Robot

Abstract

The invention discloses a robot, and relates to the technical field of robots, the robot comprises a head structure; the trunk structure comprises a trunk part and a plurality of folding units connected in sequence, the adjacent folding units can be rotationally folded, so that the trunk structure has a folded state and an unfolded state, in the unfolded state, folding rotating shafts of the adjacent folding units are located on the two opposite sides of the central axis of the trunk part in a staggered mode, and the folding rotating shafts of the adjacent folding units are located on the two opposite sides of the central axis of the trunk part. In the folding state, the multiple folding units are arranged in a stacked mode, and the trunk part is connected with the head structure and the folding units; the mechanical arms are arranged on the two sides of the main part; and the walking structure is connected with the folding units deviating from the trunk part. The robot provided by the technical scheme of the invention occupies a small space after being folded, and can adapt to deployment and use in a space-limited environment.

Description

Technical Field

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

[0002] Robotics is a multidisciplinary discipline that has developed in recent years. As a leading technology for the future of the world, it is creating new industries and formats, driving the shift toward intelligent production and consumption, and profoundly impacting human life and work. Robotics technology has been widely applied in industrial automation, service robotics, medical care, security inspection, and other fields. Spatial adaptability has become a key performance indicator for robots, particularly in compact urban living spaces and cramped industrial environments.

[0003] At present, robots still occupy a large space after being folded, and often require a large working space and storage space, which seriously limits the deployment and use efficiency of robots in space-constrained environments. Summary of the Invention

[0004] The main purpose of the present invention is to provide a robot, which aims to solve the technical problem that the current robots occupy a large space after being folded, which seriously limits their deployment in space-constrained environments.

[0005] To achieve the above-mentioned object, the robot proposed in the present invention comprises:

[0006] Head structure;

[0007] A trunk structure comprising a main body and a plurality of folding units connected in sequence, wherein adjacent folding units are rotatably foldable, so that the trunk structure has a folded state and an extended state. In the extended state, the folding rotation axes of adjacent folding units are staggered and located on opposite sides of the central axis of the main body. In the folded state, the plurality of folding units are stacked, and the main body is respectively connected to the head structure and the folding units.

[0008] A robotic arm is provided on both sides of the trunk; and

[0009] The walking structure is connected to the folding unit away from the main body.

[0010] In one embodiment, each of the folding units includes a connecting frame and a driving unit, the driving unit includes a driving shaft and a power member, the power member is connected to the driving shaft and drives the driving shaft to rotate, the driving shaft is connected to the connecting frame, the driving shaft rotates and drives the connecting frame to rotate, and the power member is fixedly connected to the connecting member of the adjacent folding unit.

[0011] In one embodiment, the trunk structure also includes an auxiliary component, which includes an elastic member, one end of which is connected to one of the folding units, and the other end is used to connect to another adjacent folding unit. When the trunk structure switches from an extended state to a folded state, the elastic member is stretched, so that the elastic member generates a driving force to drive the two adjacent folding units to reset.

[0012] In one embodiment, the auxiliary component also includes a guide plate and a connecting rope, the guide plate is provided on one of the folding units, one end of the connecting rope is connected to one of the folding units, and the other end is connected to the elastic member, and when the trunk structure switches from an extended state to a folded state, the connecting rope bends along the guide plate and pulls the elastic member.

[0013] In one embodiment, the plurality of folding units are divided into three groups, one of which is configured as a first folding part, another group is configured as a second folding part, and another group is configured as a third folding part. In the folded state, the first folding part, the second folding part and the third folding part are stacked. In the extended state, the folding rotation axes of adjacent driving units are staggered and located on opposite sides of the central axis of the main body. The first folding part is used to connect the main body, and the third folding part is arranged between the first folding part and the second folding part.

[0014] In one embodiment, the trunk structure further includes a rotating portion, which is fixed to the first folding portion and is also driven to connect to the main body portion and drive the main body portion to rotate.

[0015] In one embodiment, the head structure includes:

[0016] The main body is provided with a camera unit for exchanging external information;

[0017] a first bracket, the main body being disposed on the first bracket and rotatably connected to the first bracket;

[0018] a first driving portion, disposed on the first bracket and drivingly connected to the main body, so as to drive the main body to rotate around a first axis;

[0019] a second bracket connected to the main body, the first bracket being further provided on the second bracket;

[0020] a second driving portion, provided on the second bracket, the second driving portion being drivingly connected to the first bracket and driving the first bracket to rotate around a second axis; and

[0021] The third driving part is provided on the second bracket, and is used to drive the second bracket to rotate around the third axis. The third driving part is also connected to the main body; the first axis and the third axis are parallel and perpendicular to the second axis.

[0022] In one embodiment, the first driving portion, the second driving portion, and the third driving portion each include a driving unit configured to provide a rotational driving force.

[0023] In one embodiment, the robotic arm includes:

[0024] a first joint assembly connected to the trunk structure;

[0025] a second joint assembly, the second joint assembly comprising a second drive module and a second transmission module, the second drive module being drivably connected to the second transmission module, and the first joint assembly being drivably connected to the second transmission module to drive the second joint assembly to rotate along the first central axis;

[0026] a third joint assembly comprising a first sleeve and a third drive module, wherein the second drive module and the third drive module are fixedly disposed inside the first sleeve to drive the third joint assembly to rotate along a second central axis;

[0027] Wrist joint assembly, the third joint assembly is drivingly connected to the wrist joint assembly to drive the wrist joint assembly to rotate.

[0028] In one embodiment, the walking structure includes:

[0029] a base having a mounting position for mounting the trunk structure;

[0030] Drive assemblies, two groups of which are spaced apart and arranged on both sides of the bottom of the base, each drive assembly comprising a drive motor and a drive wheel, the drive motor being arranged on the base and drivingly connected to the drive wheel, the drive wheel being rotatable on the base to drive the base to move;

[0031] A battery assembly is provided on the base, each driving motor is provided with a corresponding battery assembly, and the battery assembly is electrically connected to the corresponding driving motor; and

[0032] A shock absorbing assembly connects the base and the driving assembly.

[0033] The technical solution of the present invention adopts the method of rotating and folding multiple folding units connected in sequence to make the trunk structure have a folded state and an extended state. In the folded state, the folding units are stacked in sequence, and the folding rotation axes of adjacent driving units are staggered on opposite sides of the central axis of the trunk. In this way, when folding, the folding rotation axes between the multiple folding units will not interfere with the stacking and occupy the folding space, and can achieve tight folding and occupy less space, so as to facilitate the deployment and operation of the robot in a space-constrained environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0035] Figure 1 A schematic structural diagram of a robot embodiment provided by the present invention;

[0036] Figure 2 A schematic structural diagram of a robot embodiment provided by the present invention in a folded state;

[0037] Figure 3 A schematic diagram of the structure of the robot embodiment provided by the present invention in an extended state;

[0038] Figure 4 A schematic diagram of the structure of the torso portion of a robot embodiment provided by the present invention at an angle;

[0039] Figure 5 A schematic structural diagram of the torso portion of the robot embodiment provided by the present invention from another angle;

[0040] Figure 6 A schematic side view of the torso structure of a robot embodiment provided by the present invention;

[0041] Figure 7 for Figure 3 Middle partial enlarged view;

[0042] Figure 8 This is a schematic diagram of the exploded structure of the head structure of the robot embodiment provided by the present invention;

[0043] Figure 9 A schematic structural diagram of the second bracket of the head structure of the robot embodiment provided by the present invention;

[0044] Figure 10 for Figure 8 A in the middle shows a partial enlarged view;

[0045] Figure 11 A schematic diagram of the walking structure of a robot embodiment provided by the present invention;

[0046] Figure 12 A schematic diagram of a portion of the walking structure of a robot embodiment provided by the present invention;

[0047] Figure 13 A schematic structural diagram of another portion of the walking structure of the robot embodiment provided by the present invention;

[0048] Figure 14 A schematic diagram of the structure of the shock-absorbing component of the walking structure of the robot embodiment provided by the present invention;

[0049] Figure 15 A schematic diagram of the structure of the robotic arm of the robot embodiment provided by the present invention;

[0050] Figure 16 A schematic diagram of the exploded structure of the robotic arm of the robot embodiment provided by the present invention;

[0051] Figure 17 A schematic structural diagram of a wrist joint assembly of a robotic arm according to an embodiment of the present invention;

[0052] Figure 18 This is a schematic diagram of the exploded structure of the first joint module of the robot embodiment provided by the present invention;

[0053] Figure 19 This is a schematic diagram of the exploded structure of the second joint module of the robot embodiment provided by the present invention;

[0054] Figure 20 This is a schematic structural diagram of the driving unit of the robot embodiment provided by the present invention.

[0055] Description of Figure Numbers:

[0056] 1000, head structure; 1100, main body; 1110, drive plate; 1200, first bracket; 1210, first connecting portion; 1220, second connecting portion; 1300, first driving portion; 1310, first housing; 1320, first driving shaft; 1330, first locking bolt; 1400, second bracket; 1410, third connecting portion; 1420, fourth connecting portion; 1500, second driving portion; 1510, second housing; 1520, second driving shaft; 1530, second locking bolt; 1600, third driving portion; 1610, third housing; 1620, third driving shaft; 1630, fixing block; 1631, limiting portion; 1632, fixing portion; 1640, third locking bolt;

[0057] 2000, trunk structure; 2100, main body; 2200, first folding portion; 2210, first drive shaft; 2211, first connecting plate; 2220, first connecting frame; 2221, first connecting ear; 2230, first shell; 2300, second folding portion; 2310, second drive shaft; 2311, second connecting plate; 2320, second connecting frame; 2321, second connecting ear; 2330, second shell; 240 0, third folding portion; 2410, third drive shaft; 2411, third connecting plate; 2420, third connecting frame; 2421, third connecting ear; 2430, third housing; 2500, rotating portion; 2600, auxiliary component; 2610, elastic member; 2620, guide plate; 2630, fixing column; 2640, hook; 2650, adjusting member; 2660, fixing block; 2670, protective plate; 2700, guide groove;

[0058] 3000, walking structure; 3100, base; 3110, seat body; 3120, support frame; 3121, first plate; 3122, second plate; 3200, drive assembly; 3210, drive motor; 3220, drive wheel; 3300, battery assembly; 3400, shock-absorbing assembly; 3410, mounting module; 3411, first mounting plate; 34111, connecting portion; 3412, second mounting plate; 34121, first mounting portion; 34122, second mounting portion; 3420, first shock-absorbing member; 3430, rotating shaft; 3500, mounting frame; 3510, first plate; 3520, second plate; 3530, third plate; 3600, guide wheel; 3700, cover; 3710, receiving slot;

[0059] 4000, robotic arm; 4100, first joint assembly; 4110, first housing; 4120, first drive module; 4130, first worm; 4140, first worm gear; 4200, second joint assembly; 4210, second drive module; 4220, second transmission module; 4221, second worm; 4222, second worm gear; 4230, first support frame; 4231, first mounting plate; 4232, second mounting plate; 4233, third mounting plate; 4240, second housing; 4300, third joint assembly; 4310, first sleeve; 4311, through hole; 4320, third drive module; 4400, fourth joint assembly; 4410, fourth drive module; 4420, fourth transmission module; 4500, fifth joint assembly; 4510, second sleeve; 4520, fifth drive module; 4600, wrist joint assembly; 4610, connecting frame; 4620, sixth drive module; 4621, sixth worm gear; 4630, mounting seat; 4640, swing block; 4650, swing arm; 4660, connecting rod; 4670, cross U block; 4680, cross block; 4690, connecting plate;

[0060] 5000, drive unit; 5100, power part; 5200, transmission assembly; 5210, worm; 5220, helical gear; 5300, reduction assembly; 5310, first planetary disk; 5320, second planetary disk; 5330, protective shell.

