Robot

Abstract

The invention relates to the technical field of robots, in particular to a robot, and solves the problem that the motion range of the robot is small. The robot comprises a chassis body assembly, a walking wheel assembly, a folding assembly, a waist assembly and an upper body assembly. Walking and omnidirectional movement of the robot are achieved through the walking wheel assembly, stretching and retracting of the robot in the vertical direction are achieved through the folding assembly, pitching, twisting and left-right swinging of the upper body assembly are achieved through the waist assembly, and therefore the upper body assembly can pitch, twist and swing left and right, and can also swing left and right. The upper body assembly can move in the vertical direction under the driving of the folding assembly, and can rotate and walk in all directions under the driving of the chassis body assembly and the folding assembly, so that the movement range of the upper body assembly is enlarged.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot. Background Art

[0002] Robots typically interact with objects using an end effector. The range of motion of this end effector directly impacts the robot's application scenarios. However, the end effector's range of motion in related-art robots is relatively small. During production, the robot must repeatedly adjust its position or posture to complete interactive tasks. Even after multiple adjustments, the robot may still be unable to reach certain locations, resulting in operational failures.

[0003] Therefore, there is an urgent need for a robot with a larger range of motion. Summary of the Invention

[0004] In view of this, an embodiment of the present application provides a robot that solves the problem of the robot's small range of motion.

[0005] An embodiment of the present application provides a robot, comprising: a chassis body component; a walking wheel component, comprising an omnidirectional drive member and a walking wheel connected to each other, the omnidirectional drive member being connected to the chassis body component, the walking wheel being configured to rotate about the axis of the walking wheel, and the omnidirectional drive member being configured to drive the walking wheel to rotate about an axis perpendicular to the axis of the walking wheel; a folding component, a first end of the folding component being connected to the chassis body component, the folding component being capable of extending and folding so that the second end of the folding component can be raised and lowered; a waist component, comprising a first waist torsion component, a waist pitch component, and a second waist torsion component, the first end of the first waist torsion component and the second end of the folding component being rotatable about a first axis, the first end of the waist pitch component and the second end of the first waist torsion component being rotatable about a second axis, the first end of the second waist torsion component and the second end of the waist pitch component being rotatable about a third axis, the second axis being perpendicular to the first axis, and the third axis being perpendicular to the second axis; an upper body component, connected to the second end of the second waist torsion component, and configured to interact with a target object.

[0006] In some embodiments, the chassis body assembly includes an upwardly opening accommodating space, the first end of the folding assembly is connected to the bottom wall of the accommodating space, and the vertical height of the bottom wall of the accommodating space is less than the vertical height of the upper surface of the walking wheel.

[0007] In some embodiments, the folding component includes: a first folding member, connected to the bottom wall of the accommodating space; a second folding member, including a first component and a second component respectively arranged on both sides of the first folding member in the first direction, and the first end of the first component and the first end of the second component are respectively rotatable with the first folding member around a fourth axis, an avoidance space is formed between the first component and the second component, and the first direction is parallel to the extension direction of the fourth axis; a third folding member, rotatable with the second end of the first component and the second end of the second component respectively around a fifth axis, the first component and the second component are respectively arranged on both sides of the third folding member in the first direction, and the fifth axis is parallel to the fourth axis; wherein, when the folding component is folded, the avoidance space can accommodate at least part of the first folding member and at least part of the third folding member.

[0008] In some embodiments, the second folding member further includes: a primary folding driving member, connecting the second folding member and the first folding member, configured to drive the second folding member and the first folding member to rotate around the fourth axis; and / or, the third folding member includes: a secondary folding body, rotatably connected to the second end of the first component and the second end of the second component around the fifth axis, the first component and the second component are respectively arranged on both sides of the secondary folding body in the first direction; a secondary folding driving member, connecting the secondary folding body and the second folding member, configured to drive the secondary folding body and the second folding member to rotate around the fifth axis.

[0009] In some embodiments, the first waist twisting assembly includes: a first waist twisting body, the first end of the first waist twisting body is rotatably connected to the second end of the folding assembly around the first axis; a first waist twisting driving member, connecting the first end of the first waist twisting body and the second end of the folding assembly, and configured to drive the first waist twisting body to rotate around the first axis relative to the second end of the folding assembly; the waist pitching assembly includes: a waist pitching body, the first end of the waist pitching body is rotatably connected to the second end of the first waist twisting body around the second axis; a waist pitching driving member, connecting The first end of the waist pitch body is connected to the second end of the first waist twist body, and is configured to drive the waist pitch body to rotate around the second axis relative to the second end of the first waist twist body; the second waist twist assembly includes: a second waist twist body, the first end of the second waist twist body is rotatably connected to the second end of the waist pitch body around the third axis; a second waist twist driving member is connected to the first end of the second waist twist body and the second end of the waist pitch body, and is configured to drive the second waist twist body to rotate around the third axis relative to the second end of the waist pitch body.

[0010] In some embodiments, the upper body component includes: a torso component connected to the second end of the second waist twist component; a head component connected to an end of the torso component away from the second waist twist component; and two arm components respectively connected to opposite sides of the torso component.

[0011] In some embodiments, the upper body component further includes: a control panel, which is provided on the torso component; the head component includes: a head body; at least two first drive components, which are connected to the head body, and the at least two first drive components are configured to jointly drive the head body to pitch and swing; a rotation component, which includes a first through-hole, and the rotation component has a first end and a second end opposite to each other along the through-direction of the first through-hole, the first end of the rotation component is connected to the head body and / or at least one first drive component, the control panel is close to the second end of the rotation component, and the cable of the first drive component can pass through the first through-hole and be electrically or communicatively connected to the control panel; a shaking drive component, which includes a shaking drive member and a shaking output member, the shaking output member rotates under the drive of the shaking drive member, the shaking drive member is connected to the torso component, the shaking output member is in transmission connection with the rotation component, the rotation component rotates around a sixth axis under the drive of the shaking output member, so that the rotation component drives the head body to shake, wherein the center line of the first through-hole is parallel to the sixth axis, and the vertical distance between the center line of the first through-hole and the sixth axis is less than the first preset distance.

[0012] In some embodiments, the torso assembly has a front and a back that are relatively arranged, and the robot further includes: a display assembly that is detachably mounted on the back of the torso assembly.

[0013] In some embodiments, the display assembly includes: a display; a carrier capable of being connected to the display; a locking shaft, wherein a first end of the locking shaft is connected to the carrier, and an outer sidewall of a second end of the locking shaft includes a locking portion; a locking member connected to the back of the torso assembly, the locking member including a locking hole, a first limiting portion, and an avoidance gap connected to the locking hole, the avoidance gap and the first limiting portion are both arranged in the circumference of the locking hole, the locking hole and the avoidance gap both penetrate the locking member along a second direction, the locking member has a first surface and a second surface arranged opposite to each other in the second direction, the first limiting portion is located on the second surface, and the second direction is a direction from the first surface to the second surface; wherein, during the process of the locking shaft penetrating the locking hole along the second direction, the locking portion can pass through the avoidance gap, and then during the process of the carrier driving the locking shaft to rotate relative to the locking member around the axis of the locking shaft, the locking portion can rotate from being aligned with the avoidance gap to abutting against the first limiting portion.

