Robot

Abstract

The embodiment of the invention provides a robot. The robot comprises a moving assembly suitable for enabling the robot to move in multiple directions; a torso assembly coupled to the moving assembly and adjustable in height relative to the moving assembly, the torso assembly including a shoulder joint portion and a neck joint portion; the bionic double arms comprise a left arm and a right arm, the left arm and the right arm are movably coupled to the two sides of the trunk assembly through shoulder joint parts so as to achieve three-degree-of-freedom movement relative to the trunk assembly, and the left arm and the right arm each comprise an elbow joint part and a wrist joint part; a large arm mechanism and a small arm mechanism coupled via the elbow joint portion to rotate relative to each other about an axis of the elbow joint portion; the execution component is coupled to the tail end, away from the large arm mechanism, of the small arm mechanism through the wrist joint part so as to achieve three-freedom-degree movement relative to the small arm mechanism; the head part is coupled to the top end of the trunk assembly through the neck joint part and located between the bionic double arms, and the head part is suitable for carrying out two-degree-of-freedom movement relative to the trunk assembly.

Description

TECHNICAL FIELD

[0001] Example embodiments of the present disclosure generally relate to the field of robotics, and in particular, to a robot. BACKGROUND

[0002] Humanoid robots involve multiple fields such as mechanical engineering, materials science, electrical and electronic, sensor technology, etc. With the rapid development of artificial intelligence and robotics technology, humanoid robots are gradually moving from laboratory research to practical application, and especially show broad prospects in task execution and human collaboration in complex environments. However, humanoid robots in the prior art generally face many challenges, such as high weight, low endurance, poor mobility flexibility, and insufficient operation precision, etc. SUMMARY

[0003] In a first aspect of the present disclosure, a robot is provided. The robot comprises: a mobile assembly adapted for enabling the robot to move in multiple directions; a torso assembly coupled to the mobile assembly and capable of adjusting a height relative to the mobile assembly, the torso assembly comprising a shoulder joint portion and a neck joint portion; a pair of bionic arms comprising a left arm and a right arm, respectively movably coupled to two sides of the torso assembly via the shoulder joint portion to realize three degrees of freedom of movement relative to the torso assembly, and the left arm and the right arm each comprising: an elbow joint portion and a wrist joint portion; a large arm mechanism and a small arm mechanism coupled together via the elbow joint portion to rotate relative to each other about an axis of the elbow joint portion; and an execution component coupled to the small arm mechanism distal to the large arm mechanism via the wrist joint portion to realize three degrees of freedom of movement relative to the small arm mechanism; and a head coupled to a top end of the torso assembly via the neck joint portion and located between the pair of bionic arms, the head being adapted for two degrees of freedom of movement relative to the torso assembly.

[0004] In some embodiments, the shoulder joint portion comprises: a shoulder lateral swing joint adapted to realize a lateral swing degree of freedom of movement of the pair of bionic arms relative to the torso assembly; a shoulder pitch joint coupled to the shoulder lateral swing joint and adapted to realize a lateral pitch degree of freedom of movement of the pair of bionic arms relative to the torso assembly; and a shoulder spin joint coupled to the shoulder pitch joint and adapted to realize a lateral spin degree of freedom of movement of the pair of bionic arms relative to the torso assembly.

[0005] In some embodiments, the wrist joint portion comprises: a coupling assembly coupled to a side of the small arm mechanism distal to the elbow joint portion and adapted to realize three degrees of freedom of movement of the execution component relative to the small arm mechanism, including pitch, lateral swing, and spin.

[0006] In some embodiments, the coupling assembly comprises: an output component adapted to be coupled to the execution component and arranged to enable the execution component to rotate relative to the forearm mechanism about three mutually perpendicular axes for three degrees of freedom movement; a wrist rotation joint coupled to the forearm mechanism to drive the output component to rotate about a first axis parallel to the extension direction of the forearm mechanism; and a compound driving joint coupled to the wrist rotation joint to drive the output component to rotate about a second axis and a third axis of the three axes, the second axis and the third axis being perpendicular to the first axis.

[0007] In some embodiments, the neck joint part comprises: a head self-rotation joint coupled to the torso assembly and adapted to enable the head to rotate about a head self-rotation axis; and a head pitch joint coupled to the head self-rotation joint and the head and adapted to adjust the head to rotate about a head pitch axis.

[0008] In some embodiments, the head comprises a camera adapted to acquire images of the surroundings of the robot.

[0009] In some embodiments, the moving assembly comprises: a chassis; and a plurality of wheels coupled to the bottom side of the chassis and drivable to move in a plurality of directions.

[0010] In some embodiments, the robot further comprises: a sensor arranged on the chassis and located at an end of the chassis in the direction of travel, adapted to sense the environment around the robot; and a master control unit arranged on the chassis and electrically connected to the sensor, the moving assembly, the torso assembly, the bionic arms and the head.

[0011] In some embodiments, the robot further comprises: an input device coupled to the master control unit, adapted to acquire instructions for the robot; and / or an output device coupled to the master control unit, for presenting the operating status of the robot.

[0012] In some embodiments, the robot further comprises: a power battery arranged on the chassis and adapted to supply power to the torso assembly, the bionic arms, the head, the sensor, the master control unit, and the input device and / or the output device.

[0013] In some embodiments, the torso assembly comprises: a support part coupled to the chassis and arranged at one end of the chassis in the direction of travel of the robot; and a lifting part liftably coupled to the support part.

[0014] In some embodiments, the robot further comprises: a wire harness storage box coupled to the chassis and arranged adjacent to the support part, the wire harness storage box being adapted to store the drag chain and the wire harness when the lifting part is lowered in the vertical direction; and a wire harness fixing plate coupled to the lifting part and corresponding to the wire harness storage box in the vertical direction, adapted to fix the drag chain and the wire harness during the lifting of the lifting part.