[0061] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0063] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0064] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0065] In existing technologies, spatial adaptability of robots has become a key performance indicator, especially in compact urban living spaces and cramped industrial environments. Currently, even when folded, robots still occupy a large space, often requiring larger workspaces and storage areas. This severely limits the deployment and efficiency of robots in space-constrained environments.

[0066] The present invention provides a robot.

[0067] See also Figures 1 to 20 As shown, in one embodiment of the present invention, the robot includes: a head structure 1000; a trunk structure 2000, a robotic arm 4000 and a walking structure 3000; wherein the trunk structure 2000 includes a main body 2100 and a plurality of folding units connected in sequence, and adjacent folding units can be rotated and folded, so that the trunk structure 2000 has a folded state and an extended state. In the extended state, Figure 3 As shown, the folding rotation axes of adjacent folding units are staggered on opposite sides of the central axis of the main body 2100. In the folded state, as shown in FIG. Figure 2 As shown, multiple folding units are stacked, and the main body 2100 is connected to the head structure 1000 and the folding units respectively; mechanical arms 4000 are provided on both sides of the main body 2100; and the walking structure 3000 is connected to the folding unit away from the main body 2100.

[0068] In this embodiment, a camera unit is integrated into the head structure 1000 for exchanging information with the outside world. The head structure 1000 is connected to one end of the trunk 2100, and the other end of the trunk 2100 is connected to the folding unit. The end of the folding unit facing away from the trunk 2100 is connected to the walking structure 3000, wherein the walking structure 3000 is used to provide a driving force for the movement of the robot. It can adopt a structure for walking with two legs, a structure for walking with drive wheels 3220, or other structures that can achieve movement, which are not limited in this embodiment. The folding state provided in this embodiment can also include the folding of the mechanical arm 4000. There are mechanical arms 4000 on both sides of the trunk 2100. The mechanical arms 4000 can be turned, bent, and rotated to achieve different functions.

[0069] The technical solution of the present invention enables the trunk structure 2000 to have a folded state and an extended state by rotating and folding multiple folding units connected in sequence. In the folded state, the folding units are stacked in sequence, and the folding rotation axes of adjacent driving units 5000 are staggered on opposite sides of the central axis of the main body 2100. In this way, when folding, the folding rotation axes between the multiple folding units will not interfere with the stacking and occupy the folding space, and can achieve tight folding and occupy less space, so as to facilitate the deployment and operation of the robot in a space-constrained environment.

[0070] In one embodiment, each folding unit includes a connecting frame 4610 and a driving unit 5000. The driving unit 5000 includes a driving shaft and a power member 5100. The power member 5100 is connected to the driving shaft and drives the driving shaft to rotate. The driving shaft is connected to the connecting frame 4610. The driving shaft rotates to drive the connecting frame 4610 to rotate. The power member 5100 is fixedly connected to the connecting member of the adjacent folding unit.

[0071] In this embodiment, multiple folding units are connected in sequence, and adjacent folding units can be rotated and folded to accommodate different environments or applications. It is understood that each folding unit is provided with a drive unit 5000 that provides a driving force for rotation and folding. The drive unit 5000 can be a motor structure, a cylinder structure, or other power structure, which is not limited in this embodiment. It should be noted that an auxiliary component 2600 is provided between each adjacent folding unit to assist in rotation.

[0072] refer to Figures 3 to 7 In one embodiment, the trunk structure 2000 further includes an auxiliary component 2600, which includes an elastic member 2610. One end of the elastic member 2610 is connected to a folding unit, and the other end is used to connect to another adjacent folding unit. When the trunk structure 2000 switches from the extended state to the folded state, the elastic member 2610 is stretched, so that the elastic member 2610 generates a driving force to drive the two adjacent folding units to reset.

[0073] Taking two adjacent folding units as an example, in a specific implementation, one end of the elastic member 2610 is connected to one of the folding units, and the other end is connected to the other folding unit. When the two folding units fold, one or both ends of the elastic member 2610 are driven to move, changing the original position or state of the elastic member 2610, causing the elastic member 2610 to be stretched. In this way, the elastic member 2610 generates an elastic driving force and has a tendency to drive the two folding units to extend. At the initial moment of extension of the two folding units, the elastic drive of the elastic member 2610 provides an auxiliary driving force for extension and reset, thereby reducing the instantaneous pressure of the drive unit 5000. The elastic member 2610 can be a long strip structure with an elastic material or a spring. In a specific implementation, the drive unit 5000 is connected to the connecting frame 4610 and drives the connecting frame 4610 to rotate and fold, wherein the drive unit 5000 is fixed to the adjacent connecting frame 4610. In this embodiment, again taking two adjacent folding units as an example, specifically, the power member 5100 of one folding unit is fixed to the connecting frame 4610 of the other folding unit. A drive shaft is connected to the connecting frame 4610 of the folding unit to drive the connecting frame 4610 to rotate about the drive shaft and fold relative to the other connecting frame 4610. The power member 5100 can be a motor structure. When the motor drives the connecting frame 4610 to switch from a folded state to an extended state, the motor structure is subjected to a significant instantaneous pressure. The auxiliary assembly 2600 provides an extension driving force to reduce the pressure on the motor structure, thereby protecting the motor structure and improving its service life. When multiple folding units rotate and fold, the elastic member 2610 is stretched and has a tendency to drive the folding units to reset. When multiple folding units switch from a folded state to an extended state, an auxiliary driving force is provided to the folding units at the moment of extension, reducing the instantaneous pressure on the folding units and improving their service life.

[0074] In one embodiment, the auxiliary component 2600 also includes a guide plate 2620 and a connecting rope (not shown in the figure). The guide plate 2620 is arranged in a folding unit. One end of the connecting rope is connected to a folding unit, and the other end is connected to the elastic member 2610. When the trunk structure 2000 switches from the extended state to the folded state, the connecting rope bends along the guide plate 2620 and pulls the elastic member 2610.

[0075] In this embodiment, in two adjacent folding units, the guide plate 2620 and one end of the connecting rope are fixed to one of the folding units, and the other end of the connecting rope is connected to the elastic member 2610. In this way, the elastic member 2610 can be pulled by the connecting rope. When a folding unit is rotated and folded, one end of the connecting rope changes position with the rotation of the folding unit and is simultaneously wrapped around the guide plate 2620, thereby enabling the connecting rope to pull the elastic member 2610, causing the elastic member 2610 to be stretched and store energy.

[0076] In one embodiment, auxiliary assembly 2600 further includes a fixing post 2630, which is fixedly mounted on the folding unit. The end of the connecting rope facing away from the elastic member 2610 is connected to the fixing post 2630. In a specific implementation, one end of the connecting rope is fixedly wrapped around the fixing post 2630. The fixing post 2630 and the guide plate 2620 are located in the same folding unit, and the fixing post 2630 is positioned toward one end of the guide plate 2620 to ensure that the connecting rope can bend along the guide plate 2620.

[0077] In one embodiment, the auxiliary unit further includes a protective plate 2670, which is disposed on the folding unit and defines a cavity with the outer wall of the folding unit for accommodating the elastic member 2610. In this embodiment, the extension direction of the protective plate 2670 is consistent with the extension direction of the elastic member 2610. The protective plate 2670 is arranged in an arc shape to form a cavity between the protective plate 2670 and the folding unit. The elastic member 2610 is accommodated in the cavity to protect the elastic member 2610 from interference. It is understood that the connecting rope extends out of the cavity to connect adjacent folding units.

[0078] In one embodiment, the auxiliary component 2600 also includes a fixed block 2660, a hook 2640 and an adjusting member 2650. The fixed block 2660 is fixedly connected to the folding unit. One end of the adjusting member 2650 passes through the fixed block 2660 and is rotatably connected to the hook 2640. A guide groove 2700 is provided on the side wall of the folding unit. The hook 2640 is slidably connected to the guide groove 2700 and is locked to the folding unit by bolts.

[0079] The end of the elastic member 2610 facing away from the connecting rope is fixed to the folding unit via a fixing block 2660 and a hook 2640. In this embodiment, again taking two adjacent folding units as an example, the elastic member 2610 and the connecting rope are respectively fixed to different adjacent folding units. In a specific implementation, the fixing block 2660 is fixed to the folding unit via screws or pins, and the adjusting member 2650 moves through the fixing block 2660 and is screwed onto the hook 2640. By rotating the adjusting member 2650, the position of the hook 2640 on the adjusting member 2650 can be adjusted to accommodate different elastic members 2610 or different size requirements. The adjusting member 2650 is a screw or bolt, etc., which is not limited in this embodiment. Furthermore, to improve the stability of the hook 2640 and prevent it from rotating with the adjusting member 2650 during rotation, in this embodiment, a guide slot 2700 is further defined on the sidewall of the folding unit. The length of the guide slot 2700 aligns with the extension direction of the adjusting member 2650. One end of the hook 2640 is located within the guide slot 2700 and can be moved along the guide slot 2700 to facilitate position adjustment. In a specific implementation, the hook 2640 is further fastened to the folding unit via a bolt. Specifically, the bolt extends from the side of the folding unit facing away from the guide slot 2700 into the guide slot 2700 and connects to the hook 2640.