[0014] In some embodiments, the chassis body assembly includes: a chassis body; a connecting frame including a first connecting portion, a second connecting portion and a third connecting portion connected in sequence, the second connecting portion being rotatably connected to the chassis body; a shock absorber disposed between the chassis body and the connecting frame, one end of the shock absorber being connected to the chassis body, and the other end of the shock absorber being connected to the connecting frame; wherein the walking wheel assembly includes: two first walking wheel assemblies, the first walking wheel assembly including a first omnidirectional driving member and a first walking wheel connected to each other, the first omnidirectional driving members of each of the two first walking wheel assemblies being respectively connected At the first connecting portion and the third connecting portion, the first running wheel is configured to rotate around the axis of the first running wheel, and the first omnidirectional drive component is configured to drive the first running wheel to rotate around an axis perpendicular to the axis of the first running wheel; two second running wheel assemblies, the second running wheel assembly includes a second omnidirectional drive component and a second running wheel connected to each other, the second omnidirectional drive component is connected to the chassis body assembly, the second running wheel is configured to rotate around the axis of the second running wheel, and the second omnidirectional drive component is configured to drive the second running wheel to rotate around an axis perpendicular to the axis of the second running wheel.

[0015] The robot provided in the embodiment of the present application realizes walking and omnidirectional movement of the robot through the walking wheel assembly, realizes extension and retraction of the robot in the vertical direction through the folding assembly, and realizes pitching, twisting and left and right swinging of the upper body assembly through the waist assembly, so that the upper body assembly can not only pitch, twist and swing left and right, but also move in the vertical direction driven by the folding assembly, and can also rotate and walk in all directions driven by the chassis body assembly and the folding assembly, thereby increasing the motion range of the upper body assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other purposes, features, and advantages of the present application will become more apparent by describing the embodiments of the present application in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components.

[0017] Figure 1 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application.

[0018] Figure 2 Shown is a front view of a chassis body assembly and a running wheel assembly provided in one embodiment of the present application.

[0019] Figure 3 Shown is a schematic structural diagram of a folding assembly and a waist assembly provided in one embodiment of the present application.

[0020] Figure 4 Shown is a schematic structural diagram of a robot provided in another embodiment of the present application.

[0021] Figure 5 Shown is a schematic structural diagram of a robot provided in another embodiment of the present application.

[0022] Figure 6 Shown is a schematic structural diagram of a robot provided in another embodiment of the present application.

[0023] Figure 7 Shown is a right side view of a folding assembly and a waist assembly provided by an embodiment of the present application.

[0024] Figure 8 Shown Figure 7 The folding assembly and waist assembly are shown in cross-section along line AA.

[0025] Figure 9 Shown is a left side view of the second waist twisting assembly and waist pitching body provided in one embodiment of the present application.

[0026] Figure 10 Shown Figure 9A cross-sectional view of the second lumbar twist assembly and the lumbar pitch body along line BB is shown.

[0027] Figure 11 Shown is a front view of a robot provided in one embodiment of the present application.

[0028] Figure 12 Shown is a schematic structural diagram of a head assembly provided in one embodiment of the present application.

[0029] Figure 13 Shown is a side view of a head assembly provided by one embodiment of the present application, with the head body and the first drive assembly removed.

[0030] Figure 14 Shown Figure 13 The head assembly is shown as a cross-sectional view along line CC with the head body and the first drive assembly removed.

[0031] Figure 15 Shown is a schematic structural diagram of a head assembly provided in one embodiment of the present application, excluding the head body and the first drive assembly.

[0032] Figure 16 Shown is a schematic structural diagram of a head body, a first drive assembly, and a first connecting rod assembly provided in one embodiment of the present application.

[0033] Figure 17 Shown is a schematic structural diagram of a head body, a first drive assembly, and a first connecting rod assembly provided in another embodiment of the present application.

[0034] Figure 18 Shown is a schematic structural diagram of a head body, a first drive assembly and a rotating assembly provided in one embodiment of the present application.

[0035] Figure 19 Shown Figure 18 A partial enlarged view of the head body, the first drive assembly and the rotating assembly in area D is shown.

[0036] Figure 20 Shown Figure 18 A partial enlarged view of the head body, the first drive assembly and the rotating assembly in area E is shown.

[0037] Figure 21 Shown is a right side view of the robot provided in one embodiment of the present application.

[0038] Figure 22 Shown is a rear view of a robot provided in one embodiment of the present application.

[0039] Figure 23 Shown is a schematic structural diagram of a display assembly in an unlocked state provided by an embodiment of the present application.

[0040] Figure 24 Shown is a top view of a display assembly in an unlocked state provided by an embodiment of the present application.

[0041] Figure 25 Shown Figure 24 The display assembly is shown in a cross-sectional view along line FF in an unlocked state.

[0042] Figure 26 Shown Figure 25 The shown portion is an enlarged view of the display assembly in the unlocked state at area G.

[0043] Figure 27 Shown is a schematic structural diagram of a locking shaft provided in one embodiment of the present application.

[0044] Figure 28 Shown is a schematic structural diagram of a locking member provided in one embodiment of the present application.

[0045] Figure 29 Shown is a schematic structural diagram of a locking member and a locking shaft provided in one embodiment of the present application.

[0046] Figure 30 Shown is a rear view of the locking shaft and the locking member in an unlocked state provided by an embodiment of the present application.

[0047] Figure 31 Shown is a schematic structural diagram of a locking shaft and a locking member in a locked state provided by an embodiment of the present application.

[0048] Figure 32 Shown is a front view of a display assembly in a locked state provided by an embodiment of the present application.

[0049] Figure 33 Shown is a front view of a chassis body assembly and a running wheel assembly provided in another embodiment of the present application.

[0050] Figure 34 Shown is a rear view of a chassis body assembly and a traveling wheel assembly provided in one embodiment of the present application.

[0051] Figure 35 Shown is a side view of a chassis body assembly and a travel wheel assembly provided in one embodiment of the present application.

[0052] Reference numerals:

[0053] 10. Robot; 100. Chassis body assembly; 1001. Accommodation space; 110. Chassis body; 120. Connecting frame; 1201. First connecting portion; 1202. Second connecting portion; 1203. Third connecting portion; 130. Shock absorber; 200. Travel wheel assembly; 210. First travel wheel assembly; 2110. First omnidirectional drive member; 2120. First travel wheel; 201. Omnidirectional drive member; 202. Travel wheel; 220. Second travel wheel assembly; 2210. Second omnidirectional drive member; 2220. Second travel wheel; 300. Folding assembly; 310. First folding member; 3101. First installation space; 3102. First opening; 320. Second folding member; 3210. First component; 3220, second component; 3230, first-level folding drive member; 3231, first-level folding drive end; 3232, first-level folding output shaft; 3201, avoidance space; 330, third folding member; 3310, second-level folding body; 3311, second installation space; 3312, second opening; 3313, third installation space; 3314, third opening; 3320, second-level folding drive member; 3321, second-level folding drive end; 3322, second-level folding output shaft; 400, waist assembly; 410, first waist twisting assembly; 4110, first waist twisting body; 4111, fourth installation space; 4112, fourth opening; 4120, first waist twisting drive member; 4121, first twisting drive end; 4122, first torsion output shaft; 420, waist pitch assembly; 4210, waist pitch body; 4220, waist pitch drive; 4221, pitch drive end; 4222, pitch output shaft; 430, second waist torsion assembly; 4310, second waist torsion body; 4311, fifth installation space; 4312, fifth opening; 4320, second waist torsion drive; 4321, second torsion drive end; 4322, second torsion output shaft; 500, upper body assembly; 510, torso assembly; 5101, front; 5102, back; 520, head assembly; 5210, head body; 5220, first drive assembly; 5221, pitch drive assembly; 5321, pitch drive Moving member; 5421, pitch output member; 5431, first connecting portion; 5222, swing head drive assembly; 5322, swing head drive member; 5332, second connecting portion; 5422, swing head output member; 5223, first parallel drive assembly; 5323, first parallel drive member; 5423, first parallel output member; 5433, third connecting portion; 5224, second parallel drive assembly; 5324, second parallel drive member; 5424, second parallel output member; 5434, fourth connecting portion; 5230, rotating assembly; 5231, first through hole; 5232, first component; 5233, second component; 5234, third component; 5240, oscillation drive assembly; 5241, oscillation drive member;5242, shaking output member; 5250, driving pulley; 5260, driven pulley; 5261, second through hole; 5270, synchronous belt; 5280, first connecting rod assembly; 5290, second connecting rod assembly; 5291, third connecting rod assembly; 530, arm assembly; 540, control panel; 600, display assembly; 610, display; 620, bearing member; 630, locking shaft; 6301, locking portion; 640, locking member; 6401, locking hole; 6402, first limiting portion; 6403, avoidance gap; 6 410, first surface; 6420, second surface; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis; L5, fifth axis; L6, sixth axis; L7, seventh axis; L8, eighth axis; L9, ninth axis; L10, tenth axis; L11, eleventh axis; L12, twelfth axis; L13, thirteenth axis; L14, fourteenth axis; L15, fifteenth axis; X1, first direction; X2, second direction; X3, third direction; X4, fourth direction; P, walking surface. DETAILED DESCRIPTION

[0054] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0055] Figure 1 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application. Figure 2 Shown is a front view of a chassis body assembly and a running wheel assembly provided in one embodiment of the present application. Figure 3 Shown is a schematic structural diagram of a folding assembly and a waist assembly provided in one embodiment of the present application. Figure 4 Shown is a schematic structural diagram of a robot provided in another embodiment of the present application. Figure 5 Shown is a schematic structural diagram of a robot provided in another embodiment of the present application. Figure 6 Shown is a schematic structural diagram of a robot provided in another embodiment of the present application.

[0056] like Figure 1As shown, the robot 10 includes a chassis body component 100, a running wheel component 200, a folding component 300, a waist component 400 and an upper body component 500. The running wheel component 200 includes an omnidirectional drive member 201 and a running wheel 202 connected to each other, the omnidirectional drive member 201 is connected to the chassis body component 100, the running wheel 202 is configured to rotate around the axis of the running wheel 202, and the omnidirectional drive member 201 is configured to drive the running wheel 202 to rotate around an axis perpendicular to the axis of the running wheel 202. The first end of the folding component 300 is connected to the chassis body component 100, and the folding component 300 can be extended and folded so that the second end of the folding component 300 can be raised and lowered. The waist component 400 includes a first waist twisting component 410, a waist pitching component 420 and a second waist twisting component 430. The first end of the first lumbar twist assembly 410 and the second end of the folding assembly 300 are rotatable about a first axis L1. The first end of the lumbar pitch assembly 420 and the second end of the first lumbar twist assembly 410 are rotatable about a second axis L2. The first end of the second lumbar twist assembly 430 and the second end of the lumbar pitch assembly 420 are rotatable about a third axis L3. The second axis L2 is perpendicular to the first axis L1, and the third axis L3 is perpendicular to the second axis L2. The upper body assembly 500 is connected to the second end of the second lumbar twist assembly 430 and is configured to interact with a target object.

[0057] The walking wheel assembly 200 enables the robot 10 to walk and move omnidirectionally, the folding assembly 300 enables the robot 10 to extend and retract in the vertical direction, and the waist assembly 400 enables the upper body assembly 500 to pitch, twist, and swing left and right, thereby enabling the upper body assembly 500 to pitch, twist, and swing left and right, and to move in the vertical direction driven by the folding assembly 300, and to rotate and walk omnidirectionally driven by the chassis body assembly 100 and the folding assembly 300, thereby increasing the range of motion of the upper body assembly 500.

[0058] For example, Figure 3 and Figure 6 As shown, the folding assembly 300 has two sides arranged opposite to each other in a first direction X1, and the robot 10 has two sides arranged opposite to each other in a third direction X3, which is perpendicular to the first direction X1. When the robot 10 is upright, the robot 10 extends along a fourth direction X4, which is perpendicular to the third direction X3. The extension direction of the waist swing axis is parallel to the third direction X3. Figure 1 、 Figures 4 to 7When the extension direction of the first axis L1 intersects with the fourth direction X4, the rotational movement of the first waist twisting component 410 around the first axis L1 can be decomposed into a sub-rotational movement around an axis parallel to the third direction X3 and a sub-rotational movement around a axis parallel to the fourth direction X4. That is to say, the rotational movement of the first waist twisting component 410 around the first axis L1 has a sub-rotational movement around the waist swinging axis, so that the waist component 400 can realize the side swing of the upper body component 500.

[0059] The robot 10 has a left side and a right side that are opposite to each other along the extending direction of the second axis L2. Figure 5 In the robot 10 shown, the first waist twist assembly 410 cooperates with the second waist twist assembly 430 and the waist pitch assembly 420 to enable the upper body assembly 500 to swing sideways toward the right side. Figure 6 In the robot 10 shown, the first waist twist assembly 410 cooperates with the second waist twist assembly 430 and the waist pitch assembly 420 to enable the upper body assembly 500 to swing sideways toward the left side.

[0060] Specifically, the axis perpendicular to the axis of the walking wheel 202, that is, the axis perpendicular to the contact surface. Figure 1 As shown, the contact surface is the surface where the running wheel 202 contacts the running surface P. For example, when the running wheel assembly 200 is running on a flat, horizontal running surface P, the axis perpendicular to the axis of the running wheel 202 is the axis extending in the vertical direction. For example, the running surface P can be the ground, a table, or the like.

[0061] In some embodiments, as Figure 1 and Figure 2 As shown, the chassis body component 100 includes a accommodating space 1001 that opens upward, and the first end of the folding component 300 is connected to the bottom wall of the accommodating space 1001. The height of the bottom wall of the accommodating space 1001 in the vertical direction is less than the height of the upper surface of the walking wheel 202 in the vertical direction, so that the folding component 300 can be set as low as possible to enable the upper body component 500 to move to a position close to the ground, thereby facilitating the upper body component 500 to interact with the target object close to the ground.

