Robot capable of switching between double-arm form and double-leg form

Abstract

The embodiment of the invention discloses a robot capable of switching between a double-arm form and a double-leg form, the robot comprises a trunk, upper limb assemblies, two forearm assemblies and two shank assemblies, the trunk comprises a trunk main body, a main controller, a power supply unit with a battery and two upper limb assemblies oppositely arranged on the two sides of the trunk main body, each upper limb assembly is a four-degree-of-freedom mechanical limb formed by connecting four joint modules in series; each forearm assembly is provided with three joint degrees of freedom so that the tail end can obtain universal operation capacity, each shank assembly is a shank leg with a wheel leg or a shank leg with a sole with one or two degrees of freedom, and when the lower limb assembly end is assembled with the two forearm assemblies, the robot is a two-arm legless robot; when the lower limb assembly end is provided with the two shank assemblies, the robot is a double-leg arm-free robot. The robot can be dynamically switched between a double-arm form and a double-leg form according to use requirements.

Description

Technical Field

[0001] This application relates to the field of robotics, specifically to a robot capable of switching between a two-armed and a two-legged configuration. Background Technology

[0002] As one of the most promising branches in the field of robotics, robots have significant advantages in adaptability to complex terrain, flexible working space and motion capabilities due to their biomimetic structure and multi-degree-of-freedom characteristics. They can perform complex tasks such as handling, precision grasping and contact detection.

[0003] Existing humanoid robots with humanoid legs can achieve stable and efficient mobility, replicating human lower limb movements such as walking, running, climbing, and obstacle crossing, and are adaptable to diverse terrain environments.

[0004] Existing humanoid robots with anthropomorphic arms can perform precise and flexible upper limb movements, replicating human hand and arm coordinated behaviors such as grasping, carrying, assembling, and operating tools.

[0005] Existing wheeled robots are capable of rapid movement, obstacle crossing, and good maneuverability.

[0006] On the other hand, for users, there is a desire to purchase humanoid robots with humanoid arms for VLA training dataset collection, a desire to purchase humanoid robots with humanoid arms for VLA algorithm development, a desire to purchase humanoid robots with humanoid legs as mobile chassis or for RL algorithm development, and there is also a desire to purchase wheeled robots as mobile chassis or for RL algorithm development.

[0007] In summary, user needs are diverse and cannot be met by a single product. Although a full-body humanoid robot can meet most needs, it is wasteful of resources. For example, users who develop RL motion control algorithms do not need the upper body and arms of the robot. For users who develop VLA algorithms and control the robot's arms, the legs of the humanoid robot will increase the difficulty of control.

[0008] Therefore, there is an urgent need for a robot that is versatile in form and low in cost, and can be widely used to meet the aforementioned diverse needs. Summary of the Invention

[0009] This application provides a robot that can switch between a two-arm form and a two-leg form.

[0010] The first aspect of this application provides a robot capable of switching between a two-armed form and a two-legged form, comprising: The torso includes a torso body, a main controller, a power supply unit with a battery, and two upper limb assemblies arranged opposite each other on both sides of the torso body. Each upper limb assembly is a four-degree-of-freedom mechanical limb formed by four joint modules connected in series, and includes an upper limb fixed end and a lower limb assembly end. The upper limb fixed end is detachably connected to the torso body. Two forearm assemblies, each of which is a forearm assembly with three joint degrees of freedom to enable the end to have universal operation capability, and one end is configured as the first upper limb assembly end; Two lower leg components, each of which is a lower leg foot with a wheel foot or a lower leg foot with one or two degrees of freedom, and one end is configured as a second upper limb assembly end; The lower limb assembly end can be detachably assembled with the first upper limb assembly end to form a robot with two arms; or, the lower limb assembly end can be detachably assembled with the second upper limb assembly end to form a robot with two legs. When the lower limb assembly end is equipped with two of the forearm components, the robot is a dual-arm, legless robot. When the lower limb assembly end is equipped with the two lower leg components, the robot is a two-legged, armless robot.

[0011] In a second aspect, this application provides a robot that can switch between a two-arm configuration and a two-leg configuration, the robot comprising a torso, two forearm assemblies, and two lower leg assemblies; The torso includes a torso body, a main controller, a power supply unit with a battery, and two upper limb assemblies disposed opposite each other on both sides of the torso body. The two forearm assemblies are detachably connected to the two upper limb assemblies to form a two-armed legless robot; the two lower leg assemblies are detachably connected to the two upper limb assemblies to form a two-legged armless robot. Depending on the changing needs, the two forearm assemblies and the two lower leg assemblies can be detachably connected to the two upper limb assemblies to be configured as a dual-arm legless robot or a dual-leg armless robot.

[0012] The robot provided in this embodiment, capable of switching between two-arm and two-legged modes, employs a torso as the core functional unit and features a highly integrated modular design that combines the main controller and a battery-powered power supply unit. This robot can dynamically switch between two-arm and two-legged modes based on task instructions. In the two-arm, legless mode, when the main controller detects that the two forearm components are connected to the two upper limb components, it loads the robotic arm control mode and motion parameters. At this time, the robot constitutes an operating platform with two seven-degree-of-freedom arms, allowing it to focus on precise upper body operations. In the two-legged, armless mode, when the main controller detects that the two lower leg components are connected to the two upper limb components, the robot switches to a bipedal robot with only lower limbs. Based on the reconfigured motion and power algorithms for bipedal robots, it achieves stable bipedal standing and walking functions.