[0080] In one embodiment, two groups of auxiliary structures are provided, and the two groups of auxiliary structures are symmetrically arranged on both sides of the folding unit. In a specific implementation process, the two groups of auxiliary structures are symmetrically arranged so that the forces on the two opposite sides of the folding unit are balanced, ensuring smooth rotation of the folding rotation axis.

[0081] In one embodiment, multiple folding units are divided into three groups, one of which is configured as a first folding portion 2200, another group is configured as a second folding portion 2300, and another group is configured as a third folding portion 2400. In the folded state, the first folding portion 2200, the second folding portion 2300 and the third folding portion 2400 are stacked. In the extended state, the folding rotation axes of adjacent driving units 5000 are staggered and located on opposite sides of the central axis of the main body 2100. The first folding portion 2200 is used to connect the main body 2100, and the third folding portion 2400 is arranged between the first folding portion 2200 and the second folding portion 2300.

[0082] It should be noted that this embodiment describes the multiple folding units as being divided into three types of folding sections. According to the above, in the further definition of the multiple folding units, the multiple folding units are configured into at least three groups, one of which is the first folding section 2200, another group is the second folding section 2300, and another group is the third folding section 2400. Specifically, the folding units include one first folding section 2200, one second folding section 2300, and at least one third folding section 2400.

[0083] In this embodiment, the driving shaft of the first folding portion 2200 is configured as the first driving shaft 2210, the connecting frame 4610 is configured as the first connecting frame 2220, and the connecting ear is configured as the first connecting ear 2221. Similarly, the driving shaft of the third folding portion 2400 is configured as the third driving shaft 2410, the connecting frame 4610 is configured as the third connecting frame 46102420, and the connecting ear is configured as the third connecting ear 2421. The central axis of the main body 2100 is the central axis O of the trunk structure 2000 in the extended state. It can be understood that the folding rotation axis is set close to the outer wall of the trunk structure 2000, with reference to FIG. Figure 6 shown.

[0084] In this embodiment, the third folding portion 2400 is located between the first folding portion 2200 and the second folding portion 2300, that is, from the top of the trunk structure 2000 to the bottom, the main body 2100, the first folding portion 2200, the third folding portion 2400, and the second folding portion 2300 are arranged in order. When folding, the main body 2100 and the first folding portion 2200 rotate relative to the third folding portion 2400, and the third folding portion 2400 rotates relative to the second folding portion 2300. The folding rotation directions of two adjacent drive units 5000 are opposite, thereby achieving stacking. It can be understood that when folding and rotating, the folding rotation axis of the corresponding drive unit 5000 rotates. In a specific implementation, the folding rotation axes of adjacent drive units 5000 are located on opposite sides of the central axis of the main body 2100, and the folding rotation axes are close to the positions near the ends of each folding portion. After folding, a compact stacking arrangement can be achieved without requiring a large space. Of course, it is understandable that any rotation angle can be formed between the first folding portion 2200 and the third folding portion 2400 , and between the third folding portion 2400 and the second folding portion 2300 .

[0085] Among them, there can be multiple third folding sections 2400, and the multiple third folding sections 2400 are arranged in sequence. The third folding section 2400 located at one end is connected to the first folding section 2200, and the third folding section 2400 located at the other end is connected to the second folding section 2300. The other third folding sections 2400 are connected in sequence, and two adjacent third folding sections 2400 can be folded.

[0086] This technical solution adopts the first folding part 2200 to connect the main body 2100, the main body 2100 is connected to the head structure 1000, and the second folding part 2300 is connected to the walking structure 3000. The first folding part 2200, the third folding part 2400, and the second folding part 2300 are arranged in sequence, and the driving unit 5000 is used to drive the three to rotate around the folding rotation axis to achieve folding. In the folded state, the three are stacked in sequence, and the folding rotation axes of adjacent driving units 5000 are staggered on opposite sides of the central axis of the main body 2100. In this way, when folding, the folding rotation axes between the first folding part 2200 and the adjacent third folding part 2400, between the two adjacent third folding parts 2400, and between the third folding part 2400 and the second folding part 2300 will not interfere with the stacking and occupy the folding space, so that tight folding can be achieved and the space occupied is small, so that the robot can be deployed and operated in a space-constrained environment.

[0087] In one embodiment, the driving unit 5000 includes a power member 5100 and a transmission assembly 5200 . The transmission assembly 5200 includes a worm 5210 and a bevel gear 5220 that mesh with each other. The power member 5100 is connected to the worm 5210 and drives the worm 5210 to rotate.

[0088] In a specific implementation, the power element 5100 can be a motor or cylinder, which drives the worm 5210 to rotate. The rotation of the worm 5210 causes the helical gear 5220 to rotate. The helical gear 5220 is fixedly connected to the folding rotation axis, which in turn drives the folding rotation axis to rotate, thereby achieving folding. The folding drive axis is located in one folding section, and the power element 5100 is located in the adjacent folding section. The power element 5100 is used to provide the driving force for folding.

[0089] In addition, the driving unit 5000 further includes a deceleration assembly 5300, which can reduce the high-speed rotation of the power member 5100 to a suitable rotation speed of the first folding part 2200, the second folding part 2300 and the third folding part 2400, and increase the output torque accordingly, so that the components have sufficient power to complete the corresponding actions. Figure 20As shown, reduction assembly 5300 employs a planetary reduction structure. Specifically, the planetary reduction structure includes a first planetary disc 5310, a second planetary disc 5320, three first planetary gears (not shown), three second planetary gears (not shown), a first sun gear (not shown), and a second sun gear (not shown). First planetary disc 5310 is provided with a first output rod and three first input rods on either side, respectively. Second planetary disc 5320 is provided with three second input rods. Each first planetary gear is mounted on a first input rod, and each second planetary gear is mounted on a second input rod. The first sun gear is mounted on the output shaft of the motor and meshes with the three first planetary gears. The second sun gear is mounted on the first output rod and meshes with the three second planetary gears. Transmission assembly 5200 is inserted into second planetary disc 5320. The meshing of the first sun gear with the three first planetary gears, and the meshing of the second sun gear with the three second planetary gears, achieves a two-stage reduction. This multi-stage reduction structure can achieve a large reduction ratio within a small volume, thereby reducing the high-speed rotation of the motor to a lower speed suitable for the movement of the corresponding components, while significantly increasing the output torque. In addition, the planetary reduction structure also includes a protective shell 5330, which is connected to the outer shell of the motor. The first planetary disk 5310, the second planetary disk 5320, the three first planetary gears, the three second planetary gears, the first sun gear, and the second sun gear are all located within the protective shell 5330. The motor is connected to the worm 5210 and drives the worm 5210 to rotate. The rotation of the worm 5210 drives the helical gear 5220 to rotate. The helical gear 5220 is used to output the driving force driven by the drive unit 5000.

[0090] refer to Figure 3 and Figure 4 As shown, in one embodiment, the first folding part 2200 includes a first drive shaft 2210 and a first connecting frame 2220. The folding rotation axis of the first folding part 2200 is configured as the first drive shaft 2210. The first drive shaft 2210 is fixedly connected to the corresponding bevel gear 5220 and the first connecting frame 2220 respectively. The first connecting frame 2220 is used to connect the main body 2100. The power part 5100 of the first folding part 2200 is fixedly arranged on the third folding part 2400.

[0091] In this embodiment, the folding rotation axis of the driving unit 5000 of the first folding part 2200 is configured as the first driving shaft 2210, the bevel gear 5220 is fixedly sleeved on the first driving shaft 2210, the first connecting frame 2220 is connected to the main body 2100 at one end away from the first driving shaft 2210, and the driving unit 5000 of the first folding part 2200 is fixed to the third folding part 2400. In this way, the driving unit 5000 drives the first driving shaft 2210 to rotate, which can drive the first connecting frame 2220 to rotate, thereby realizing folding.

[0092] In one embodiment, the first connecting frame 2220 is provided with a first connecting ear 2221, and the first drive shaft 2210 is provided with a first connecting plate 2211, which is fixedly connected to the first connecting ear 2221. The first connecting plate 2211 is provided near one side of the first connecting frame 2220, and there are two first connecting ears 2221. The two ends of the first drive shaft 2210 are respectively fixedly connected to the corresponding first connecting ears 2221, such as by bolts, so that the first drive shaft 2210 is located on one side of the central axis.

[0093] In one embodiment, the first folding portion 2200 further includes a first shell 2230, which is provided with a first cavity. The transmission assembly 5200 of the first folding portion 2200 is provided in the first cavity. The third folding portion 2400 is provided with a third avoidance space. The power member 5100 of the first folding portion 2200 is provided in the third avoidance space. In a specific implementation process, the first shell 2230 is used to wrap the transmission assembly 5200 of the drive unit 5000 to ensure effective transmission. The first shell 2230 is fixedly connected to the third folding portion 2400. A third avoidance space is opened in the middle of the third folding portion 2400 to accommodate the first power member 5100 of the first folding portion 2200, thereby reducing the overall occupied space. It can be understood that among the multiple third folding portions 2400, the power member 5100 of one folding portion is located in the third avoidance space of the adjacent folding portion.

[0094] In one embodiment, the second folding portion 2300 includes a second drive shaft 2310 and a second connecting frame 2320. The folding rotation axis of the second folding portion 2300 is configured as the second drive shaft 2310. The second drive shaft 2310 is fixedly connected to the corresponding bevel gear 5220 and the second connecting frame 2320 respectively. The second connecting frame 2320 is connected to the third folding portion 2400. The power part 5100 of the second folding portion 2300 is fixedly arranged on the walking structure 3000.

[0095] In this embodiment, the folding rotation axis of the driving unit 5000 of the second folding part 2300 is configured as the second driving shaft 2310, the bevel gear 5220 is fixedly sleeved on the second driving shaft 2310, and the second connecting frame 2320 is connected to the walking structure 3000 at one end away from the second driving shaft 2310. The driving unit 5000 of the second folding part 2300 is fixed to the walking structure 3000. In this way, the driving unit 5000 drives the second driving shaft 2310 to rotate, which can drive the second connecting frame 2320 to rotate, thereby realizing folding relative to the walking structure 3000.