[0062] In some embodiments, as Figure 1 、 Figures 3 to 6As shown, the folding assembly 300 includes a first folding member 310, a second folding member 320, and a third folding member 330. The first folding member 310 is connected to the bottom wall of the accommodating space 1001. The second folding member 320 includes a first component 3210 and a second component 3220, which are respectively disposed on either side of the first folding member 310 in the first direction X1. The first end of the first component 3210 and the first end of the second component 3220 are respectively rotatable with the first folding member 310 about a fourth axis L4. A clearance space 3201 is formed between the first component 3210 and the second component 3220. The first direction X1 is parallel to the direction in which the fourth axis L4 extends. The third folding member 330 is rotatable with the second end of the first component 3210 and the second end of the second component 3220 about a fifth axis L5. The first component 3210 and the second component 3220 are respectively disposed on either side of the third folding member 330 in the first direction X1. The fifth axis L5 is parallel to the fourth axis L4. When the folding assembly 300 is folded, the avoidance space 3201 can accommodate at least a portion of the first folding piece 310 and at least a portion of the third folding piece 330 .

[0063] By providing the avoidance space 3201 , the folding degree of the folding component 300 can be increased, thereby increasing the vertical movement range of the upper body component 500 .

[0064] In some embodiments, as Figure 3 、 Figure 7 and Figure 8 As shown, the second folding member 320 also includes a primary folding driving member 3230, which connects the second folding member 320 and the first folding member 310, and is configured to drive the second folding member 320 and the first folding member 310 to rotate around the fourth axis L4.

[0065] The first-stage folding driving member 3230 drives the second folding member 320 and the first folding member 310 to rotate around the fourth axis L4, without the need for gear transmission, belt transmission, chain transmission and other transmission structures, and the structure is simple and compact.

[0066] For example, Figure 8 As shown, the primary folding driving member 3230 includes a primary folding driving end 3231 and a primary folding output shaft 3232. The primary folding driving end 3231 drives the primary folding output shaft 3232 to rotate around the fourth axis. The primary folding driving end 3231 is connected to the first folding member 310, and the primary folding output shaft 3232 is connected to the second folding member 320. For example, as Figure 8As shown, the first folding member 310 has a first installation space 3101 extending along the first direction X1 and a first opening 3102 connecting the first installation space 3101 with the outside world. The first-level folding drive end 3231 is arranged in the first installation space 3101, and the first-level folding output shaft 3232 extends from the first opening 3102 and is connected to the second folding member 320.

[0067] Illustratively, the primary folding drive end 3231 is connected to the second folding member 320, and the primary folding output shaft 3232 is connected to the first folding member 310. Illustratively, the first end of the second folding member 320 has a sixth mounting space extending along the first direction X1 and a sixth opening connecting the sixth mounting space with the outside world. The primary folding drive end 3231 is disposed in the sixth mounting space, and the primary folding output shaft 3232 extends from the sixth opening and is connected to the first folding member 310.

[0068] In some embodiments, as Figure 3 、 Figure 7 and Figure 8 As shown, the third folding member 330 includes a secondary folding body 3310 and a secondary folding drive member 3320. The secondary folding body 3310 is rotatably connected to the second end of the first component 3210 and the second end of the second component 3220 about a fifth axis L5. The first component 3210 and the second component 3220 are disposed on either side of the secondary folding body 3310 in the first direction X1. The secondary folding drive member 3320 connects the secondary folding body 3310 and the second folding member 320 and is configured to drive the secondary folding body 3310 and the second folding member 320 to rotate about the fifth axis L5.

[0069] The secondary folding body 3310 and the second folding member 320 are driven to rotate around the fifth axis L5 by the secondary folding driving member 3320. There is no need to set up transmission structures such as gear transmission, belt transmission, and chain transmission, and the structure is simple and compact.

[0070] For example, Figure 8 As shown, the secondary folding driving member 3320 includes a secondary folding driving end 3321 and a secondary folding output shaft 3322. The secondary folding driving end 3321 drives the secondary folding output shaft 3322 to rotate around the fifth axis L5. The secondary folding driving end 3321 is connected to the secondary folding body 3310, and the secondary folding output shaft 3322 is connected to the second end of the second folding member 320. For example, as Figure 8As shown, the secondary folding body 3310 has a second installation space 3311 extending along the first direction X1 and a second opening 3312 connecting the second installation space 3311 with the outside world. The secondary folding drive end 3321 is arranged in the second installation space 3311, and the secondary folding output shaft 3322 extends from the second opening 3312 and is connected to the second end of the second folding member 320.

[0071] Illustratively, the secondary folding drive end 3321 is connected to the second end of the second folding member 320, and the secondary folding output shaft 3322 is connected to the secondary folding body 3310. Illustratively, the second end of the second folding member 320 has a seventh mounting space extending along the first direction X1 and a seventh opening connecting the seventh mounting space with the outside world. The secondary folding drive end 3321 is disposed in the seventh mounting space, and the secondary folding output shaft 3322 extends from the seventh opening and is connected to the secondary folding body 3310.

[0072] In some embodiments, as Figure 8 As shown, the first waist twist assembly 410 includes a first waist twist body 4110 and a first waist twist driver 4120. The first end of the first waist twist body 4110 is rotatably connected to the second end of the folding assembly 300 about a first axis L1. The first waist twist driver 4120 connects the first end of the first waist twist body 4110 and the second end of the folding assembly 300. The first waist twist driver 4120 is configured to drive the first waist twist body 4110 to rotate relative to the second end of the folding assembly 300 about the first axis L1.

[0073] The first waist twisting body 4110 is driven by the first waist twisting driving member 4120 to rotate around the first axis L1 relative to the second end of the folding assembly 300. There is no need to set up transmission structures such as gear transmission, belt transmission, and chain transmission, and the structure is simple and compact.

[0074] For example, Figure 8 As shown, the first waist twisting driving member 4120 includes a first twisting driving end 4121 and a first twisting output shaft 4122. The first twisting driving end 4121 drives the first twisting output shaft 4122 to rotate around the first axis L1. The first twisting driving end 4121 is connected to the second end of the folding assembly 300, and the first twisting output shaft 4122 is connected to the first waist twisting body 4110. For example, as shown in FIG. Figure 8 As shown, the secondary folding body 3310 has a third installation space 3313 and a third opening 3314 connecting the third installation space 3313 with the outside world. The third installation space 3313 extends in a direction parallel to the extension direction of the first axis L1. The first torsion drive end 4121 is arranged in the third installation space 3313. The first torsion output shaft 4122 extends from the third opening 3314 and is connected to the first waist torsion body 4110.

[0075] Illustratively, the first torsion drive end 4121 is connected to the first waist twisting body 4110, and the first torsion output shaft 4122 is connected to the second end of the folding assembly 300. Illustratively, the first waist twisting body 4110 has an eighth installation space and an eighth opening connecting the eighth installation space with the outside world. The eighth installation space extends in a direction parallel to the extension direction of the first axis L1. The first torsion drive end 4121 is disposed in the eighth installation space. The first torsion output shaft 4122 extends from the eighth opening and is connected to the second end of the secondary folding body 3310.

