13 , and also includes a waist 5; the waist 5 and the torso 1 are connected through a driving device 3 to drive the torso 1 to operate relative to the waist 5; the driving device 3 is located between the waist 5 and the torso 1, and its first shell 31 is rotatably mounted on the waist 5, its second shell 32 is rotatably mounted on the torso 1, and its third driving component 35 is partially fixedly mounted on the waist 5.

[0063] Specifically, a second bracket 13 is disposed within the inner cavity 11 of the torso 1. The second housing 32 of the drive mechanism 3 is fixedly mounted on the second bracket 13. The first housing 31 of the drive mechanism 3 is rotatably mounted on the waist 5. The third drive assembly 35 of the drive mechanism 3 has its first spur gear 351 fixedly mounted on the first housing 31, and its third power source 353 fixedly mounted on the waist 5 (not shown). It is readily understood that, in this position, the first axis 301 of the drive mechanism 3 is parallel to the X-axis, the second axis 302 of the drive mechanism 3 is parallel to the Y-axis, and the third axis 303 of the drive mechanism 3 is parallel to the Z-axis.

[0064] See also Figure 1 、 Figure 2 、 Figure 14 as well as Figure 15 , also includes a waist 5 and legs 6, the legs 6 and the waist 5 are connected by a driving device 3 to drive the legs 6 to operate relative to the waist 5; the driving device 3 is located between the waist 5 and the legs 6, and its first shell 31 is rotatably connected relative to the legs 6, and its second shell 32 is rotatably installed at the lower end of the waist 5; its third driving component 35 is partially fixed to the legs 6.

[0065] Specifically, a third bracket 61 is provided within the leg 6. The first housing 31, first drive assembly 33, and second drive assembly 34 of the drive device 3 are all rotatably connected relative to the leg 6. The third power source 353 of the third drive assembly 35 is fixedly mounted on the third bracket 61, and the first spur gear 351 of the third drive assembly 35 is fixedly mounted on the first housing 31. It is readily understood that, at this point, the first axis 301 of the position drive device 3 is parallel to the Y-axis, the second axis 302 of the drive device 3 is parallel to the X-axis, and the third axis 303 of the drive device 3 is parallel to the Z-axis.

[0066] Furthermore, a ball groove 51 is provided at the lower end of the waist 5; a protruding shaft 320 is provided on the outside of the second shell 32, and is rotatably installed in the ball groove 51 through the protruding shaft 320; and an auxiliary drive device 7 is also included for driving the second shell 32 to rotate around the central axis of the protruding shaft 320, and the central axis of the protruding shaft 320 coincides with the second axis 302.

[0067] Specifically, the auxiliary driving device 7 includes a driven wheel 71 , a transmission gear set 72 and an auxiliary power source 73 . The driven wheel 71 is fixedly mounted on the protruding shaft 320 and meshes with the transmission gear set 72 for transmission.

[0068] It is easy to understand that the auxiliary driving device 7 can drive the second housing 32 to rotate relative to the first housing 31, thereby increasing the relative operating angle between the two, so that the rotation angle of the leg 6 along the X-axis direction can be further increased.

[0069] See also Figure 1 、 Figure 2 and Figure 16 The torso 1 and the head can also be connected by a drive device 3, and can be connected through two drive devices 3. The two drive devices 3 can be connected through a connecting block 8, and the connecting block 8 is connected to the second shell 32 of the two drive devices 3, thereby increasing the multi-angle operation of the head and the torso 1.

[0070] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A bionic robot, characterized in that: include: a trunk (1) having an inner cavity (11); A hand (2) located outside the trunk (1); A drive device (3) is provided at least between the trunk (1) and the hand (2) to achieve a movable connection of the hand (2) relative to the trunk (1), and the drive device (3) connected between the trunk (1) and the hand (2) is located in the inner cavity (11) and is movably connected to the hand (2) located outside the trunk (1) through a connecting member (4); The driving device (3) has a first axis (301), a second axis (302), and a third axis (303), and the driving device (3) is capable of driving the hand (2) to operate with one or more of the first axis (301), the second axis (302), and the third axis (303) as a rotation axis; The first axis (301), the second axis (302) and the third axis (303) are perpendicular to each other and have the same intersection point.