[0015] In some embodiments, the mobile assembly further comprises: a chassis battery disposed within the chassis, adapted to power the mobile assembly.

[0016] In some embodiments, the execution component comprises: a gripper coupled to the forearm mechanism via the wrist joint, distal to the end of the upper arm mechanism, adapted to grasp the target object.

[0017] In some embodiments, the camera comprises an RGB depth camera.

[0018] In some embodiments, the sensor comprises a laser radar.

[0019] It is to be understood that the contents described in this section are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they used to limit the scope of the present disclosure. Other features of the present disclosure will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings in which:

[0021] Fig. 1 and Fig. 2 A perspective view of a robot according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0022] Embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which some embodiments of the present disclosure are shown. This present disclosure may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the present disclosure to those skilled in the art. It will be appreciated that the scope of the present disclosure is not limited to the embodiments set forth herein, but is rather intended to encompass all embodiments falling within the scope of the present disclosure.

[0023] Note that the titles of any sections / subsections provided herein are not limiting. Various embodiments are described throughout this document, and any type of embodiment can be included under any section / subsection. Furthermore, embodiments described in any section / subsection can be combined with any other embodiment described in the same section / subsection and / or a different section / subsection in any manner.

[0024] In the description of embodiments of the disclosure, the term "includes" and its conjugates are open-ended, meaning "including but not limited to". The term "based on" is intended to mean "based, at least in part, on" which is not to be construed in an exclusive or exhaustive sense. The term "one embodiment" or "an embodiment" is intended to mean "at least one embodiment". The term "some embodiments" is intended to mean "at least some embodiments". Other explicitly and implicitly recited definitions can also be found in the description that follows. The terms "first", "second", etc. can refer to different or the same objects. Other explicit and implicit definitions can also be found in the following.

[0025] As mentioned in the foregoing, the problems of existing robots. Specifically, the existing robots do not fully consider the multi-degree-of-freedom flexibility of the humanoid upper limbs and waist in the degree-of-freedom configuration. In addition, the multi-degree-of-freedom joints of the existing robots are easily affected by cumulative errors in actual application. Since each joint will produce a certain position deviation, when these deviations are accumulated along the entire kinematic chain, it will eventually lead to inaccurate posture control of the multi-degree-of-freedom joint.

[0026] To solve or at least partially solve the above-mentioned problems or other potential problems of the robots of the conventional solutions, embodiments of the present disclosure provide a robot solution. According to the solution of the embodiments of the present disclosure, the moving assembly of the robot is adapted for the robot to be able to move in multiple directions. Further, the torso assembly of the robot is coupled to the moving assembly and is able to adjust the height relative to the moving assembly, the torso assembly including a shoulder joint part and a neck joint part. Further, the robot's bionic arms include left and right arms. The left and right arms are respectively movably coupled to both sides of the torso assembly via the shoulder joint part to achieve three degrees of freedom motion relative to the torso assembly. The left and right arms respectively include an elbow joint part and a wrist joint part; a large arm mechanism and a small arm mechanism, coupled together via the elbow joint part to rotate relative to each other around the axis of the elbow joint part; and an execution component, coupled to the small arm mechanism at the end away from the large arm mechanism via the wrist joint part to achieve three degrees of freedom motion relative to the small arm mechanism. Further, the head of the robot is coupled to the top end of the torso assembly via the neck joint part and is located between the bionic arms, and the head is adapted to move in two degrees of freedom relative to the torso assembly.

[0027] In this way, by integrating omnidirectional movement, multi-degree-of-freedom bionic arms, end execution components, and multi-degree-of-freedom head, the robot can achieve good maneuverability, operational flexibility, and environmental perception capability. The robot adopts a height-adjustable torso assembly, which enables the robot to adapt to different working scenarios and complete complex operation tasks. The robot combines the sensors of the RGB depth camera and the 2D laser radar, which can accurately perceive the surrounding environment and achieve efficient navigation and obstacle avoidance. At the same time, the robot has multi-task collaborative work capability and can efficiently perform tasks in dynamic environments.

[0028] Figs. 1-2 The robot is shown in perspective view respectively. The robot according to embodiments of the present disclosure can refer to any suitable robot, for example, can include but is not limited to humanoid robots, crawling robots, industrial robots, service robots, fully autonomous robots, semi-autonomous robots, remote control robots, robotic arms, and the like.

[0029] An example structure of the robot according to embodiments of the present disclosure will be described below, for example, taking a humanoid robot as an example. The humanoid robot can include several main components: head, torso, arm, hand, leg and foot. These components can be connected by joint devices according to embodiments of the present disclosure to imitate the natural posture and movement of human beings. Their connection design not only needs to ensure the flexibility between components, but also needs to have certain stability and strength to cope with complex movements and loads.

[0030] An example structure of the robot 100 will be described below in combination with Figs. 1-2 As shown in Fig. 1 and Fig. 2 , the robot 100 according to embodiments of the present disclosure generally includes a mobile assembly 110, a torso assembly 120, a bionic double arm 130 and a head 150. In the embodiment shown in Figs. 1-2 , a humanoid robot is shown. In the following, the concept according to the present disclosure will mainly be described taking a humanoid robot as an example, and it should be understood that the case for other types of robots is similar and will not be described again in the following.

[0031] Specifically, the mobile assembly 110 is a moving platform of the robot 100, used to provide the robot 100 with the ability to move in multiple directions. The mobile assembly 110 can adopt an omnidirectional moving system, so that the robot 100 can realize multi-directional movement such as in-place zero-radius rotation, forward and backward translation, left and right translation, etc., thereby having higher flexibility and maneuverability in narrow or complex environments. For example, the mobile assembly 110 can realize its omnidirectional moving ability through wheeled driving, tracked driving or similar driving modes.