[0096] In one embodiment, the second connecting frame 2320 is provided with a second connecting ear 2321, and the second drive shaft 2310 is provided with a second connecting plate 2311, which is fixedly connected to the second connecting ear 2321. The second connecting ear 2321 is provided near one side of the second connecting frame 2320. There are two second connecting ears 2321, and both ends of the second drive shaft 2310 are fixedly connected to the corresponding first connecting ears 2221, such as by bolts.

[0097] The second folding part 2300 also includes a second shell 2330, the second shell 2330 is provided with a second cavity, the transmission assembly 5200 of the second folding part 2300 is arranged in the second cavity, the walking structure 3000 includes a mounting frame 3500, the mounting frame 3500 is provided with a second avoidance space, and the power part 5100 of the second folding part 2300 is arranged in the second avoidance space.

[0098] In a specific implementation, the second housing 2330 is used to enclose the transmission assembly 5200 of the drive unit 5000 to ensure effective transmission. The second housing 2330 is fixedly connected to the walking structure 3000. The walking structure 3000 has a mounting frame 3500, which is used to fix the power member 5100 of the second folding portion 2300. The mounting frame 3500 defines a second avoidance space to accommodate the second power member 5100 of the second folding portion 2300, thereby enabling the second folding portion 2300 to be folded into the walking structure 3000 to reduce the overall occupied space.

[0099] In one embodiment, the third folding portion 2400 includes a third drive shaft 2410 and a third connecting frame 46102420. The folding rotation axis of the third folding portion 2400 is configured as the third drive shaft 2410. The third drive shaft 2410 is fixedly connected to the corresponding bevel gear 5220 and the third connecting frame 46102420, respectively. The third connecting frame 46102420 is used to connect the first drive portion 1300 or the adjacent third folding portion 2400. The power part 5100 of the third folding portion 2400 is fixedly arranged on the second folding portion 2300 or the adjacent third folding portion 2400.

[0100] In this embodiment, the folding rotation axis of the driving unit 5000 of the third folding portion 2400 is configured as the third driving shaft 2410, the bevel gear 5220 is fixedly sleeved on the third driving shaft 2410, and the end of the third connecting frame 46102420 away from the third driving shaft 2410 is connected to the driving unit 5000 of the first folding portion 2200. The driving unit 5000 of the third folding portion 2400 is fixed to the second folding portion 2300. In this way, the driving unit 5000 drives the third driving shaft 2410 to rotate, which can drive the third connecting frame 46102420 to rotate, thereby achieving folding. Of course, it can be understood that the third folding portion 2400 here refers to the one used to connect to the second folding portion 2300.

[0101] In one embodiment, the third connecting frame 4610 2420 is provided with a third connecting ear 2421, and the third drive shaft 2410 is provided with a third connecting plate 2411, which is fixedly connected to the third connecting ear 2421. The third connecting plate 2411 is provided near one side of the third connecting frame 4610 2420. There are two third connecting ears 2421, and both ends of the third drive shaft 2410 are fixedly connected to corresponding third connecting ears 2421, such as by bolts, thereby positioning the third drive shaft 2410 on one side of the central axis.

[0102] The third folding part 2400 also includes a third shell 2430, the third shell 2430 is provided with a third cavity, the transmission assembly 5200 of the third folding part 2400 is arranged in the third cavity, the second folding part 2300 is provided with a first avoidance space, and the power part 5100 of the third folding part 2400 is arranged in the second avoidance space or the third avoidance space of the adjacent third folding part 2400.

[0103] In a specific implementation, the third housing 2430 is used to enclose the transmission assembly 5200 of the drive unit 5000 to ensure effective transmission. The third housing 2430 is fixedly connected to the second folding portion 2300. A second avoidance space is provided in the middle of the second folding portion 2300 to accommodate the third power member 5100 of the third folding portion 2400, thereby reducing the overall occupied space.

[0104] In one embodiment, the trunk structure 2000 further includes a rotating portion 2500 , which is fixed to the first folding portion 2200 , and the rotating portion 2500 also drives the main portion 2100 to rotate.

[0105] In a specific implementation, the rotating portion 2500 uses a harmonic motor or other rotating motor, which is not limited in this embodiment, and can drive the main body 2100 to rotate along its own axis. The harmonic motor is fixed to one end of the first folding portion 2200, connected to the main body 2100, and drives the main body 2100 to rotate along its axis. The extension direction of this axis is consistent with the extension direction of the trunk structure 2000 in the extended state. In this way, the main body 2100 can be driven to rotate and increase the degree of freedom of the trunk structure 2000. Furthermore, the main body 2100 is used to externally connect the joint structure 1000, and the third folding portion 2400 is used to externally connect the walking structure 3000.

[0106] In one embodiment, the head structure 1000 includes:

[0107] The main body 1100 is provided with a camera unit for exchanging external information;

[0108] The first bracket 1200, the main body 1100 is disposed on the first bracket 1200 and is rotatably connected to the first bracket 1200;

[0109] The first driving unit 1300 is provided on the first bracket 1200 and is drivingly connected to the main body 1100 to drive the main body 1100 to rotate around the first axis;

[0110] The second bracket 1400 is connected to the main body 2100, and the first bracket 1200 is also provided on the second bracket 1400;

[0111] The second driving unit 1500 is provided on the second bracket 1400 , and the second driving unit 1500 is drivingly connected to the first bracket 1200 and drives the first bracket 1200 to rotate around the second axis; and

[0112] The third driving unit 1600 is provided on the second bracket 1400 and is used to drive the second bracket 1400 to rotate around the third axis. The third driving unit 1600 is also connected to the main body 2100. The first axis and the third axis are parallel and perpendicular to the second axis.

[0113] It should be noted that the head structure 1000 proposed in this embodiment is rotatably mounted on the upper portion of the trunk. Specifically, the top of the trunk is U-shaped, and the two sides of the head structure 1000 are rotatably connected to the trunk. The drive unit provides support for the head structure 1000. In this embodiment, a camera unit is provided within the main body 1100 for exchanging information with the outside world, such as through video or scanning recognition, to achieve the corresponding functions of the robot. This will not be described in detail here.

[0114] In a specific implementation process, the first driving unit 1300 and the main body 1100 are respectively installed on the first bracket 1200, and the first driving unit 1300 drives the main body 1100 to rotate around the first axis and relative to the first bracket 1200, wherein the first rotating shaft 3430 extends in the horizontal direction, and the main body 1100 can scan up and down; the second driving unit 1500 and the first bracket 1200 are respectively installed on the second bracket 1400, and the second driving unit 1500 drives the first bracket 1200 to rotate around the second axis and relative to the second bracket 1400, wherein the second rotating shaft 3430 extends in the horizontal direction, and the main body 1100 can scan up and down; Extending in the vertical direction, the main body 1100 can scan left and right; the second bracket 1400 is connected to the torso, and the third driving unit 1600 is fixed on the second bracket 1400 and fixedly connected to the torso. The third driving unit 1600 drives the second bracket 1400 to rotate along the third axis. The third axis is parallel to the second axis and is located below the second axis. In this way, the rotation of the second bracket 1400 can drive the second bracket 1400 and the main body 1100 to rotate around the third axis, and then the position of the main body 1100 can be adjusted to increase the field of view coverage of the main body 1100 scanning up and down.

[0115] This technical solution adopts the method of providing a camera unit in the main body 1100 for exchanging information with the outside world. The main body 1100 is mounted on a first bracket 1200, and a first driving unit 1300 drives the main body 1100 to rotate about a first axis. The first bracket 1200 is mounted on a second bracket 1400, wherein a second driving unit 1500 is fixed to the second bracket 1400 and drives the first bracket 1200 to drive the first bracket 1200 to rotate along a second axis, with the first axis being perpendicular to the second axis. In this way, the main body 1100 can rotate about the first axis and the second axis respectively, such as achieving pitch and left and right rotation of the main body 1100. Furthermore, a third driving unit 1600 is provided on the second bracket 1400, and the second bracket 1400 is also connected to the torso. The second driving unit 1500 is also connected to the torso and drives the second bracket 1400 to rotate around the third rotation axis 3430, wherein the third rotation axis 3430 is parallel to the first rotation axis 3430. The rotation of the second bracket 1400 simultaneously drives the main body 1100 and the first bracket 1200 to rotate, thereby moving the position of the main body 1100, thereby improving the observation angle of the camera unit, making the viewing angle coverage of the head structure 1000 wider, and improving the applicability of the robot to complex environments.

[0116] Furthermore, the first drive unit 1300, the second drive unit 1500, and the third drive unit 1600 all include a drive unit 5000, which is used to provide rotational driving force. In this embodiment, the drive unit 5000 includes a motor, a reduction assembly 5300, and a transmission assembly 5200. Specifically, the reduction assembly 5300 can reduce the high-speed rotation of the motor to a speed suitable for the main body 1100, the first bracket 1200, and the second bracket 1400, while correspondingly increasing the output torque, so that the components have sufficient power to complete the corresponding action.

[0117] refer to Figure 10 As shown, in one embodiment, the first driving part 1300 also includes a first shell 1310 and a first driving shaft 1320. The first shell 1310 is fixedly connected to the first bracket 1200. The corresponding driving unit 5000 is arranged in the first shell 1310 and is connected to the first driving shaft 1320. The main body 1100 is connected to the driving disk 1110, and one end of the first driving shaft 1320 extends out of the first shell 1310 and is connected to the driving disk 1110.

[0118] In this embodiment, the first housing 1310 is secured to the first bracket 1200 via screws. The bevel gear 5220 of the drive unit 5000 of the first drive unit 1300 is fixedly connected to the first drive shaft 1320. Rotation of the bevel gear 5220 drives the first drive shaft 1320, which is rotatably connected to the first housing 1310 via a bearing. Furthermore, both ends of the first drive shaft 1320 extend out of the first housing 1310. One end is secured by a first locking bolt 1330, while the other end is fixedly connected to the drive disk 1110 to drive the drive disk 1110 for rotation. It will be appreciated that a connecting shaft extends from the drive disk 1110, passes through the first bracket 1200, and is connected to the first drive shaft 1320, such as via a coupling structure. The outer peripheral wall of the connecting shaft is also movably or rotatably connected to the first bracket 1200. The drive disk 1110 is fixedly connected to the main body 1100 via screws or other connecting members.