[0076] like Figure 8 As shown, the waist pitch assembly 420 includes a waist pitch body 4210 and a waist pitch driver 4220. The first end of the waist pitch body 4210 is rotatably connected to the second end of the first waist twist body 4110 about the second axis L2. The waist pitch driver 4220 connects the first end of the waist pitch body 4210 and the second end of the first waist twist body 4110. The waist pitch driver 4220 is configured to drive the waist pitch body 4210 to rotate relative to the second end of the first waist twist body 4110 about the second axis L2.

[0077] The waist pitch driving member 4220 drives the waist pitch body 4210 to rotate around the second axis L2 relative to the second end of the first waist twisting body 4110. There is no need to set up transmission structures such as gear transmission, belt transmission, and chain transmission, and the structure is simple and compact.

[0078] For example, Figure 8 As shown, the waist pitch driving member 4220 includes a pitch driving end 4221 and a pitch output shaft 4222. The pitch driving end 4221 drives the pitch output shaft 4222 to rotate around the second axis L2. The pitch driving end 4221 is connected to the second end of the first waist twisting body 4110, and the pitch output shaft 4222 is connected to the waist pitch body 4210. For example, as Figure 8 As shown, the second end of the first waist twisting body 4110 has a fourth installation space 4111 and a fourth opening 4112 connecting the fourth installation space 4111 with the outside world. The fourth installation space 4111 extends in a direction parallel to the extension direction of the second axis L2. The pitch driving end 4221 is arranged in the fourth installation space 4111, and the pitch output shaft 4222 extends from the fourth opening 4112 and is connected to the waist pitch body 4210.

[0079] Illustratively, the pitch drive end 4221 is connected to the waist pitch body 4210, and the pitch output shaft 4222 is connected to the second end of the first waist twist body 4110. Illustratively, the waist pitch body 4210 has a ninth installation space and a ninth opening connecting the ninth installation space with the outside world. The ninth installation space extends parallel to the direction of extension of the second axis L2. The pitch drive end 4221 is disposed in the ninth installation space, and the pitch output shaft 4222 extends from the ninth opening and is connected to the first waist twist body 4110.

[0080] like Figure 9 and Figure 10 As shown, the second lumbar twist assembly 430 includes a second lumbar twist body 4310 and a second lumbar twist driver 4320. The first end of the second lumbar twist body 4310 is rotatably connected to the second end of the lumbar pitch body 4210 about a third axis L3. The second lumbar twist driver 4320 connects the first end of the second lumbar twist body 4310 and the second end of the lumbar pitch body 4210. The second lumbar twist driver 4320 is configured to drive the second lumbar twist body 4310 to rotate relative to the second end of the lumbar pitch body 4210 about the third axis L3.

[0081] The second waist twisting body 4310 is driven by the second waist twisting driving member 4320 to rotate around the third axis L3 relative to the second end of the waist pitching body 4210. There is no need to set up transmission structures such as gear transmission, belt transmission, and chain transmission, and the structure is simple and compact.

[0082] For example, Figure 10 As shown, the second waist twist driving member 4320 includes a second twist driving end 4321 and a second twist output shaft 4322. The second twist driving end 4321 drives the second twist output shaft 4322 to rotate around the third axis L3. The second twist driving end 4321 is connected to the second waist twist body 4310, and the second twist output shaft 4322 is connected to the waist pitch body 4210. For example, as Figure 10 As shown, the second waist torsion body 4310 has a fifth installation space 4311 and a fifth opening 4312 connecting the fifth installation space 4311 with the outside world. The fifth installation space 4311 extends in a direction parallel to the extension direction of the third axis L3. The second torsion driving end 4321 is arranged in the fifth installation space 4311. The second torsion output shaft 4322 extends from the fifth opening 4312 and is connected to the waist pitch body 4210.

[0083] Exemplarily, the second torsion drive end 4321 is connected to the lumbar pitch body 4210, and the second torsion output shaft 4322 is connected to the second lumbar pitch body 4310. Exemplarily, the lumbar pitch body 4210 has a tenth installation space and a tenth opening connecting the tenth installation space with the outside world. The tenth installation space extends in a direction parallel to the extension direction of the third axis L3. The second torsion drive end 4321 is disposed in the tenth installation space. The second torsion output shaft 4322 extends from the tenth opening and is connected to the second lumbar twist body 4310.

[0084] In some embodiments, as Figure 1 and Figure 11 As shown, the upper body assembly 500 includes a torso assembly 510, a head assembly 520, and two arm assemblies 530. The torso assembly 510 is connected to the second end of the second waist twist assembly 430, the head assembly 520 is connected to an end of the torso assembly 510 away from the second waist twist assembly 430, and the two arm assemblies 530 are respectively connected to opposite sides of the torso assembly 510.

[0085] The structure of the upper body component 500 is highly similar to the upper body structure of the human body, further improving the anthropomorphism of the robot 10 .

[0086] In some embodiments, as Figures 11 to 14 As shown, the upper body assembly 500 further includes a control panel 540, which is disposed on the torso assembly 510. The head assembly 520 includes a head body 5210, at least two first drive assemblies 5220, a rotation assembly 5230, and a yaw drive assembly 5240. The at least two first drive assemblies 5220 are connected to the head body 5210 and are configured to collectively drive the head body 5210 in pitch and yaw. The rotation assembly 5230 includes a first through-hole 5231 and has a first end and a second end opposite to each other along the through-hole 5231. The first end of the rotation assembly 5230 is connected to the head body 5210, or the first end of the rotation assembly 5230 is connected to the at least one first drive assembly 5220, or the first end of the rotation assembly 5230 is connected to the head body 5210 and the at least one first drive assembly 5220. The control board 540 is close to the second end of the rotating assembly 5230 . The cable of the first driving assembly 5220 can pass through the first through hole 5231 and be electrically connected or communicatively connected to the control board 540 .

[0087] like Figure 11 and Figure 14As shown, the oscillating drive assembly 5240 includes an oscillating drive member 5241 and an oscillating output member 5242. The oscillating output member 5242 rotates under the drive of the oscillating drive member 5241. The oscillating drive member 5241 is connected to the torso assembly 510, and the oscillating output member 5242 is in driving connection with the rotating assembly 5230. Driven by the oscillating output member 5242, the rotating assembly 5230 rotates about the sixth axis L6, thereby causing the rotating assembly 5230 to drive the head body 5210 to oscillate. The centerline of the first through-hole 5231 is parallel to the sixth axis L6, and the vertical distance between the centerline of the first through-hole 5231 and the sixth axis L6 is less than the first predetermined distance.

[0088] The head assembly 520 utilizes at least two first drive assemblies 5220 to jointly drive the pitch and swing of the head body 5210, and utilizes the swing drive assembly 5240 and the rotation assembly 5230 to drive the head body 5210 to swing, thereby realizing the three active degrees of freedom of pitch, swing and swing of the head assembly 520.

[0089] In addition, the cable of the first drive component 5220 can pass through the first through hole 5231 of the rotating component 5230 and be electrically connected or communicatively connected to the control board 540. Since the cable of the first drive component 5220 can pass through the first through hole 5231 and pass through the rotation axis of the rotating component 5230 as much as possible, that is, near the sixth axis L6, the head component 520 will avoid friction with the cable of the first drive component 5220 as much as possible during the shaking of the head, thereby reducing the probability of damage to the cable of the first drive component 5220.