[0032] Further, the torso assembly 120 is a structural member connected to the mobile assembly 110. The torso assembly 120 can adjust its height relative to the mobile assembly 110 to adapt to different working environments. The torso assembly 120 includes a shoulder joint part 121 for connecting and supporting the left and right arm parts, and a neck joint part 122 for supporting the head 150 of the robot 100. The neck joint part 122 provides two degrees of freedom of movement of the head 150 relative to the torso, so that the head 150 can perform pitching and spinning movements to adjust the angle of the head 150 and achieve a wider sensing range.

[0033] Further, the bionic arms 130 are composed of left arm 131 and right arm 132, which are movably coupled to the two sides of the torso assembly 120 through the shoulder joint part 121 respectively. Each arm part can move freely around the shoulder joint part 121. The shoulder joint part 121 can provide three degrees of freedom of movement. Of course, it can be understood that in the robot 100, the three mutually perpendicular axes usually refer to the X axis, the Y axis and the Z axis in a three-dimensional Cartesian coordinate system. When describing a joint of a robot 100 that can move or rotate on these axes, it means that it can independently move or rotate in each of the three directions in three-dimensional space. If the joint can rotate around the three axes, it means that it can provide roll, pitch and yaw movements, i.e. roll is rotation around the X axis. Pitch is rotation around the Y axis. Yaw is rotation around the Z axis.

[0034] Further, each arm part includes an elbow joint part 1301 and a wrist joint part. The elbow joint part 1301 allows the large arm mechanism and the small arm mechanism to rotate relative to the elbow joint axis, providing the bending and stretching function of the arm part. The wrist joint part is connected to the end of the small arm mechanism, allowing the wrist to move in multiple directions such as roll, pitch and yaw, further improving the flexibility and operation precision of the arm.

[0035] Further, the large arm mechanism and the small arm mechanism are connected through the elbow joint part 1301, and the movement control of the elbow joint part 1301 can make the large arm and the small arm rotate around a specific axis. The large arm mechanism is connected to the torso assembly 120, and the small arm mechanism is connected to the execution component 190, forming a complete motion chain.

[0036] Further, the execution component 190 is connected at the end of the small arm mechanism via the wrist joint part, and is located away from the large arm mechanism. The execution component 190 can change according to task requirements, such as gripper, gripper and other instruments, and through the movement control of the wrist joint part, the execution component 190 can move in three-dimensional space to perform object grabbing, operation and other tasks.

[0037] Further, the head 150 is connected to the top end of the torso assembly 120 through the neck joint part 122 and is located between the left and right bionic arms 130. The neck joint part 122 allows the head 150 to move relative to the torso assembly 120 with two degrees of freedom, such as pitch and yaw movements. This allows the robot 100 to adjust the viewing angle of the head 150 and improve the visual perception ability. For example, the head 150 can carry visual sensors (equivalent to "eyes") such as RGB cameras, depth cameras, etc. for the robot 100 to perform tasks such as environment perception, object recognition and navigation.

[0038] In some embodiments, the head 150 can include a microphone (equivalent to "ears") and various sensors 150 for sensing the surrounding environment and interacting with the outside world.

[0039] Therefore, the mobile assembly 110 can ensure its free movement in various environments, the torso assembly 120 provides support and has a height adjustment function, the bionic arms 130 achieve precise operation through the coordinated movement of multiple degrees of freedom, and the head 150 provides the sensing ability of the robot 100. The robot 100 can perform diversified tasks in complex environments and has high adaptability and operation precision.

[0040] Of course, it should be understood that the various movements of the above-mentioned mobile assembly 110, torso assembly 120, bionic arms 130 and head 150 can be achieved by driving components such as motors, but this is only illustrative and is not intended to limit the scope of the present disclosure. In some alternative embodiments, the driving components can also include hydraulic or pneumatic driving components with driving rods, which will not be described separately hereinafter.

[0041] In some embodiments, the mobile assembly 110 includes a chassis 1101 and a plurality of wheels 1102. The chassis 1101 is part of the moving platform of the entire robot 100, carries the weight of other components of the robot 100, and provides stable support. The plurality of wheels 1102 can be coupled to the chassis 1101 through a specific structure and can move in multiple directions to ensure the mobility of the robot 100 in various environments.

[0042] Further, the chassis 1101 can be made of high-strength materials such as aluminum alloy, composite material or steel, etc. to ensure that it has sufficient load-bearing capacity and shock resistance. The shape of the chassis 1101 can be selected according to the overall needs of the robot 100, such as rectangular, circular or customized shape, to ensure the center of gravity balance and stability in the arrangement of the components of the robot 100. In addition, appropriate positions will be reserved on the chassis 1101 for mounting other important components of the robot 100, such as the mobile wheels 1102, the sensors 150, the battery, the main control unit 101, etc.

[0043] Further, the movement assembly 110 is implemented by a plurality of wheels 1102 to realize the movement capability of the robot 100 in different directions. The wheels 1102 are coupled to the bottom side of the chassis 1101 through bearings or other connectors, and are controlled by a driving system. Each wheel 1102 can rotate independently, allowing the robot 100 to move in multiple directions on a plane. In some embodiments, the wheels 1102 can adopt the type of omni-wheels or mecanum wheels, which can enable the robot 100 to realize zero-radius rotation in place and translational motion in various directions without rotating.

[0044] Of course, it can be understood that the wheels 1102 can move in multiple directions. Specifically, the robot 100 can realize movement functions such as forward movement, backward movement, left-right translation, rotation in place, etc. By controlling the rotation speed and steering angle of the wheels 1102, the movement assembly 110 can control the movement trajectory of the robot 100 to adapt to the operation requirements in different complex environments. The driving system of each wheel 1102 can work independently or jointly to ensure that the robot 100 can be accurately positioned and moved in space.