[0119] refer to Figure 8 As shown, further, a driving disk 1110 is connected to both sides of the main body 1100, and the first bracket 1200 includes a first connecting part 1210 and a second connecting part 1220. There are two first connecting parts 1210, which are respectively rotatably connected to the corresponding driving disk 1110, and the second connecting part 1220 is connected to the second driving part 1500.

[0120] To ensure balanced rotation of the main body 1100, in this embodiment, drive disks 1110 are fixed to opposite sides of the main body 1100. Accordingly, the two first connecting portions 1210 of the first bracket 1200 are rotatably connected to the corresponding drive disks 1110. It is understood that the first bracket 1200 has a U-shaped or V-shaped structure, with the two first connecting portions 1210 disposed opposite each other. The second connecting portion 1220 is located below the first connecting portion 1210 and is configured to cooperate with the second bracket 1400 and connect to the second drive portion 1500.

[0121] refer to Figure 8 As shown, in one embodiment, the second driving part 1500 includes a second shell 1510 and a second driving shaft 1520, the second shell 1510 is fixedly connected to the second bracket 1400, the corresponding driving unit 5000 belongs to the inside of the second shell 1510 and is connected to the second driving shaft 1520, and one end of the second driving shaft 1520 passes through the second bracket 1400 and is connected to the first bracket 1200.

[0122] Specifically, the drive unit 5000 of the second drive unit 1500 is fixed within the second housing 1510. The bevel gear 5220 of the drive unit 5000 is fixedly connected to the second drive shaft 1520. One end of the second drive shaft 1520 extends out of the second housing 1510 and further passes through the second bracket 1400 to connect to the first bracket 1200. In this way, the bevel gear 5220 of the drive unit 5000 rotates, driving the second drive shaft 1520 to rotate and driving the first bracket 1200 to rotate. In a specific implementation, the first bracket 1200 rotates about the second axis, which coincides with the axis of the second drive shaft 1520, so that the main body 1100 can rotate left and right to achieve scanning in different field of view directions. It can be understood that the second connecting portion 1220 of the first bracket 1200 is connected to the second drive unit 1500, and the second housing 1510 is fixed to the second bracket 1400 by screws.

[0123] Furthermore, the second bracket 1400 is provided with a connecting channel, and the second drive shaft 1520 is plugged into the connecting channel. The second drive part 1500 also includes a second locking bolt 1530, one end of which passes through the second bracket 1400 and is locked and connected to the second drive shaft 1520.

[0124] In this embodiment, the second drive shaft 1520 is inserted into the connecting channel, and the second bracket 1400 also has a connecting hole connected to the connecting channel. The second locking bolt 1530 extends from the side of the first bracket 1200 away from the second bracket 1400 through the connecting hole into the connecting channel and locks the second drive shaft 1520, thereby realizing the driving connection between the second drive shaft 1520 and the first bracket 1200 and driving the first bracket 1200 to rotate.

[0125] refer to Figure 9 As shown, in one embodiment, the third driving part 1600 includes a third shell 1610 and a third driving shaft 1620. The third shell 1610 is fixedly connected to the second bracket 1400. The corresponding driving unit 5000 is provided inside the third shell 1610 and is connected to the third driving shaft 1620. One end of the third driving shaft 1620 is rotatably connected to the second bracket 1400, and the other end is fixed to the external torso.

[0126] In this embodiment, it should be noted that the second bracket 1400 can be a U-shaped or V-shaped structure, and includes a third connecting part 1410 and a fourth connecting part 1420, wherein two third connecting parts 1410 are provided and are respectively connected to the torso, and the fourth connecting part 31420 is used to install and fix the second driving part 1500. The third housing 1610 is secured to the second bracket 1400 via screws, specifically located on one of the third connecting portions 1410. A third drive shaft 1620 is fixedly connected to the trunk and rotates relative to the second bracket 1400. This causes the worm gear of the drive unit 5000 of the second drive unit 1500 to rotate, and the helical gear 5220, which meshes with the worm gear, is fixedly connected to the third drive shaft 1620. The third drive shaft 1620 rotates relative to the second bracket 1400, and the third housing 1610 is fixedly connected to the second bracket 1400. This causes the worm gear 5210 to rotate about the helical gear 5220, thereby driving the second housing 1510 to rotate about the third drive shaft 1620, thereby driving the second bracket 1400 to rotate. The third axis coincides with the axis of the third drive shaft 1620, is parallel to the first axis, and is located below the first axis. Rotating the second bracket 1400 thus causes the first bracket 1200 and the main body 1100 to flip, adjusting the position of the main body 1100 and increasing the field of view. Another third connection portion 1410 is rotatably connected to the trunk via the rotating shaft 3430, thereby enabling the second bracket 1400 to rotate relative to the trunk.

[0127] In one embodiment, one end of the third drive shaft 1620 is connected to a fixed block 1630, and the fixed block 1630 is fixedly embedded in the torso. The fixed block 1630 and the third drive shaft 1620 cooperate with each other through matching limit grooves and limit blocks to limit the rotation of the third drive shaft 1620. The third drive shaft 1620 is also locked and fixed to the torso.

[0128] The third drive shaft 1620 is fixed relative to the trunk by a fixing block 1630. In a specific implementation, the trunk has a groove adapted for the fixing block 1630, and the fixing block 1630 is embedded in the groove. The fixing block 1630 is elongated, and the connection with the third drive shaft 1620 is offset from the center to limit the rotation of the third drive shaft 1620. In this embodiment, a limiting groove is defined at one end surface of the third drive shaft 1620, and limiting blocks are formed at other locations. Correspondingly, limiting blocks are provided on one side of the fixing block 1630, forming a limiting groove between the limiting blocks. The limiting block of the third drive shaft 1620 is inserted into the limiting groove of the fixing block 1630, and the limiting block of the fixing block 1630 is adapted to be inserted into the limiting groove of the third drive shaft 1620, thereby connecting the third drive shaft 1620 to the fixing block 1630 and limiting the rotation of the third limiting shaft.

[0129] In one embodiment, fixing block 1630 includes a limiting portion 1631 and a fixing portion 1632 arranged in parallel. Fixing portion 1632 is connected to third drive shaft 1620. Third drive unit 1600 also includes a third locking bolt 1640. One end of third locking bolt 1640 passes through the trunk and fixing portion 1632 and is locked to third drive shaft 1620. In a specific implementation, limiting portion 1631 and fixing portion 1632 are located on either side of the center of fixing block 1630. Third locking bolt 1640 passes through the trunk and fixing portion 1632 and is locked to third drive shaft 1620, thereby improving the strength and effectiveness of the connection between third drive shaft 1620 and the trunk.

[0130] In one embodiment, the robotic arm 4000 includes:

[0131] The first joint assembly 4100, the second joint assembly 4200, the third joint assembly 4300 and the wrist joint assembly 4600, the first joint assembly 4100 is fixed to the torso; the second joint assembly 4200 includes a second drive module 4210 and a second transmission module 4220, the second drive module 4210 is drive-connected to the second transmission module 4220, the first joint assembly 4100 is drive-connected to the second transmission module 4220 to drive the second joint assembly 4200 to rotate along the first center axis; the third joint assembly 4300 includes a first sleeve 4310 and a third drive module 4320, the second drive module 4210 and the third drive module 4320 are fixed inside the first sleeve 4310 to drive the third joint assembly 4300 to rotate along the second center axis; the wrist joint assembly 4600, the third joint assembly 4300 is drive-connected to the wrist joint assembly 4600 to drive the wrist joint assembly 4600 to rotate.

[0132] In the technical solution of the present invention, the first joint assembly 4100 is installed on the torso to connect the torso and the second joint assembly 4200, and the first joint assembly 4100, the second joint assembly 4200, the third joint assembly 4300 and the wrist joint assembly 4600 are connected in sequence, so that the wrist assembly forms a rotation with multiple rotational degrees of freedom, which facilitates the wrist assembly to achieve a variety of postures. In addition, since the output end of the second drive module 4210 is connected to the first joint assembly 4100, the first joint assembly 4100 drives the second drive module 4210 to rotate along the first central axis, and the fixed end of the second drive module 4210 is connected to the third drive module 4300. The fixed end of 20 is arranged in the first sleeve 4310. Since the fixed end of the second drive module 4210 can rotate along the second center axis compared to the second transmission module 4220, it also drives the third joint assembly 4300 to rotate along the second center axis. At the same time, it also reduces the space occupied by the connection between the second joint assembly 4200 and the third joint assembly 4300, reduces the volume of the robot arm 4000 along the longitudinal arrangement, and facilitates the lightweight structure. Due to the setting of the first sleeve 4310, the second drive module 4210 and the third drive module 4320 are covered, which can also prevent the robot arm 4000 from being damaged during the activity and extend its service life.

[0133] Please refer to Figure 15 In an embodiment of the present invention, the first joint assembly 4100 includes a first housing 4110 , a first driving module 4120 , a first worm 4130 and a first worm gear 4140 ;

[0134] The first housing 4110 is fixed to the trunk. The first housing 4110 has a first mounting cavity and a first input port and a first output port communicating with the first mounting cavity. The first worm 4130 and the first worm wheel 4140 are disposed inside the first mounting cavity.

[0135] The first drive module 4120 is arranged on the outside of the first shell 4110, and the output end of the first drive module 4120 extends from the first input port into the first installation cavity and is driven and connected to the first worm 4130 in the first installation cavity. The first worm 4130 is engaged with the first worm gear 4140 so that the first worm gear 4140 rotates around the first center axis. The output shaft of the first worm gear 4140 is connected to the second joint assembly 4200 from the first output port to drive the second joint assembly 4200 to rotate along the first center axis.

[0136] Specifically, a first installation cavity is formed in the first housing 4110, and the interior of the first installation cavity has a meshing first worm wheel 4140 and a first worm 4130, and the first housing 4110 has a first input port, so that the output shaft of the first driving module 4120 passes through the first input port and is coaxially connected to the first worm 4130. When the first driving module 4120 drives the first worm 4130 to rotate, the first worm 4130 drives the first worm wheel 4140 to rotate. The first worm wheel 4140 has two ends along its axis, one of which corresponds to the first output port, and the other end corresponds to the first housing 4110 fixed to one side of the trunk by screws to connect the trunk and the first The joint assembly 4100 and the first worm gear 4140 are coaxially provided with a connecting seat at one end facing the first output port, so that the connecting seat rotates together with the first worm gear 4140, and the second joint assembly 4200 is installed on the connecting seat, and the axis of the first worm gear 4140 is the first center axis, that is, the rotation of the first worm gear 4140 drives the connecting seat and the second joint assembly 4200 to rotate along the first center axis. Since the first shell 4110 is fixed on the torso, and the length of the robotic arm 4000 is from the torso toward the wrist assembly, the first drive module 4120 is arranged outside the first shell 4110, which reduces the longitudinal length of the robotic arm 4000 and thereby reduces the occupied space.