2. A bionic robot according to claim 1, characterized in that: The driving device (3) comprises a first housing (31), a second housing (32), a first driving assembly (33), a second driving assembly (34) and a third driving assembly (35); The second shell (32) is movably mounted on the outside of the first shell (31); The first drive assembly (33) is connected between the first housing (31) and the second housing (32) to drive the second housing (32) to rotate relative to the first housing (31) with the first axis (301) as the rotation axis; The second drive assembly (34) is connected between the first housing (31) and the second housing (32) to drive the second housing (32) to rotate relative to the first housing (31) with the second axis (302) as the rotation axis; The third drive assembly (35) is connected to the first housing (31) or the second housing (32) to drive the first housing (31), the second housing (32), the first drive assembly (33) and the second drive assembly (34) to rotate synchronously with respect to the third drive assembly (35) with the third axis (303) as the rotation axis.

3. A bionic robot according to claim 2, characterized in that: A drive device (3) connected between the trunk (1) and the hand (2) has a first housing (31) rotatably mounted on the trunk (1), a second housing (32) movably mounted on the trunk (1), and a third drive assembly (35) partially fixedly mounted on the trunk (1).

4. A bionic robot according to claim 2, characterized in that: It also includes a waist (5); the waist (5) is connected to the trunk (1) via the driving device (3) to drive the trunk (1) to operate relative to the waist (5); A drive device (3) located between the waist (5) and the trunk (1) has a first housing (31) rotatably mounted on the waist (5), a second housing (32) rotatably mounted on the trunk (1), and a third drive assembly (35) partially fixedly mounted on the waist (5).

5. The bionic robot according to claim 2, characterized in that: It also includes a waist (5) and legs (6), wherein the legs (6) are connected to the waist (5) via the driving device (3) to drive the legs (6) to operate relative to the waist (5); A drive device (3) is located between the waist (5) and the legs (6), wherein the first housing (31) is rotatably connected relative to the legs (6), and the second housing (32) is rotatably mounted on the lower end of the waist (5); and the third drive assembly (35) is partially fixed to the legs (6).

6. The bionic robot according to claim 5, characterized in that: A ball groove (51) is provided at the lower end of the waist (5); a protruding shaft (320) is provided on the outside of the second shell (32) and is rotatably mounted in the ball groove (51) via the protruding shaft (320); It also includes an auxiliary drive device (7) for driving the second housing (32) to rotate around the central axis of the protruding shaft (320), and the central axis of the protruding shaft (320) coincides with the second axis (302).

7. A bionic robot according to any one of claims 2 to 6, characterized in that: The first driving assembly (33) comprises a first transmission part (331), a first driven part (332) and a first power source (333); the first transmission part (331) is used to transmit power of the first power source (333) to the first driven part (332), and drive the first driven part (332) to rotate, thereby driving the second housing (32) to rotate with the first axis (301) as the rotation axis; The second driving assembly (34) comprises a second transmission part (341), a second driven part (342) and a second power source (343), wherein the second transmission part (341) is used to transmit power of the second power source (343) to the second driven part (342), and drive the second driven part (342) to rotate, thereby driving the second housing (32) to rotate about the second axis (302); The driving device (3) further includes an inner support portion (36), the inner support portion (36) being located in the chamber of the first shell (31) and fixedly connected to the first shell (31); the inner support portion (36) being used for at least mounting the first driven portion (332) and the second driven portion (342), and the central axis of the first driven portion (332), the central axis of the second driven portion (342), the central axis of the inner support portion (36), and the second axis (302) being collinear.

8. The bionic robot according to claim 7, characterized in that: The first driven part (332) comprises a central shaft (3321), a first gear (3322) and a first rack (3323); The central shaft (3321) is rotatably mounted on the inner support portion (36), and the central axis of the central shaft (3321) coincides with the central axis of the inner support portion (36); The first gear (3322) is fixedly mounted on the end of the central shaft (3321) and meshes with the first rack (3323) for transmission; The first rack (3323) is fixedly connected to the second housing (32).

9. The bionic robot according to claim 7, characterized in that: The second driven part (342) comprises a rotating disk (3421) and a rotating pin (3422); The turntable (3421) is rotatably connected to the inner support portion (36) via a support bearing (37); One end of the rotating pin (3422) is rotatably mounted on the turntable (3421), and the other end passes through the guide groove (38) provided on the first shell (31) and is rotatably connected to the second shell (32), and the central axis of the rotating pin (3422) is colinear with the first axis (301).

10. A bionic robot according to any one of claims 2 to 6, characterized in that: The third drive assembly (35) includes a first spur gear (351), a second spur gear (352) and a third power source (353); The first spur gear (351) is fixedly connected to the first housing (31) or the second housing (32); the second spur gear (352) is connected to the power shaft of the third power source (353) and meshes with the first spur gear (351) for transmission.

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