[0045] In some embodiments, the movement assembly 110 further includes a chassis battery. The chassis battery is arranged inside the chassis 1101 and is specifically used to provide power for the movement assembly 110. For example, the chassis battery can adopt a high-energy-density battery type such as a lithium iron phosphate battery or a ternary lithium battery. Further, the chassis battery is arranged inside the chassis 1101 of the robot 100 and can be located in the central region or the rear of the chassis 1101 to ensure that the robot 100 remains balanced and stable during operation. The specific location of the battery is arranged according to the layout of the chassis 1101 structure, so that the weight of the battery and the center of gravity of the robot 100 are evenly distributed, avoiding affecting the stability of the robot 100.

[0046] The chassis battery can power the movement assembly 110, including the motor that drives the movement of the robot 100, the control system, and other electronic components. The chassis battery can be coordinated with the power requirements of other parts of the robot 100 through a battery management system (BMS) to ensure that each component can obtain sufficient and stable power supply. When the robot 100 performs a movement task, the chassis battery transmits power to the driving motor of the movement assembly 110 through a power supply line for smooth movement of the robot 100, ensuring that the robot 100 can move freely in different environments. In addition, the battery management system can also monitor the state of the chassis battery in real time, including the power, temperature, charging and discharging, etc., to ensure the safety and efficiency of the robot 100 during operation.

[0047] The chassis battery can be configured with a charging interface or a wireless charging system for easy charging and replacement. The robot 100 can be charged by an external charging device or autonomously charged by an automatic charging station to ensure its stable operation for a long time. For example, the chassis battery also has a heat management function, which maintains the normal working temperature of the battery through a heat dissipation system to prevent the battery performance and life from being affected by overheating or overcooling.

[0048] In some embodiments, the robot 100 can effectively perceive the surrounding environment and be precisely controlled through the integrated sensor 150 and the master control unit 101, so as to achieve efficient movement and operation in various operation tasks.

[0049] Further, the sensor 150 is arranged at the front end of the chassis 1101 of the robot 100, at the end of the travel direction of the chassis 1101, and is intended to monitor the environment around the robot 100 in real time. For example, the sensor 150 can adopt a laser radar (LiDAR), an ultrasonic sensor, a visual sensor, or an infrared sensor, etc. to provide different types of environmental perception information. The laser radar can realize accurate three-dimensional map generation and obstacle avoidance, the ultrasonic sensor is used for short-range obstacle detection, and the visual sensor can assist in realizing the recognition and positioning of objects. The sensor 150 scans and captures data of the surrounding environment, which helps the robot 100 to perceive obstacles, recognize objects, and evaluate the current working environment. The data input of the sensor 150 can be used for path planning and obstacle avoidance of the robot 100. For example, the sensor 150 can adopt a 2D laser radar.

[0050] Further, the master control unit 101 is arranged on the chassis 1101 of the robot 100, and can be composed of a high-performance processor, a control module, and a communication interface. The master control unit 101 exchanges data and controls instructions with the sensor 150, the movement assembly 110, the torso assembly 120, the bionic arms 130, and the head 150 through electrical signals. The master control unit 101 receives environmental data from the sensor 150, analyzes and processes these data, and generates corresponding instructions to control the actions of each component of the robot 100. For the movement assembly 110, the master control unit 101 adjusts the motion strategy according to the feedback of the sensor 150 to realize accurate navigation and obstacle avoidance; for the torso assembly 120 and the bionic arms 130, the master control unit 101 coordinates the actions according to the task requirements to ensure that the execution component 190 can smoothly complete the grasping, operation or other tasks; for the head 150, the master control unit 101 directs the camera to make corresponding angle adjustment according to the environmental perception data, to improve the visual perception effect.

[0051] Exemplarily, the master control unit 101 can employ an embedded computing platform or an on-board NUC, such as a high-performance CPU or GPU based processor, capable of handling multiple real-time tasks simultaneously, such as motion hole control, master-slave station communication, vision perception, and task decision, etc. The communication between the master control unit 101 and each component is carried out through a high-speed bus, ensuring that each module can work cooperatively and respond to changes in the external environment in real time.

[0052] In some embodiments, the robot 100 further comprises an input device and an output device, aiming to improve the interaction between the robot 100 and the user, facilitating the user to operate, debug, and monitor the robot 100. The input device and / or the output device can be arranged at any appropriate position of the robot, including but not limited to at least one of the following: the head, the torso assembly, the bionic arms, the moving assembly, etc. The input device is connected with the master control unit 101 for receiving and analyzing the user input instructions, and the output device is used to feedback the running state of the robot 100, ensuring real-time monitoring and information display during operation. The input device and the output device can be integrated into one device, which is not specifically limited in the embodiments of the present disclosure.

[0053] Further, the input device receives the operation instructions of the robot 100 from the user through the coupling with the master control unit 101. These instructions can include movement instructions, operation task instructions, state queries, etc. The input device can include a touch screen, a keyboard, a mouse, a voice input system, etc., through which the user can input corresponding control commands or make configuration adjustments. The input device provides an intuitive operation mode through a user interface (UI), so that even non-professional users can easily control the robot 100. In some implementations, the input device can also be combined with a remote control device integrated with the robot 100, allowing the user to remotely control and operate through wireless communication. After receiving the input instructions, the master control unit 101 analyzes and processes them to generate corresponding action instructions and sends them to each component of the robot 100, ensuring that the robot 100 executes the predetermined tasks smoothly.