[0137] In one embodiment, the first drive module 4120 uses a servo motor and a reducer. The servo motor is connected to the reducer through a flange. The servo motor transmits power to the reducer. The output shaft of the reducer is coaxially connected to the first worm 4130 to convert the power of the servo motor into rotation of the first worm 4130, thereby causing the first worm wheel 4140 to rotate.

[0138] In one embodiment, the first drive module 4120 is installed on one end of the first input port of the first housing 4110 through the motor plate seat, and the output shaft of the first drive module 4120 passes through the motor plate seat and the first input port to enter the first installation cavity and is connected to the first worm 4130 for transmission. The two ends of the first worm 4130 are connected to the interior of the first installation cavity through ball bearings, and a bearing sleeve is provided on the outer periphery of the first worm 4130. A through hole is provided on the side of the bearing sleeve close to the first worm gear 4140 to facilitate the engagement of the first worm 4130 with the first worm gear 4140. An oil seal is provided between the first worm gear 4140 and the inner wall of the first installation cavity to improve the sealing of the interior of the first installation cavity and avoid affecting the transmission of the first worm gear 4140.

[0139] In the embodiment of the present invention, the second joint assembly 4200 includes a first support frame 4230 and a second housing 4240 , and the second transmission module 4220 includes a second worm 4221 and a second worm wheel 4222 ;

[0140] The first support frame 4230 is fixedly connected to the output end of the first worm gear 4140 , and the first support frame 4230 is provided with a first movable cavity;

[0141] The second shell 4240 is arranged in the first active cavity, and the second shell 4240 has a first chamber and a second chamber connected to the first chamber. The second worm gear 4222 is arranged in the first chamber and is rotatably connected to the inner wall of the first chamber, and both ends of the second worm gear 4222 are fixedly connected to the first support frame 4230. The second worm 4221 is arranged in the second chamber and is rotatably connected to the second chamber. The second worm 4221 is engaged with the second worm gear 4222. The second chamber is provided with a second input port. The second drive module 4210 is arranged outside the second shell 4240, and the output end of the second drive module 4210 extends into the second input port and is drive-connected to the second worm 4221. The second drive module 4210 drives the second worm 4221 to rotate, so that the second worm 4221, the second shell 4240, the second drive module 4210 and the first sleeve 4310 rotate along the axis of the second worm gear 4222.

[0142] like Figure 19 As shown, specifically, the first support frame 4230 is fixedly mounted on the connecting seat. As the connecting seat rotates along the first central axis, a second shell 4240 is rotatably arranged on the first support frame 4230, and the axis of rotation of the second shell 4240 is the second central axis. A second worm gear 4222 and a second worm 4221 are arranged in the second shell 4240. The two ends of the axis of the second worm gear 4222 are the length direction of the second central axis, and the two ends of the second worm gear 4222 are fixed in the second support frame. When the second driving module 4210 drives the second worm 4221 to rotate, because the second worm gear 4222 is fixed, the second worm 4221 and the second driving module 4210 rotate around the outer periphery of the second worm gear 4222. Since the fixed end of the second driving module 4210 is arranged in the first sleeve 4310, the second worm 4221, the second driving module 4210, the first sleeve 4310 and the third driving module 4320 are driven to rotate along the third central axis.

[0143] Please refer to Figure 16 and Figure 19In one embodiment, the first support frame 4230 includes a first mounting plate 4231, a second mounting plate 4232 and a third mounting plate 4233. The first mounting plate 4231 is fixedly connected to the output end of the second worm gear 4222. The second mounting plate 4232 and the third mounting plate 4233 are installed on the side of the first mounting plate 4231 away from the second worm gear 4222, and the second mounting plate 4232 and the third mounting plate 4233 are arranged opposite to each other. A mounting hole is respectively provided on the second mounting plate 4232 and the third mounting plate 4233. The second worm gear 4222 is arranged between the second mounting plate 4232 and the third mounting plate 4233, and both ends are fixedly connected to the second mounting plate 4232 and the third mounting plate 4233 respectively.

[0144] Please refer to Figure 15 and Figure 19 In one embodiment, the second housing 4240 is arranged between the second mounting plate 4232 and the third mounting plate 4233. The second housing 4240 has a first chamber and a second chamber connected to the first chamber. The two ends of the first chamber correspond to the second mounting plate 4232 and the third mounting plate 4233 respectively. The second worm gear 4222 is arranged in the first chamber and is rotatably connected to the inner wall of the first chamber. The second worm 4221 is arranged in the second chamber and is rotatably connected to the second chamber. The second worm 4221 is engaged with the second worm gear 4222. The second chamber is provided with a second input port. The second driving module 4210 is arranged outside the second housing 4240, and the output end of the second driving module 4210 extends into the second input port and is drivingly connected to the second worm 4221. The second driving module 4210 drives the second worm 4221 to rotate, so that the second worm 4221, the second housing 4240 and the second driving module 4210 rotate along the axis of the second worm gear 4222.

[0145] In an embodiment of the present invention, the third driving module 4320 is fixedly disposed inside the first sleeve 4310 at one end away from the second driving module 4210 , and the third driving module 4320 adopts a harmonic motor.

[0146] Specifically, the fixed end of the third drive module 4320 and the second drive module 4210 are arranged in the first sleeve 4310, which can reduce the space occupied in the longitudinal direction, and the first sleeve 4310 can provide certain protection for the second drive module 4210 and the third drive module 4320. The output end direction of the third drive module 4320 is consistent with the axial direction of the first sleeve 4310. The output end of the third drive module 4320 passes through the first sleeve 4310 to connect to the wrist joint assembly 4600. The third drive module 4320 adopts a harmonic motor to drive the wrist joint assembly 4600 to rotate. The harmonic motor has a small moment of inertia and high transmission efficiency, and is suitable for refined movements. The wrist joint assembly 4600 is driven to rotate by the harmonic motor, and the structure is compact. Under the same reduction ratio, the volume is small, which is conducive to improving the dynamic performance of the system.

[0147] Please refer to Figure 15 In an embodiment of the present invention, the robotic arm 4000 also includes a fourth joint assembly 4400, and the third drive module 4320 is driven and connected to the fourth joint assembly 4400 to drive the fourth joint assembly 4400 to rotate along the third center axis. The fourth joint assembly 4400 includes a fourth drive module 4410 and a fourth transmission module 4420. The fourth drive module 4410 is connected to the wrist joint assembly 4600 through the fourth transmission module 4420 to drive the wrist joint assembly 4600 to rotate along the fourth center axis.

[0148] Specifically, the fourth joint assembly 4400 is arranged between the third joint assembly 4300 and the wrist joint assembly 4600, and is connected to the fourth joint assembly 4400 through the output end of the third driving module 4320, driving the fourth joint assembly 4400 to rotate along the third center axis. The fourth joint assembly 4400 drives the wrist joint assembly 4600 to rotate along the fourth center axis, so that the entire robotic arm 4000 adds one degree of freedom of rotation, making the posture more flexible.

[0149] Please refer to Figure 15 and Figure 16 In one embodiment, the fourth joint assembly 4400 has the same structure as the second joint assembly 4200. Specifically, the fourth joint assembly 4400 includes a second support frame and a third housing, and the fourth transmission module 4420 includes a third worm 5210 and a third worm gear. The second support frame is fixedly connected to the output end of the third drive module 4320, and the second support frame has a second movable cavity.

[0150] The third shell is arranged in the second movable cavity, and the third shell has a third chamber and a fourth chamber connected to the third chamber. The third worm gear is arranged in the third chamber and is rotatably connected to the inner wall of the third chamber, and both ends of the third worm gear are fixedly connected to the second support frame. The third worm 5210 is arranged in the fourth chamber and is rotatably connected to the fourth chamber. The third worm 5210 is engaged with the third worm gear. The fourth chamber is provided with a fourth input port. The fourth drive module 4410 is arranged outside the third shell, and the output end of the fourth drive module 4410 extends into the inside of the fourth input port and is drive-connected to the third worm 5210. The fourth drive module 4410 drives the third worm 5210 to rotate, so that the third worm 5210, the third shell, the fourth drive module 4410 and the second sleeve 4510 rotate along the axis of the third worm gear.

[0151] like Figure 15 As shown, in an embodiment of the present invention, the robotic arm 4000 also includes a fifth joint assembly 4500, the fifth joint assembly 4500 includes a fifth drive module 4520 and a second sleeve 4510, the output end of the fourth drive module 4410 is connected to the third joint assembly 4300, the fixed end of the fourth drive module 4410 and the fifth drive module 4520 are arranged at both ends in the second sleeve 4510 to drive the fifth drive module 4520 to rotate along the fourth center axis, the fifth drive module 4520 adopts a harmonic motor, and the output end of the fifth drive module 4520 is driven and connected to the wrist joint assembly 4600 to drive the wrist joint assembly 4600 to rotate around the fifth center axis.

[0152] Specifically, the structure of the fifth joint assembly 4500 is the same as that of the third joint assembly 4300. The fifth joint assembly 4500 includes a second sleeve 4510 and a fifth drive module 4520. The fixed ends of the fifth drive module 4520 and the fourth drive module 4410 are both arranged in the second sleeve 4510. Since the fourth transmission module 4420 is arranged at the output end of the third joint assembly 4300, it can drive the fourth transmission module 4420 and the fourth drive module 4410 to rotate along the third central axis. Compared with the fourth transmission module 4420, 410 can realize rotation along the fourth center axis, thereby driving the second sleeve 4510 and the fifth drive module 4520 to rotate along the fourth center axis, and the fourth drive module 4410 and the fifth drive module 4520 are arranged in the second sleeve 4510, reducing the longitudinal space occupied by the robot arm 4000, and cooperating with the fifth drive module 4520 to drive the wrist joint assembly 4600, so that the wrist joint assembly 4600 increases the degree of freedom of rotation along the fifth center axis, which is convenient for the realization of a variety of different postures.