[0090] For example, Figure 14 and Figure 15 As shown, the head assembly 520 further includes a driving pulley 5250, a driven pulley 5260, and a synchronous belt 5270. The driving pulley 5250 is connected to the oscillating output member 5242 and rotates with the oscillating output member 5242. The driven pulley 5260 is connected to the rotating assembly 5230 and has a second through-hole 5261. The centerline of the second through-hole 5261 is collinear with the sixth axis L6, and the cable of the first drive assembly 5220 can pass through the second through-hole 5261. The synchronous belt 5270 is mounted on the driving pulley 5250 and the driven pulley 5260, so that the driving pulley 5250 drives the driven pulley 5260 to rotate about the sixth axis L6 through the synchronous belt 5270.

[0091] The shaking drive component 5240 and the rotating component 5230 are driven by the driving pulley 5250, the driven pulley 5260 and the synchronous belt 5270. The back clearance of the synchronous belt 5270 is small, which can improve the transmission accuracy of the head component 520.

[0092] For example, Figure 14As shown, the driving pulley 5250 rotates around the seventh axis L7, and the seventh axis L7 is parallel to the sixth axis L6.

[0093] In some embodiments, as Figure 12 、 Figure 16 and Figure 17 As shown, one of the at least two first drive assemblies 5220 is a pitch drive assembly 5221, and the other is a swing drive assembly 5222. The pitch drive assembly 5221 includes a pitch drive member 5321 and a pitch output member 5421 connected to each other. The pitch drive member 5321 is connected to the head body 5210, and the pitch output member 5421 rotates about the eighth axis L8 under the drive of the pitch drive member 5321. The swing drive assembly 5222 includes a swing drive member 5322 and a swing output member 5422 connected to each other. The swing drive member 5322 is rotatably connected to the head body 5210 about a ninth axis L9, which is parallel to the eighth axis L8. The swing output member 5422 is connected to the first end of the rotation assembly 5230, and the swing output member 5422 rotates about a tenth axis L10, which is perpendicular to the ninth axis L9, under the drive of the swing drive member 5322.

[0094] like Figures 16 and 17 As shown, the head assembly 520 further includes a first connecting rod assembly 5280. A first end of the first connecting rod assembly 5280 is movably connected to the first connecting portion 5431 of the pitch output member 5421, and a second end of the first connecting rod assembly 5280 is movably connected to the second connecting portion 5332 of the swing head driving member 5322. The first connecting portion 5431 is located circumferentially of the eighth axis L8, and the second connecting portion 5332 is located circumferentially of the ninth axis L9.

[0095] Exemplarily, there are two first drive components 5220, one is the pitch drive component 5221, and the other is the swing drive component 5222. The pitch and swing functions of the head body 5210 can be realized by a pitch drive component 5221, a swing drive component 5222 and a first connecting rod component 5280, so that the structure of the head component 520 is simple, the size is small, and the degree of anthropomorphism is high.

[0096] In some embodiments, as Figure 11 、 Figures 18 to 20As shown, one of the at least two first drive assemblies 5220 is a first parallel drive assembly 5223, and the other is a second parallel drive assembly 5224. The first end of the rotation assembly 5230 includes a first component 5232, a second component 5233, and a third component 5234 connected in sequence. The torso assembly 510 and the second component 5233 are rotatably connected about an eleventh axis L11, and the head body 5210 is rotatably connected to the torso assembly 510 about a twelfth axis L12, which is perpendicular to the eleventh axis L11.

[0097] The first parallel drive assembly 5223 includes a first parallel drive member 5323 and a first parallel output member 5423 connected to each other. The first parallel drive member 5323 is connected to the head body 5210. The first parallel output member 5423 is driven by the first parallel drive member 5323 to rotate about a thirteenth axis L13, which is perpendicular to the twelfth axis L12.

[0098] The second parallel drive assembly 5224 includes a second parallel drive member 5324 and a second parallel output member 5424 connected to each other. The second parallel drive member 5324 is connected to the head body 5210. The second parallel output member 5424 is driven by the second parallel drive member 5324 to rotate about the fourteenth axis L14, which is perpendicular to the twelfth axis L12.

[0099] The head assembly 520 further includes a second connecting rod assembly 5290 and a third connecting rod assembly 5291. The first end of the second connecting rod assembly 5290 is movably connected to the third connecting portion 5433 of the first parallel output member 5423. The second end of the second connecting rod assembly 5290 is movably connected to the first component 5232. The third connecting portion 5433 is located circumferentially with the thirteenth axis L13. The first end of the third connecting rod assembly 5291 is movably connected to the fourth connecting portion 5434 of the second parallel output member 5424. The second end of the third connecting rod assembly 5291 is movably connected to the third component 5234. The fourth connecting portion 5434 is located circumferentially with the fourteenth axis L14.

[0100] Exemplarily, there are two first drive components 5220, one is the first parallel drive component 5223, and the other is the second parallel drive component 5224. The pitch and swing functions of the head body 5210 can be realized through a first parallel drive component 5223, a second parallel drive component 5224, a second connecting rod component 5290 and a third connecting rod component 5291, so that the structure of the head component 520 is simple, the size is small, and the degree of anthropomorphism is high.

[0101] For example, the control board 540 is in communication with the first parallel drive member 5323 and the second parallel drive member 5324, respectively, to control the first parallel drive member 5323 and the second parallel drive member 5324 to respectively drive the first parallel output member 5423 and the second parallel output member 5424 to rotate in the same direction, thereby achieving the pitch of the head body 5210. Alternatively, the control board 540 controls the first parallel drive member 5323 and the second parallel drive member 5324 to respectively drive the first parallel output member 5423 and the second parallel output member 5424 to rotate in opposite directions, thereby achieving the left and right swing of the head body 5210. Using the control board 540 to control the rotation direction of the first parallel drive member 5323 and the second parallel drive member 5324 to achieve the pitch and swing of the head body 5210, the control method is simple and convenient.

[0102] In some embodiments, as Figure 11 、 Figure 21 and Figure 22 As shown, the torso component 510 has a front 5101 and a back 5102 that are relatively arranged. The robot 10 also includes a display component 600, which can be detachably mounted on the back 5102 of the torso component 510 to facilitate the operator to follow behind the robot 10 and operate the display component 600.

[0103] In some embodiments, as Figures 22 to 32 As shown, the display assembly 600 includes a display 610, a carrier 620, a locking shaft 630, and a locking member 640. The carrier 620 is connectable to the display 610. The first end of the locking shaft 630 is connected to the carrier 620, and the outer sidewall of the second end of the locking shaft 630 includes a locking portion 6301. The locking member 640 is connected to the back 5102 of the torso assembly 510. The locking member 640 includes a locking hole 6401, a first limiting portion 6402, and an avoidance notch 6403 communicating with the locking hole 6401. The avoidance notch 6403 and the first limiting portion 6402 are both arranged in the circumference of the locking hole 6401. The locking hole 6401 and the avoidance notch 6403 both penetrate the locking member 640 along the second direction X2. The locking member 640 has a first surface 6410 and a second surface 6420 arranged opposite to each other in the second direction X2. The first limiting portion 6402 is located on the second surface 6420. The second direction X2 is the direction from the first surface 6410 to the second surface 6420.