[0054] Further, the output device is used to display the running state of the robot 100 to the user, including the currently executed task, the motion state, the battery level, the sensor data, and any fault or warning information, etc. The output device is a debugging screen 160 or a display, which can be a liquid crystal screen, an OLED display screen, etc. The function of the debugging screen 160 is not limited to displaying the current working state of the robot 100, but also can display the sensor data, the motion trajectory, and other system parameters in real time, which helps the user to monitor the performance and state of the robot 100. Through the output device, the user can view real-time data, diagnose faults, or adjust parameters during the operation of the robot 100, to ensure the efficient operation and task execution of the robot 100.

[0055] In some embodiments, the output device can also support multiple display modes, such as a graphical interface mode, a data table mode, or an error reporting mode, to provide information feedback and operation options. The output device can enable the robot 100 to provide clear and timely feedback to the user when performing complex tasks, which helps the user to monitor and control the robot 100.

[0056] In some embodiments, the robot 100 further comprises a power battery 170 arranged on the chassis 1101 and providing power for various components of the robot 100, including the torso assembly 120, the bionic arms 130, the head 150, the sensors 150, the main control unit 101, and the input device and / or the output device. The power battery 170 ensures that the robot 100 has long-term endurance when performing tasks and can stably provide sufficient power to each module. For example, a battery with a voltage of 24V and a capacity of 3 degrees (kilowatt-hour) can ensure that the robot 100 works continuously for a long time, improving the practicality of the robot 100.

[0057] Further, the power battery 170 is arranged at an appropriate position on the chassis 1101 of the robot 100, which can be located at the center or rear of the chassis 1101 to ensure the balance and stability of the robot 100 when moving. For example, the power battery 170 can be a high-energy-density lithium battery (such as a lithium iron phosphate battery or a ternary lithium battery). In some embodiments, the power battery 170 can be managed by a battery management system (BMS) to ensure that the charging, discharging, and temperature control of the battery are within a safe range, avoiding overcharging or overdischarging, thereby prolonging the service life of the battery.

[0058] Further, the power battery 170 provides continuous power supply for multiple components of the robot 100, including human motion of the torso assembly 120, data acquisition of the sensors 150, calculation and decision-making of the main control unit 101, and display and response of the input device and the output device. The power output of the power battery 170 is distributed through multiple power distribution units to provide stable power supply for each subsystem. In particular, for components that require high-power driving, such as the torso assembly 120 and the bionic arms 130, the power battery 170 can provide sufficient current to ensure the efficiency and stability of the robot 100 when performing complex tasks.

[0059] In some embodiments, some input devices and / or output devices can be arranged on the top of the power battery 170. By arranging these devices on the top of the battery, the operation and observation of these devices are facilitated, and the space utilization is improved, so that the robot 100 remains compact and stable in layout. The space on the top of the power battery 170 can serve as an operation surface or an interactive interface area of the robot 100, and the input devices (such as touch screens, buttons, keyboards, etc.) can be operated by the user, while the output devices (such as display screens) can feed back the state information of the robot 100. This arrangement can improve the convenience of operation of the robot 100, and also ensures that the battery position is consistent with the center of gravity of the robot 100, so as to ensure that the robot 100 has stable motion ability when performing tasks.

[0060] In some embodiments, the torso assembly 120 includes a support part 1231 and a lifting part 1232, which are designed to provide stable structural support and height adjustment functions for the robot 100. Through the cooperation of the support part 1231 and the lifting part 1232, the robot 100 can adjust its height according to the task requirements, improving the flexibility and adaptability of operation.

[0061] Further, the support part 1231 is coupled to the chassis 1101 of the robot 100 and arranged near one end of the chassis 1101 along the advancing direction of the robot 100. The support part 1231 can be made of high-strength and lightweight materials (such as aluminum alloy or carbon fiber composite material) to ensure that the support part 1231 has sufficient strength while not adding too much weight. The support part 1231 is tightly connected with the chassis 1101 to ensure the balance and stability of the robot 100 when performing tasks.

[0062] Further, the lifting part 1232 is coupled with the support part 1231 through a liftable structure, allowing the height of the torso assembly 120 to be adjusted as needed. The lifting part 1232 can be driven by an electric or hydraulic system, and by controlling the height of the lifting part 1232, the vertical movement of the torso of the robot 100 can be realized. This lifting method enables the robot 100 to adjust its height in different working scenarios to adapt to the requirements of different tasks, such as grabbing high or low objects, crossing obstacles, interacting with humans, etc. The lifting part 1232 can be equipped with sensors and feedback mechanisms to ensure the accuracy and stability of height adjustment. When the lifting part 1232 is in a high position, more working space and operation flexibility can be provided, while in a low position, the stability of the robot 100 can be improved.

[0063] Further, the lifting part 1232 can realize height adjustment through a motor drive, a lead screw, an air cylinder or a hydraulic system, and the specific type is determined according to the task requirements and use environment of the robot 100. The movement of the lifting part 1232 can be precisely adjusted by the main control unit 101.

[0064] In some embodiments, the robot 100 further comprises a wire harness storage box 1801 and a wire harness fixing plate 1802, which are coupled to the chassis 1101 and the lifting portion 1232 respectively, aiming to ensure that the electrical wire harness and the drag chain can be effectively stored and fixed during the lifting of the robot 100, so as to avoid damage or failure caused by loose or friction of the wire harness.

[0065] Further, the wire harness storage box 1801 is coupled to the chassis 1101 of the robot 100 and is arranged adjacent to the position of the support portion 1231. The wire harness storage box 1801 provides a space for the lifting portion 1232 to store the electrical wire harness and the drag chain when the lifting portion 1232 is lowered in the vertical direction. The wire harness storage box 1801 is sized to accommodate the necessary wire harness and drag chain according to the movement range of the robot 100 and the movement path of the lifting portion 1232, and can effectively store and protect these components during lifting. The wire harness storage box 1801 can be made of lightweight and flexible material, which helps to avoid damage during lifting of the robot 100, and can adapt to the dynamic changes of the wire harness and the drag chain. In addition, isolation structures or sliding grooves can be arranged in the storage box to ensure that the wire harness and the drag chain are not entangled or excessively pulled during storage.