[0153] Please refer to Figure 16In an embodiment of the present invention, the first sleeve 4310 is provided with a plurality of through holes 4311. The setting of the first sleeve 4310 and the second sleeve 4510 can be used to include a second drive module 4210 and a fourth drive module 4410. In order to improve the protection strength, the first sleeve 4310 can be made of aluminum alloy. The aluminum alloy material has good wear resistance and impact resistance, can withstand the torque and inertia force generated during the rotation process, and can reduce the weight of the joint assembly and improve the operating efficiency. The material of the first sleeve 4310 is not limited here. A plurality of through holes 4311 are arranged at intervals on the first sleeve 4310. The setting of the through holes 4311 can make the entire robotic arm 4000 lightweight.

[0154] In one embodiment, the second sleeve 4510 may have the same structure as the first sleeve 4310 and will not be described in detail herein.

[0155] In one embodiment, the cross-sectional shape of through hole 4311 is triangular. This triangular mounting hole not only reduces the weight of the housing, ensuring a lightweight joint assembly, but also provides a more stable structure. In other embodiments, the cross-sectional shape of the mounting hole can also be an irregular shape such as a rectangle, square, circle, or line, which is not limited here.

[0156] In an embodiment of the present invention, the wrist joint assembly 4600 includes a connecting frame 4610, a sixth driving module 4620 and a mounting base 4630. The mounting base 4630 is used to install the dexterous hand. The connecting frame 4610 is installed at the output end of the fifth driving module 4520. Two sixth driving modules 4620 are provided and are respectively arranged on both sides of the connecting frame 4610. The other end of the connecting frame 4610 is driven and connected to the mounting base 4630 to drive the mounting base 4630 and the dexterous hand to move closer to or away from the connecting frame 4610.

[0157] Please refer to Figure 15 and Figure 17Specifically, the fifth joint assembly 4500 is driven and connected to the connecting frame 4610 to drive the connecting frame 4610 to rotate. A mounting seat 4630 is provided at one end of the connecting frame 4610 away from the fifth joint assembly 4500. A dexterous hand for grasping or holding is installed on the mounting seat 4630. A sixth driving module 4620 is provided on both sides of the connecting frame 4610. The output end of the sixth driving module 4620 drives the sixth worm 5210 to rotate, thereby driving the sixth worm wheel 4621 to rotate. The sixth worm 5210 rotates. The length direction is the length direction of the connecting frame 4610. The sixth worm gear 4621 is coaxially connected to the swing arm 4650. The other end of the swing arm 4650 is rotatably connected to the connecting rod 4660. The other end of the connecting rod 4660 is provided with a cross U block 4670. A connecting plate 4690 is provided between the cross U blocks 4670 on both sides of the connecting frame 4610. A cross block 4680 is provided at each end of the connecting plate 4690. The cross block 4680 is rotatably connected to the U block correspondingly. The bottom of the mounting seat 4630 is connected to the connecting plate 4690 and a The connecting frame 4610 is formed into a body, and a swing block 4640 is rotatably provided at one end away from the fifth joint assembly 4500. The swing block 4640 is rotatably connected to the connecting plate 4690 and the mounting seat 4630 through the rotating shaft 3430. That is, the mounting seat 4630 can be understood as driving the sixth worm gear 4621 to rotate through the sixth driving module 4620 compared to the connecting frame 4610, thereby driving the swing arm 4650 and the connecting rod 4660 to rotate, so that the connecting rod 4660 moves toward the fifth joint assembly 4500 or away from the fifth joint assembly 4500. The connecting rod 4660 moves in a direction away from the fifth joint assembly 4500, thereby driving the mounting base 4630 to swing. For example, the connecting rod 4660 moves in a direction away from the fifth joint assembly 4500, thereby pushing the bottom of the mounting base 4630 to move outward, that is, away from the fifth joint assembly 4500. The upper end of the mounting base 4630 rotates with the swing block 4640. In addition, when the connecting rods 4660 driven by the two sixth driving modules 4620 move in different directions, the mounting base 4630 will be driven to rotate compared to the swing block 4640, so that the mounting base 4630 and the dexterous hand can achieve grasping in multiple postures.

[0158] In one embodiment, the walking structure 3000 includes:

[0159] The base 3100 has a mounting position for the trunk structure 2000;

[0160] Two drive assemblies 3200 are provided and spaced apart on both sides of the bottom of the base 3100. Each drive assembly 3200 includes a drive motor 3210 and a drive wheel 3220. The drive motor 3210 is provided on the base 3100 and is connected to the drive wheel 3220. The drive wheel 3220 rotates on the base 3100 to drive the base 3100 to move.

[0161] The battery assembly 3300 is disposed on the base 3100 , and each driving motor 3210 is correspondingly provided with a battery assembly 3300 , and the battery assembly 3300 is electrically connected to the corresponding driving motor 3210 ; the shock absorbing assembly 3400 connects the base 3100 and the driving assembly 3200 .

[0162] A driving assembly 3200 is provided at the bottom of the base 3100. The driving assembly 3200 includes a driving motor 3210 and a driving wheel 3220. The driving motor 3210 is driven and connected to the driving wheel 3220, so that the driving wheel 3220 rotates relative to the base 3100. The friction between the driving wheel 3220 and the ground causes the driving wheel 3220 to drive the base 3100 to move forward or backward. A shock absorbing assembly 3400 is provided to connect the base 3100 and the driving assembly 3200, so that when the base 3100 moves on the ground, it can effectively absorb the impact and vibration from the ground, thereby reducing the wear of the structure on the base 3100 caused by impact, extending the service life of the walking structure 3000 and the trunk and robotic arm 4000 carried by it, and preventing the base 3100 and the trunk on the base 3100 from losing balance due to vibration. The shock absorbing assembly 3400 can also enable the base 3100 to maintain a stable posture during operation, thereby improving operational accuracy.

[0163] Specifically, the base 3100 serves as an installation base, and is preferably made of metal materials, such as aluminum alloy or stainless steel, so that it has sufficient strength and stability to support the robot's torso, robotic arm 4000 and other related structures. The robot's torso is installed above the base 3100, and the robotic arm 4000 for grasping or adsorption is provided on the torso. The shape of the base 3100 is not limited.

[0164] The driving assembly 3200 includes a driving motor 3210 and a driving wheel 3220. The output of the driving motor 3210 is connected to a reducer, and the reducer is connected to the driving wheel 3220 to rotate the driving wheel 3220. The driving motor 3210 can be a DC motor, an AC motor or a servo motor, which is not limited here. The driving wheel 3220 is in contact with the ground, and the driving wheel 3220 is rotatably arranged at the bottom of the base 3100. When the driving wheel 3220 rotates, the base 3100 can be moved, wherein the bottom of the base 3100 is respectively provided with There is one less drive motor 3210. In this embodiment, each side has one drive motor 3210. The drive wheels 3220 on both sides can rotate at different speeds, allowing the robot to turn. For example, if the left drive wheel 3220 rotates faster and the right drive wheel 3220 rotates slower, the robot will turn right. Conversely, if the left drive wheel 3220 rotates slower and the right drive wheel 3220 rotates faster, the robot will turn left. When the base 3100 needs to stop moving, the drive motor 3210 stops rotating, and the drive wheels 3220 no longer receive power input. In one embodiment, the drive motor 3210 can also transmit power to the drive wheels 3220 via gears and belts, etc., which are not limited here.

[0165] The battery assembly 3300 is provided in correspondence with the drive assembly 3200 and is typically located at the bottom or side of the base 3100. In this embodiment, the battery assembly 3300 is provided at the top of the base 3100 to facilitate heat dissipation of the battery assembly 3300. Each drive assembly 3200 is provided with a corresponding battery assembly 3300, so that the two battery assemblies 3300 are respectively provided above the two sides of the base 3100, which can balance the weight of the base 3100 and prevent displacement. The shock absorber assembly 3400 can use a damping shock absorber such as a hydraulic shock absorber or an air shock absorber, and can also use an elastic material such as rubber, etc., without limitation here.

[0166] In one embodiment, a shell is provided above the entire base 3100. The provision of the shell can reduce dust accumulation on the base 3100 and avoid affecting the operation of the internal drive motor 3210 and the like.

[0167] Please refer to Figure 13 and Figure 14In this technical solution, the shock absorbing assembly 3400 includes a mounting module 3410 and a first shock absorbing member 3420. The driving motor 3210 and the driving wheel 3220 are arranged on the side surface of the mounting module 3410 facing away from the base 3100. The first shock absorbing member 3420 connects the base 3100 and the mounting module 3410. The first shock absorbing member 3420 achieves buffering of the base 3100 by deformation such as compression and rebound. Specifically, when the driving wheel 3220 moves to a position with an uneven road surface, such as a raised ground, As the driving wheel 3220 is subjected to external force, the first shock absorber 3420 deforms and compresses, thereby storing elastic potential energy. After passing over a bump, the first shock absorber 3420 rebounds, buffering the impact of the bump. Conversely, when passing over a groove in the ground, the driving wheel 3220 is subjected to external force, causing the first shock absorber 3420 to extend. After passing over the groove, the first shock absorber 3420 retracts, buffering the impact and reducing the impact on the base 3100 and structures such as the torso on the base 3100. In some embodiments, the first shock absorber 3420 is a spring.

[0168] Please refer to Figure 12 and Figure 14 In this technical solution, the mounting module 3410 includes a first mounting plate 3411 and a second mounting plate 3412. The driving motor 3210 and the driving wheel 3220 are both arranged on the first mounting plate 3411. The first shock absorber 3420 connects the first mounting plate 3411 and the base 3100. One end of the second mounting plate 3412 is connected to the base 3100, and the other end of the second mounting plate 3412 is rotatably connected to the first mounting plate 3411.