[0104] During the process of the locking shaft 630 passing through the locking hole 6401 along the second direction X2, the locking portion 6301 can pass through the avoidance gap 6403, and then during the process of the supporting member 620 driving the locking shaft 630 to rotate around the axis of the locking shaft 630 relative to the locking member 640, the locking portion 6301 can rotate from being aligned with the avoidance gap 6403 to being in contact with the first limiting portion 6402, so that the locking shaft 630 cannot escape from the locking member 640 in the direction opposite to the second direction X2, thereby achieving the locking of the locking shaft 630, so that the supporting member 620 and the display 610 are locked to the back 5102 of the torso assembly 510, and the locking method is quick, simple and reliable.

[0105] In addition, when the display 610 needs to be disassembled, the operator rotates the supporting member 620. In the process of the supporting member 620 driving the locking shaft 630 to rotate relative to the locking member 640 around the axis of the locking shaft 630, the locking portion 6301 can be rotated from abutting against the first limiting portion 6402 to aligning with the avoidance notch 6403, so that the operator can pull the locking shaft 630 out of the locking hole 6401 in a direction opposite to the second direction X2, thereby removing the supporting member 620 and the display 610 from the back 5102 of the torso assembly 510. The disassembly method is quick, simple and reliable.

[0106] In addition, after the operator removes the display 610 from the back 5102 of the torso assembly 510, the operator can operate the display 610 at a position away from the upper body assembly 500, avoiding the upper body assembly 500 moving and accidentally injuring the operator when the operator follows the upper body assembly 500 to operate the display 610, thereby further ensuring the personal safety of the operator.

[0107] Exemplarily, there are two locking portions 6301, which are disposed oppositely on the outer sidewall of the second end of the locking shaft 630. There are also two avoidance notches 6403 and two first limiting portions 6402, with the two avoidance notches 6403 disposed oppositely on either side of the locking hole 6401, and the two first limiting portions 6402 disposed oppositely on the other two sides of the locking hole 6401. As the locking shaft 630 passes through the locking hole 6401 along the second direction X2, the two locking portions 6301 can respectively pass through their corresponding avoidance notches 6403. As the locking shaft 630 rotates relative to the locking member 640 about the axis of the locking shaft 630, the two locking portions 6301 can rotate from being aligned with their corresponding avoidance notches 6403 to abutting against their corresponding first limiting portions 6402. The two locking portions 6301 are respectively in contact with the two first limiting portions 6402 , thereby increasing the contact area between the locking shaft 630 and the locking member 640 , and further improving the locking stability of the locking member 640 on the locking shaft 630 .

[0108] For example, Figure 23As shown, when the display assembly 600 is in an unlocked state, the display 610 on the display assembly 600 is in a vertical state, as shown in FIG. Figure 32 As shown, when the display assembly 600 is in the locked state, the display 610 on the display assembly 600 is in a horizontal state.

[0109] Exemplarily, the display 610 is bonded to the side of the carrier 620 away from the locking shaft 630 to achieve a detachable connection between the display 610 and the carrier 620. This not only enables the display 610 to be stably maintained on the carrier 620, preventing the display 610 from shifting or falling, but also makes it easier for the operator to remove the display 610 from the carrier 620.

[0110] In some embodiments, as Figure 2 as well as Figures 33 to 35 As shown, the chassis body assembly 100 includes a chassis body 110, a connecting frame 120 and a shock absorber 130. The connecting frame 120 includes a first connecting portion 1201, a second connecting portion 1202 and a third connecting portion 1203 connected in sequence, and the second connecting portion 1202 is rotatably connected to the chassis body 110. The shock absorber 130 is arranged between the chassis body 110 and the connecting frame 120, with one end of the shock absorber 130 connected to the chassis body 110 and the other end of the shock absorber 130 connected to the connecting frame 120. For example, Figure 33 As shown, the second connection portion 1202 and the chassis body 110 rotate relative to each other around the fifteenth axis L15.

[0111] The travel wheel assembly 200 includes two first travel wheel assemblies 210 and two second travel wheel assemblies 220. The first travel wheel assembly 210 includes a first omnidirectional drive member 2110 and a first travel wheel 2120 connected to each other. The first omnidirectional drive member 2110 of each of the two first travel wheel assemblies 210 is respectively connected to the first connecting portion 1201 and the third connecting portion 1203. The first travel wheel 2120 is configured to rotate about the axis of the first travel wheel 2120, and the first omnidirectional drive member 2110 is configured to drive the first travel wheel 2120 to rotate about an axis perpendicular to the axis of the first travel wheel 2120. The second traveling wheel assembly 220 includes a second omnidirectional drive component 2210 and a second traveling wheel 2220 that are interconnected. The second omnidirectional drive component 2210 is connected to the chassis body assembly 100. The second traveling wheel 2220 is configured to rotate around the axis of the second traveling wheel 2220. The second omnidirectional drive component 2210 is configured to drive the second traveling wheel 2220 to rotate around an axis perpendicular to the axis of the second traveling wheel 2220.

[0112] The chassis body assembly 100 rotatably connects the connecting frame 120 with the chassis body 110, and arranges two first running wheel assemblies 210 and two second running wheel assemblies 220 on opposite sides of the fifteenth axis L15, so that when the robot 10 with the chassis body assembly 100 moves on an uneven road surface, the connecting frame 120 and the two first running wheel assemblies 210 located on both sides of the fifteenth axis L15 form a structure like a seesaw that can swing around the fifteenth axis L15, so that the first running wheels 2120 located on opposite sides of the fifteenth axis L15 can both maintain contact with the road surface. In addition, by arranging a shock absorber 130 between the chassis body 110 and the connecting frame 120, and the two ends of the shock absorber 130 are respectively connected to the chassis body 110 and the connecting frame 120, when the connecting frame 120 swings around the fifteenth axis L15 relative to the chassis body 110, the shock absorber 130 can be used to absorb the vibration between the connecting frame 120 and the chassis body 110, so as to reduce the risk of bumps in the chassis body assembly 100 and improve the operating stability of the robot 10 having the chassis body assembly 100.

[0113] For example, Figure 2 and Figure 35 As shown, the omnidirectional drive 201 includes a first omnidirectional drive 2110 , and the running wheel 202 includes a first running wheel 2120 . Exemplarily, the omnidirectional drive 201 includes a second omnidirectional drive 2210 , and the running wheel 202 includes a second running wheel 2220 .

[0114] References in the specification to "one embodiment," "an embodiment," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0115] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” means not only “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes the meaning of “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0116] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one component or feature relative to other components or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of a component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0117] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0118] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A robot, characterized in that: include: Chassis body assembly; A travel wheel assembly, comprising an omnidirectional drive member and a travel wheel connected to each other, the omnidirectional drive member being connected to the chassis body assembly, the travel wheel being configured to rotate about its axis, and the omnidirectional drive member being configured to drive the travel wheel to rotate about an axis perpendicular to the axis of the travel wheel; a folding assembly, a first end of the folding assembly being connected to the chassis body assembly, the folding assembly being capable of extending and folding so that a second end of the folding assembly can be raised and lowered; The waist assembly includes a first waist twist assembly, a waist pitch assembly, and a second waist twist assembly, wherein the first end of the first waist twist assembly and the second end of the folding assembly are rotatable around a first axis, the first end of the waist pitch assembly and the second end of the first waist twist assembly are rotatable around a second axis, and the first end of the second waist twist assembly and the second end of the waist pitch assembly are rotatable around a third axis, the second axis is perpendicular to the first axis, and the third axis is perpendicular to the second axis; An upper body component is connected to the second end of the second waist twist component and is configured to interact with a target object.