[0066] Further, the wire harness fixing plate 1802 is coupled to the lifting portion 1232 and corresponds to the wire harness storage box 1801 in the vertical direction. The fixing plate is used to ensure that the drag chain and the wire harness can be fixed and kept stable during lifting, so as to prevent them from being pulled, twisted or loosened when the lifting portion 1232 moves. The wire harness fixing plate 1802 can be made of materials with sufficient strength, such as metal or strong plastic, to ensure the stability of the fixing effect. The surface of the fixing plate can be equipped with certain fixing devices, such as clamping grooves, clamping pieces or elastic buckles, for firmly fixing the wire harness and the drag chain at the predetermined position. In this way, the wire harness and the drag chain are always tightly fixed during the lifting of the robot 100, avoiding electrical failure or damage caused by free swinging or friction.

[0067] During the operation of the lifting portion 1232 of the robot 100, especially during the lifting or lowering of the lifting portion 1232, the fixing plate needs to ensure that the wire harness is not pulled or entangled, and can be properly stretched or adjusted within a certain range. In some embodiments, elastic connections or buffer devices can be provided between the wire harness fixing plate 1802 and the storage box to absorb shocks or impacts during lifting and protect the integrity of the electrical wire harness.

[0068] In some embodiments, the shoulder joint part 121 is configured to provide multi-degree-of-freedom motion of the bionic arms 130 relative to the torso. The shoulder joint part 121 can employ multiple independent joint modules, enabling highly adjustable dual arms. The shoulder joint part 121 includes a shoulder yaw joint 1211, a shoulder pitch joint 1212, and a shoulder roll joint 1213. These joints work in coordination to enable the dual arms of the robot 100 to perform complex operational tasks.

[0069] Further, the shoulder yaw joint 1211 is the first joint of the shoulder joint part 121, located at the connection between the shoulder and the torso assembly 120. This shoulder yaw joint 1211 is configured to realize the yaw degree-of-freedom of the bionic arms 130 relative to the torso assembly 120, i.e., the dual arms swing in the horizontal direction. Through the control of this joint, the robot 100 can realize the left and right swinging of the dual arms, thereby enhancing the spatial adaptability and flexibility of the dual arms when performing tasks. For example, the shoulder yaw joint 1211 can employ a servo motor or a stepper motor driving system.

[0070] Further, the shoulder pitch joint 1212 is coupled to the shoulder yaw joint 1211 and is configured to realize the pitch degree-of-freedom of the bionic arms 130 relative to the torso assembly 120, i.e., the dual arms move up and down in the vertical direction. Through the shoulder pitch joint 1212, the robot 100 can flexibly adjust the height and angle of the dual arms to adapt to different working environments and operational requirements. The implementation of the shoulder pitch joint 1212 can be achieved through a similar servo motor or hydraulic driving system.

[0071] Further, the shoulder roll joint 1213 is coupled to the shoulder pitch joint 1212. This shoulder roll joint 1213 is configured to realize the roll degree-of-freedom of the dual arms relative to the torso assembly 120, i.e., the rotation movement of the dual arms around their axis. The driving mode of the shoulder roll joint 1213 can employ a motor drive, achieving spin control through a motor and gear transmission system.

[0072] In this way, the three degrees-of-freedom (yaw, pitch, and roll) of the shoulder joint part 121 enable the robot 100 to realize similar flexible operations as humans, enhancing the operational capabilities of the dual arms in three-dimensional space.

[0073] In some embodiments, the wrist joint part is configured to provide control of the execution components 190 (such as grippers, clamps, tools, etc.) relative to the forearm mechanism. The wrist joint part, through the coupling assembly 140, realizes three degrees-of-freedom of motion in pitch, yaw, and roll, enabling the robot 100 to perform complex operations in three-dimensional space.

[0074] Further, the coupling assembly 140 of the wrist section is located at the wrist section. The coupling assembly 140 couples the wrist joint with the forearm mechanism through mechanical connection, and can realize freedom of movement in multiple directions. The coupling assembly 140 provides the wrist section with the freedom of movement in three directions, i.e., pitch, roll and spin. In other words, the wrist can be adjusted in the up-down, left-right and rotation directions, thereby improving the accuracy and flexibility of the robot 100 in operating objects.

[0075] The motor driving system of the coupling assembly 140 can adopt a servo motor, a stepper motor or a precision driving device, so as to ensure that the wrist section can smoothly and efficiently complete various complex movements when performing tasks.

[0076] In some embodiments, the coupling assembly 140 includes an output component 141, a wrist rotation joint 142 and a compound driving joint 143. Further, the output component 141 is connected with the execution component 190, and is used to transmit power from the wrist rotation joint 142 and the compound driving joint 143 to the execution component 190. The output component 141 can rotate around three mutually perpendicular axes, i.e., a first axis (X-axis), a second axis (Y-axis) and a third axis (Z-axis). This arrangement enables the execution component 190 to move in three degrees of freedom, i.e., pitch, roll and spin, thereby improving the operation capability of the robot 100. For example, the execution component 190 can accurately perform object grabbing, rotating and placing operations.

[0077] Further, the wrist rotation joint 142 is coupled to the forearm mechanism, and is used to drive the output component 141 to rotate around the first axis. The first axis is parallel to the extension direction of the forearm mechanism, so as to ensure that it can appropriately adjust the posture in different work tasks, such as the rotating action in object grabbing.