[0169] Specifically, the driving motor 3210 in this embodiment is connected to the driving wheel 3220 through the reducer. The housing of the reducer is fixed to the bottom of the first mounting plate 3411. The first mounting plate 3411 is arranged below the base 3100 and is spaced apart from the first mounting plate 3411. The first shock absorber 3420 is arranged between the first mounting plate 3411 and the base 3100, and the two ends are elastically connected to the first mounting plate 3411 and the base 3100 respectively. The second mounting plate 3412 is arranged between the first mounting plate 3411 and the base 3100, and one end of the second mounting plate 3412 is fixedly connected to the bottom of the base 3100, and the other end faces the first mounting plate 3411. It extends and is rotatably connected to the first mounting plate 3411 through the rotating shaft 3430, that is, it can be understood that when the driving wheel 3220 moves to a position where the ground is uneven, the driving wheel 3220 rises or falls, driving the first mounting plate 3411 to rise or fall, the first shock absorber 3420 is compressed or stretched, and the first mounting plate 3411 approaches the base 3100 or moves away from the base 3100. During the movement of the first mounting plate 3411, the first mounting plate 3411 rotates relative to the second mounting plate 3412, and the driving assembly 3200 and the base 3100 are connected through the first mounting plate 3411 and the second mounting plate 3412, so that the installation of the driving assembly 3200 is more stable.

[0170] Among them, the second mounting plate 3412 includes a first mounting portion 34121 and a second mounting portion 34122. The first mounting portion 34121 is mounted on the bottom of the base 3100 by screws and is closely connected to the base 3100. The second mounting portion 34122 is provided on one side of the first mounting portion 34121 and extends toward the first mounting plate 3411. Two second mounting portions 34122 are provided and are arranged opposite to each other. A through hole 4311 is provided on one side of the second mounting portion 34122 close to the first mounting plate 3411 for the rotation shaft 3430 to pass through. A protruding connecting portion 34111 is provided on the side of the first mounting plate 3411 facing the second mounting portion 34122. The connecting portion 34111 is inserted into Between the two second mounting parts 34122, the rotating shaft 3430 passes through the second mounting part 34122, the connecting part 34111 and the other second mounting part 34122 in sequence, so that the first mounting plate 3411 and the connecting part 34111 can rotate along the second mounting part 34122. It should be noted that in order to avoid the connecting part 34111 from being separated from the second mounting part 34122, the rotating shaft 3430 adopts a bolt, and a nut is provided at one end of the bolt, and the end close to the nut and the end away from the nut are both provided with external threads to be screwed with the two second mounting parts 34122. The middle of the bolt is a smooth rotating shaft 3430 structure, so that the connecting part 34111 can rotate relative to the smooth part in the middle.

[0171] like Figure 11 and Figure 12As shown, in this technical solution, the base 3100 includes two base bodies 3110 spaced apart and a support frame 3120 disposed between the two base bodies 3110. Each driving assembly 3200 is correspondingly provided with a base body 3110. The shock absorbing assembly 3400 connects the driving assembly 3200 and the base bodies 3110. Each base body 3110 is correspondingly provided with a support frame 3120, and the two support frames 3120 are connected to each other to form a mounting position.

[0172] The two base bodies 3110 are independently arranged, and each driving component 3200 is correspondingly arranged at the bottom of the base body 3110. The support frame 3120 is connected to the base body 3110 by screws, so that the two base bodies 3110 form a whole, and the structure is more stable. Compared with the base 3100 which is a whole structural design, the weight of the base 3100 is reduced, which facilitates the lightweight structure.

[0173] In one embodiment, a plurality of guide wheels 3600 are rotatably provided at the bottom of the base 3100. The guide wheels 3600 can be arranged on both sides or the front end of the bottom of the base 3100. In this embodiment, the guide wheels 3600 are provided at the bottom of the base 3100 and are located on the front and rear sides of the driving wheel 3220. The guide wheels 3600 are used to guide the walking structure 3000 to travel along a set road, such as the guide wheels 3600 are guided by tracks or guide rails, or along paths such as magnetic strips or steel rails on the road surface. A groove is further provided in the middle of the outer periphery of the guide wheel 3600 in this embodiment, and the groove can be set to match the track to prevent the guide wheel 3600 from deviating on the track. It should be noted that the guide wheel 3600 is installed at the bottom of the base 3100 through a support seat and other structures. It does not have power input itself, but when the drive motor 3210 inputs power to the driving wheel 3220, the guide wheel 3600 rotates together when the base 3100 is driven to move.

[0174] like Figure 12 As shown, in the present technical solution, the mounting frame 3500 includes a first plate 3510 and a third plate 3530 spaced apart and arranged opposite to each other, a second plate 3520 is arranged between the first plate 3510 and the third plate 3530, one of the two supporting frames 3120 is connected to the first plate 3510, and the other of the two supporting frames 3120 is connected to the third plate 3530.

[0175] Specifically, the first plate 3510, the second plate 3520 and the third plate 3530 are arranged in sequence, the second plate 3520 is arranged in the middle position of the base 3100, the first plate 3510 and the third plate 3530 are arranged on both sides of the second plate 3520 and extend upward to form a groove with a "U"-shaped cross-section, the first plate 3510 and the third plate 3530 are respectively arranged on two support frames 3120, so that the two bases 3100 are connected together, wherein the support frame 3120 includes a first plate 3121 and a second plate 3122 arranged vertically, the first plate 3121 is arranged on the top of the base body 3110 and extends toward the other base body 3110, and the second plate 3122 is arranged on one side of the first plate 3121 and extends downward. The second plates 3122 of the two support frames 3120 are arranged opposite to each other. A third plate is also arranged at one end of the second plate 3122 away from the first plate 3121 toward the other base body 3110, that is, the third plates of the two support frames 3120 extend toward each other. The mounting frame 3500 is arranged between the two second plates 3122, and the two third plates support the second plates 3520. Screws are arranged to pass through the second plate 3122 and the first plate 3510 in sequence, and screws are arranged to pass through the second plate 3122 and the third plate 3530 in sequence, and the support of the third plate at the bottom makes the connection of the mounting frame 3500 more stable.

[0176] The walking structure 3000 also includes a cover 3700, which is mounted on the base 3100 and provides both protection and shelter. Furthermore, the cover mates with the base 3100 and is recessed to form a receiving slot 3710 for accommodating the folded portion of the trunk structure 2000, further optimizing the overall space occupied by the folded robot trunk. The two battery assemblies 3300 are located on either side of the receiving slot 3710, preventing interference with the folding of the trunk structure 2000 and improving space utilization.

[0177] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A robot, characterized in that: include: Head structure; A trunk structure comprising a main body and a plurality of folding units connected in sequence, wherein adjacent folding units are rotatably foldable, so that the trunk structure has a folded state and an extended state. In the extended state, the folding rotation axes of adjacent folding units are staggered and located on opposite sides of the central axis of the main body. In the folded state, the plurality of folding units are stacked, and the main body is respectively connected to the head structure and the folding units. A mechanical arm, wherein the mechanical arm is provided on both sides of the main body; as well as The walking structure is connected to the folding unit away from the main body.

2. The robot according to claim 1, wherein: Each of the folding units includes a connecting frame and a driving unit, and the driving unit includes a driving shaft and a power member. The power member is connected to the driving shaft and drives the driving shaft to rotate. The driving shaft is connected to the connecting frame, and the driving shaft rotates to drive the connecting frame to rotate. The power member is fixedly connected to the connecting member of the adjacent folding unit.

3. The robot according to claim 1, wherein: The trunk structure also includes an auxiliary component, which includes an elastic member. One end of the elastic member is connected to one of the folding units, and the other end is used to connect to another adjacent folding unit. When the trunk structure switches from an extended state to a folded state, the elastic member is stretched, so that the elastic member generates a driving force to drive the two adjacent folding units to reset.

4. The robot according to claim 3, wherein: The auxiliary component also includes a guide plate and a connecting rope. The guide plate is arranged on one of the folding units. One end of the connecting rope is connected to one of the folding units, and the other end is connected to the elastic member. When the trunk structure switches from an extended state to a folded state, the connecting rope bends along the guide plate and pulls the elastic member.

5. The robot according to claim 2, wherein: The multiple folding units are divided into three groups, one of which is configured as a first folding part, another group is configured as a second folding part, and another group is configured as a third folding part. In the folded state, the first folding part, the second folding part and the third folding part are stacked. In the extended state, the folding rotation axes of adjacent driving units are staggered and located on opposite sides of the central axis of the main body. The first folding part is used to connect the main body, and the third folding part is arranged between the first folding part and the second folding part.

6. The robot according to claim 5, wherein: The trunk structure further includes a rotating portion, which is fixed to the first folding portion and is also driven to connect to the main body portion and drive the main body portion to rotate.

7. The robot according to claim 1, wherein: The head structure includes: The main body is provided with a camera unit for exchanging external information; a first bracket, the main body being disposed on the first bracket and rotatably connected to the first bracket; a first driving portion, disposed on the first bracket and drivingly connected to the main body, so as to drive the main body to rotate around a first axis; a second bracket connected to the main body, the first bracket being further provided on the second bracket; a second driving portion, provided on the second bracket, the second driving portion being drivingly connected to the first bracket and driving the first bracket to rotate around a second axis; and The third driving part is provided on the second bracket, and is used to drive the second bracket to rotate around the third axis. The third driving part is also connected to the main body; the first axis and the third axis are parallel and perpendicular to the second axis.

8. The robot according to claim 7, wherein: The first driving portion, the second driving portion, and the third driving portion each include a driving unit configured to provide a rotational driving force.

9. The robot according to claim 1, wherein: The robotic arm comprises: a first joint assembly connected to the trunk structure; a second joint assembly, the second joint assembly comprising a second drive module and a second transmission module, the second drive module being drivably connected to the second transmission module, and the first joint assembly being drivably connected to the second transmission module to drive the second joint assembly to rotate along the first central axis; a third joint assembly comprising a first sleeve and a third drive module, wherein the second drive module and the third drive module are fixedly disposed inside the first sleeve to drive the third joint assembly to rotate along a second central axis; Wrist joint assembly, the third joint assembly is drivingly connected to the wrist joint assembly to drive the wrist joint assembly to rotate.

10. The robot according to claim 1, wherein: The walking structure includes: a base having a mounting position for mounting the trunk structure; Drive assemblies, two groups of which are spaced apart and arranged on both sides of the bottom of the base, each drive assembly comprising a drive motor and a drive wheel, the drive motor being arranged on the base and drivingly connected to the drive wheel, the drive wheel being rotatable on the base to drive the base to move; A battery assembly is provided on the base, each driving motor is provided with a corresponding battery assembly, and the battery assembly is electrically connected to the corresponding driving motor; and A shock absorbing assembly connects the base and the driving assembly.

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