2. The robot according to claim 1, characterized in that The chassis body assembly includes an upwardly opening accommodating space, the first end of the folding assembly is connected to the bottom wall of the accommodating space, and the height of the bottom wall of the accommodating space in the vertical direction is less than the height of the upper surface of the walking wheel in the vertical direction.

3. The robot according to claim 2, characterized in that The folding assembly comprises: a first folding member connected to the bottom wall of the accommodating space; The second folding member includes a first component and a second component respectively provided on both sides of the first folding member in the first direction, wherein a first end of the first component and a first end of the second component are respectively rotatable with the first folding member around a fourth axis, an escape space is formed between the first component and the second component, and the first direction is parallel to an extension direction of the fourth axis; a third folding member, rotatable together with the second end of the first component and the second end of the second component about a fifth axis, the first component and the second component being disposed on either side of the third folding member in the first direction, the fifth axis being parallel to the fourth axis; Wherein, when the folding assembly is folded, the avoidance space can accommodate at least a portion of the first folding piece and at least a portion of the third folding piece.

4. The robot according to claim 3, characterized in that The second folding member further includes: a primary folding driving member, connecting the second folding member and the first folding member, and configured to drive the second folding member and the first folding member to rotate around the fourth axis; and / or, The third folding member includes: a secondary folding body, rotatably connected to the second end of the first component and the second end of the second component about the fifth axis, the first component and the second component being disposed on both sides of the secondary folding body in the first direction; The secondary folding driving member connects the secondary folding body and the second folding member and is configured to drive the secondary folding body and the second folding member to rotate around the fifth axis.

5. The robot according to any one of claims 1 to 4, characterized in that: The first waist twisting component comprises: a first waist twisting body, wherein a first end of the first waist twisting body is rotatably connected to a second end of the folding assembly around the first axis; a first waist twisting driving member connected to the first end of the first waist twisting body and the second end of the folding assembly, and configured to drive the first waist twisting body to rotate around the first axis relative to the second end of the folding assembly; The waist pitch component comprises: a waist pitching body, wherein a first end of the waist pitching body is rotatably connected to a second end of the first waist twisting body about the second axis; a waist pitch driving member, connected to the first end of the waist pitch body and the second end of the first waist twisting body, and configured to drive the waist pitch body to rotate around the second axis relative to the second end of the first waist twisting body; The second waist twisting component includes: a second waist twisting body, wherein a first end of the second waist twisting body is rotatably connected to a second end of the waist pitching body about the third axis; The second waist twisting driving member connects the first end of the second waist twisting body and the second end of the waist pitching body, and is configured to drive the second waist twisting body to rotate around the third axis relative to the second end of the waist pitching body.

6. The robot according to any one of claims 1 to 4, characterized in that: The upper body assembly comprises: a torso assembly connected to the second end of the second waist twist assembly; a head assembly connected to an end of the torso assembly away from the second waist twisting assembly; Two arm assemblies are respectively connected to opposite sides of the torso assembly.

7. The robot according to claim 6, characterized in that The upper body assembly further comprises: a control panel, disposed on the torso assembly; The head assembly includes: Head body; At least two first drive assemblies connected to the head body, and the at least two first drive assemblies are configured to jointly drive the head body to pitch and swing; a rotation assembly comprising a first through-hole, the rotation assembly having a first end and a second end opposite to each other along a through-hole direction of the first through-hole, the first end of the rotation assembly being connected to the head body and / or at least one of the first drive assemblies, the control board being adjacent to the second end of the rotation assembly, and a cable of the first drive assembly being capable of passing through the first through-hole and being electrically or communicatively connected to the control board; The oscillating head drive assembly includes an oscillating head drive member and an oscillating head output member, wherein the oscillating head output member rotates under the drive of the oscillating head drive member, the oscillating head drive member is connected to the torso assembly, the oscillating head output member is in transmission connection with the rotating assembly, and the rotating assembly rotates around the sixth axis driven by the oscillating head output member so that the rotating assembly drives the head body to oscillate, wherein the center line of the first through hole is parallel to the sixth axis, and the vertical distance between the center line of the first through hole and the sixth axis is less than the first preset distance.

8. The robot according to claim 6, characterized in that The torso assembly has a front and a back that are arranged opposite to each other, and the robot further includes: The display component is detachably mounted on the back of the torso component.

9. The robot according to claim 8, characterized in that The display assembly comprises: monitor; a carrier capable of being connected to the display; a locking shaft, wherein a first end of the locking shaft is connected to the bearing member, and an outer side wall of a second end of the locking shaft includes a locking portion; a locking member connected to the back of the torso assembly, the locking member comprising a locking hole, a first limiting portion, and an avoidance notch communicating with the locking hole, the avoidance notch and the first limiting portion being both arranged in a circumferential direction of the locking hole, the locking hole and the avoidance notch both penetrating the locking member along a second direction, the locking member having a first surface and a second surface disposed opposite to each other in the second direction, the first limiting portion being located on the second surface, and the second direction being a direction from the first surface to the second surface; In which, when the locking shaft passes through the locking hole along the second direction, the locking portion can pass through the avoidance gap, and then when the supporting member drives the locking shaft to rotate relative to the locking member around the axis of the locking shaft, the locking portion can rotate from being aligned with the avoidance gap to abutting against the first limiting portion.

10. The robot according to any one of claims 1 to 4, characterized in that: The chassis body assembly includes: Chassis body; A connecting frame, comprising a first connecting portion, a second connecting portion and a third connecting portion connected in sequence, wherein the second connecting portion is rotatably connected to the chassis body; a shock absorbing member disposed between the chassis body and the connecting frame, wherein one end of the shock absorbing member is connected to the chassis body, and the other end of the shock absorbing member is connected to the connecting frame; Wherein, the walking wheel assembly includes: Two first travel wheel assemblies, each of the first travel wheel assemblies including a first omnidirectional drive member and a first travel wheel connected to each other, the first omnidirectional drive member of each of the two first travel wheel assemblies being connected to the first connecting portion and the third connecting portion, respectively, the first travel wheel being configured to rotate about an axis of the first travel wheel, and the first omnidirectional drive member being configured to drive the first travel wheel to rotate about an axis perpendicular to the axis of the first travel wheel; Two second traveling wheel assemblies, the second traveling wheel assembly includes a second omnidirectional drive member and a second traveling wheel connected to each other, the second omnidirectional drive member is connected to the chassis body assembly, the second traveling wheel is configured to rotate around the axis of the second traveling wheel, and the second omnidirectional drive member is configured to drive the second traveling wheel to rotate around an axis perpendicular to the axis of the second traveling wheel.

Images