[0078] Further, the compound driving joint 143 is connected with the wrist rotation joint 142, and is used to drive the output component 141 to rotate around the second axis and the third axis, which are perpendicular to the first axis. The compound driving joint 143 controls the roll and pitch movements of the execution component 190. The compound driving joint 143 can be equipped with a multi-motor driving system, which can independently control the rotation of the second axis and the third axis, so as to ensure the accurate positioning and operation of the execution component 190.

[0079] In some embodiments, the execution component 190 includes a gripper. The gripper is coupled to the output component 141 of the coupling assembly 140, and is located at an end away from the forearm mechanism, and is used to grab target objects.

[0080] Further, the gripper can be composed of multiple independent gripping fingers, each of which can be controlled individually, forming an operation mode similar to human fingers. The gripping fingers of the gripper can be precisely closed or opened by a driving mechanism, ensuring that the target object can be firmly gripped. In some embodiments, the gripping finger surface of the gripper can be equipped with rubber, silicone or other flexible materials to increase the friction with the surface of the object, avoid sliding and provide better gripping effect.

[0081] The gripper can move in multiple directions relative to the forearm mechanism, such as up and down, left and right, rotation, etc. This allows the gripper to adjust its posture in multiple ways to adapt to different object gripping needs.

[0082] In some embodiments, the head 150 includes a camera, and the neck joint part 122 includes a head spin joint 1221 and a head pitch joint 1222, aiming to flexibly adjust the viewing angle of the camera, thereby improving the perception ability of the robot 100 to the surrounding environment, especially when performing gripping, operating or monitoring tasks.

[0083] Further, the camera can adopt an RGB depth camera or other suitable camera types for environmental perception. The camera is installed on the head 150 for real-time capture and analysis of the surrounding environment of the robot 100, especially for perceiving and positioning the object to be gripped. The camera obtains image data of the surrounding environment through a high-resolution image sensor, and analyzes information such as the position, shape and size of the object through image processing algorithms, providing necessary perception data for the robot 100 to perform precise gripping and operation.

[0084] Further, the head spin joint 1221 of the neck joint part 122 is coupled to the torso assembly 120 through mechanical connection, and is used to adjust the angle of the camera in the horizontal direction, enabling the head 150 to rotate around the head spin axis. That is, the head spin joint 1221 allows the camera to rotate around the vertical axis, thereby achieving all-around monitoring of the environment. Through the control of the head spin joint 1221, the robot 100 can change the viewing direction of the camera without moving the body, to capture more surrounding information, especially during object gripping and moving, ensuring that the robot 100 can adjust its viewing angle in real time and obtain more comprehensive environmental data. The head spin joint 1221 can be driven by a servo motor.

[0085] Further, the head pitch joint 1222 of the neck joint 122 is coupled to the head spin joint 1221 and the head 150, and a camera is fixed thereon through the head pitch joint 1222. The head pitch joint 1222 is used to enable the camera to adjust the pitch angle around the horizontal direction (around the head pitch axis), i.e., up and down adjustment. Through the head pitch joint 1222, the robot 100 can adjust the viewing angle of the camera in the vertical direction, which helps to perceive objects in different height ranges. When performing object grasping or operation tasks, the head pitch joint 1222 allows the camera to adjust the pitch angle as needed, ensuring that the robot 100 can accurately position and capture the complete image of the object. The head pitch joint 1222 can be controlled by a servo motor.

[0086] In some embodiments, the camera of the head 150 includes an RGB depth camera, and the sensor 150 includes a laser radar, such as a 2D laser radar. It is intended to ensure that the robot 100 can obtain accurate depth information and spatial data in a complex environment through the visual perception and laser perception system, so as to realize more accurate object recognition, environment modeling and obstacle avoidance functions.

[0087] Further, the RGB depth camera of the head 150 can capture color images and depth information simultaneously, providing comprehensive perception of the environment and objects. At the same time, the RGB depth camera can generate accurate three-dimensional data about the position and shape of the object. This camera is suitable for perceiving the position, size, shape and distance of the target object, especially for the robot 100 to perform tasks such as grasping, carrying and path planning. The output data of the RGB depth camera are processed in real time through the connection with the main control unit 101, which can provide the robot 100 with visual-based environment perception input, helping the robot 100 to judge the position and posture of the object and perform obstacle avoidance, target object grasping and other operations.

[0088] Further, the laser radar can draw a two-dimensional scan map of the surrounding environment of the robot 100 by emitting laser beams and receiving reflected signals. The laser radar can provide detailed information about the distance and relative position of obstacles, which helps the robot 100 to avoid collision during movement and complete tasks such as path planning and map construction. For example, the 2D laser radar can be installed on the chassis 1101 of the robot 100 near the front end or other suitable positions, which can scan the front, both sides and rear areas of the robot 100 in real time.

[0089] The cooperation of the RGB depth camera and the laser radar in the robot 100 can improve the environmental perception ability of the robot 100. When used in combination, the robot 100 can perform more accurate environment modeling by fusing visual information and laser information, and improve the navigation ability and obstacle avoidance accuracy of the robot 100.

[0090] Further, the sensor data is processed in real time by the main control unit 101 of the robot 100, and data fusion is performed. By combining the output information of the RGB depth camera and the 2D laser radar through an algorithm, the robot 100 can construct a three-dimensional map or a two-dimensional obstacle avoidance map of the surrounding environment in real time, and perform dynamic path planning and task execution. In addition, the data of the RGB depth camera can be used in combination with the data of the laser radar, and in a complex or irregular environment, the object recognition accuracy and environmental adaptability of the robot 100 are further improved.

[0091] The implementations of the disclosure have been described above with the aid of functional and structural descriptions of specific implementations and instrumentalities. It is to be understood that the description is not to be limited to one or more implementations. Many modifications and variations of the implementations described herein are possible and will occur to those skilled in the art. While one or more implementations have been described by the examples of the implementations, it is to be understood that the specific arrangements or instrumentalities described are not to be considered in a limiting sense. The terminology used herein is for the purpose of describing specific implementations only and is not intended to be limiting. Many modifications and variations of the implementations described herein are possible and will occur to those skilled in the art.

Claims

1. A robot, comprising: A mobile component (110) is adapted to enable the robot to move in multiple directions; A torso assembly (120) coupled to the movable assembly (110) and adjustable in height relative to the movable assembly (110), the torso assembly (120) including a shoulder joint (121) and a neck joint (122); Bionic arms (130), including a left arm (131) and a right arm (132), are movably coupled to both sides of the torso assembly (120) via shoulder joints (121) to achieve three degrees of freedom of movement relative to the torso assembly (120), and the left arm (131) and the right arm (132) respectively include: Elbow joint (1301) and wrist joint; The upper arm mechanism and the forearm mechanism are coupled together via the elbow joint (1301) to rotate relative to each other about the axis of the elbow joint (1301); and An actuator (190) is coupled via the wrist joint to the end of the forearm mechanism away from the upper arm mechanism to achieve three-free motion relative to the forearm mechanism; and The head (150), coupled to the top of the torso assembly (120) via the cervical joint (122) and located between the bionic arms (130), is adapted to move in two degrees of freedom relative to the torso assembly (120).

2. The robot according to claim 1, wherein the shoulder joint (121) comprises: The shoulder lateral swing joint (1211) is adapted to enable the bionic arms (130) to move with lateral swing degrees of freedom relative to the torso assembly (120); The shoulder pitch joint (1212) is coupled to the shoulder lateral swing joint (1211) and is adapted to realize the lateral pitch freedom of the bionic arms (130) relative to the torso assembly (120); as well as A shoulder rotation joint (1213), coupled to the shoulder pitch joint (1212), is adapted to enable the bionic arms (130) to perform lateral rotational freedom movements relative to the torso assembly (120).

3. The robot according to claim 1, wherein the wrist joint comprises: The coupling component (140) is coupled to the side of the forearm mechanism away from the elbow joint (1301) and is adapted to enable the actuator (190) to perform three degrees of freedom of motion of pitch, yaw and spin relative to the forearm mechanism.

4. The robot of claim 3, wherein the coupling component (140) comprises: The output component (141) is adapted to be coupled to the actuating component (190) and is arranged to enable the actuating component (190) to rotate relative to the forearm mechanism about three mutually perpendicular axes to perform three degrees of freedom motion; A wrist rotation joint (142) is coupled to the forearm mechanism to drive the output component (141) to rotate about the first axis, which is parallel to the extension direction of the forearm mechanism; and A composite drive joint (143) is coupled to the wrist rotation joint (142) to drive the output component (141) to rotate about the second and third axes of the three axes, the second axis and the third axis being perpendicular to the first axis.

5. The robot according to claim 1, wherein the cervical joint (122) comprises: A head spin joint (1221), coupled to the trunk assembly (120), is adapted to enable the head (150) to rotate about a head spin axis; as well as A head pitch joint (1222) is coupled to the head spin joint (1221) and the head (150) and is adapted to adjust the head to rotate about the head pitch axis.

6. The robot of claim 1, wherein the head (150) includes a camera adapted to acquire images of the area surrounding the robot.

7. The robot according to any one of claims 1-6, wherein the moving component (110) comprises: Chassis (1101); as well as Multiple wheels (1102) are coupled to the underside of the chassis (1101) and can be driven to move in multiple directions.

8. The robot according to claim 7, further comprising: A sensor (150), disposed on the chassis (1101) and located at the end of the chassis (1101) in the direction of travel, is adapted to sense the environment surrounding the robot; and The main control unit (101) is arranged on the chassis (1101) and electrically connected to the sensor (150), the movement component (110), the torso component (120), the bionic arms (130) and the head (150).

9. The robot according to claim 8, further comprising: An input device, coupled to the main control unit (101), is adapted to acquire instructions for the robot; and / or An output device, coupled to the main control unit (101), is used to present the operating status of the robot.

10. The robot according to claim 8, further comprising: A power battery (170) is disposed on the chassis (1101) and is adapted to power the torso assembly (120), the bionic arms (130), the head (150), the sensors (150), the main control unit (101), and the input devices and / or the output devices.

11. The robot of claim 7, wherein the torso assembly (120) comprises: A support (1231) is coupled to the chassis (1101) and is arranged at one end of the chassis (1101) along the direction of travel of the robot; as well as The lifting part (1232) is vertically coupled to the support part (1231).

12. The robot according to claim 11, further comprising: A cable harness storage box (1801), coupled to the chassis (1101) and arranged adjacent to the support (1231), is adapted to store cable chains and cable harnesses when the lifting unit (1232) lowers its height in the vertical direction; and A wire harness fixing plate (1802) is coupled to the lifting part (1232) and corresponds to the wire harness storage box (1801) in the vertical direction, which is suitable for the lifting part (1232) to fix the cable chain and wire harness during the lifting process.

13. The robot according to any one of claims 1 to 6, 8 to 12, wherein the moving component (110) further comprises: A chassis battery, disposed within the chassis (1101), is adapted to power the moving assembly (110).

14. The robot according to any one of claims 1 to 6, 8 to 12, wherein the actuating component (190) comprises: The gripper, coupled via the wrist joint to the end of the forearm mechanism away from the upper arm mechanism, is adapted to grip the target object.

15. The robot of claim 6, wherein the camera comprises an RGB depth camera.

16. The robot of claim 8, wherein the sensor (150) comprises a lidar.

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