[0013] The robot that can switch between a two-arm and a two-legged configuration provided in this application has the following significant effects through the above technical solution: Through modular and reconfigurable design, a multi-functional robot platform is provided, which reduces the user's purchase and maintenance costs and expands the application boundaries of robots; By separating the arms and legs, users can configure the most suitable robot form according to the current task requirements, avoiding the waste of hardware resources and reducing the equipment cost of algorithm development. It enables plug-and-play functionality for end-components and adaptive system reconfiguration; The robot employs highly integrated joint modules, a biomimetic structural design, and scientific functional layering and wiring management within the torso, ensuring high rigidity, high precision, and high reliability in motion performance in both modes. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of a robot that can switch between a two-arm form and a two-leg form, provided in an embodiment of this application, in the form of two-legged feet. Figure 2 This is a partially exploded schematic diagram of a robot that can switch between a two-arm and a two-legged form, as provided in an embodiment of this application. Figure 3 This is an exploded view of a robot upper limb assembly that can switch between a two-arm and two-leg configuration, as provided in an embodiment of this application. Figure 4 yes Figure 1 A exploded view of the upper limb and lower leg components of the robot from one perspective; Figure 5 yes Figure 1 A cross-sectional schematic diagram of the upper limb assembly of the robot from one perspective; Figure 6 yes Figure 1 A cross-sectional view of the upper limb assembly of the robot from another perspective; Figure 7 yes Figure 1 A schematic diagram of the exploded structure of the shell of the second upper limb; Figure 8 This is a schematic diagram of the structure of a robot in the dual-arm mode that can switch between dual-arm and dual-leg modes, as provided in the embodiments of this application. Figure 9 yes Figure 8 Exploded view of the forearm assembly from one perspective; Figure 10 yes Figure 8 Exploded view of the forearm assembly from another perspective; Figure 11 yes Figure 1 A breakdown diagram of the lower leg components from one perspective; Figure 12 This is a schematic diagram of the structure of a robot that can switch between a two-arm form and a two-leg form, provided in an embodiment of this application, in the form of a two-legged wheel-footed robot. Figure 13 yes Figure 12 A breakdown diagram of the lower leg components from one perspective; Figure 14 yes Figure 1 A cross-sectional view of the robot's torso from one perspective; Figure 15 yes Figure 1 A breakdown diagram of the robot's torso from one perspective; Figure 16 yes Figure 1 Schematic diagram of the middle and lower limb connection mechanism; Figure 17 yes Figure 1 A schematic diagram of the robot in a bent-knee position; Figure 18 yes Figure 12 A schematic diagram of the robot in a forward-leaning position; Figure 19 yes Figure 14 A structural schematic diagram of the robot's torso and upper limb components from one perspective; Figure 20 yes Figure 19 A structural schematic diagram of the robot's torso and upper limb components from another perspective; Figure 21 yes Figure 14 A schematic diagram showing the robot's torso connected by wires; Figure 22 yes Figure 16 A cross-sectional view of the lower limb connection mechanism and the forearm assembly or lower leg assembly from one perspective; Figure 23 yes Figure 16 A schematic diagram of the exploded structure of the lower limb connection mechanism and the forearm assembly or lower leg assembly from one perspective; Figure 24 yes Figure 16 Exploded and cross-sectional view of the lower limb connection mechanism and forearm assembly or lower leg assembly from another perspective; Figure 25 yes Figure 16 A cross-sectional view of the lower limb connection mechanism and the forearm or lower leg assembly from another perspective. Detailed Implementation

[0016] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0017] The following sections provide detailed descriptions of each example. It should be noted that the order in which the embodiments are described is not intended to limit the preferred order of the embodiments.

[0018] Please refer to Figures 1 to 16 In its first aspect, this application provides a robot capable of switching between a two-armed form and a two-legged form, comprising: The torso 10 includes a torso body 11, a main controller 90, a power supply unit with a battery 61, and two upper limb assemblies 20 disposed opposite each other on both sides of the torso body 11. Each upper limb assembly 20 is a four-degree-of-freedom mechanical limb formed by four joint modules connected in series, and includes an upper limb fixing end 200 and a lower limb assembly end 202. The upper limb fixing end 200 is detachably connected to the torso body 11. Two forearm assemblies 30, each forearm assembly 30 having three joint degrees of freedom to enable the end to achieve universal operation capability, and one end is configured as a first upper limb assembly end 31; Two lower leg components 40, each lower leg component 40 is a lower leg foot with a wheel foot or a lower leg foot with one or two degrees of freedom, and one end is configured as a second upper limb assembly end 42; The lower limb assembly end 202 can be detachably assembled with the first upper limb assembly end 31 to form a robot with two arms; or, the lower limb assembly end 202 can be detachably assembled with the second upper limb assembly end 42 to form a robot with two legs. When the two forearm components 30 are assembled on the lower limb assembly end 202, the robot is a two-armed, legless robot. When the two lower leg components 40 are assembled at the lower limb assembly end 202, the robot is a two-legged, armless robot.

[0019] The robot provided in this embodiment, which can switch between a two-arm and two-legged mode, adopts a torso 10 as the core functional unit of the whole machine and highly integrates the main controller 90 and the power supply unit with battery 61 in a modular design. The robot can dynamically switch between two modes, a two-arm mode and a two-legged mode, according to the task instructions. In the two-arm and legless mode, when the main controller 90 detects that the two forearm components 30 are connected to the two upper limb components 20, it loads the robotic arm control mode and motion parameters. At this time, the robot constitutes an operating platform with two seven-degree-of-freedom arms, which can focus on the fine operation of the upper body. In the two-legged and armless mode, when the main controller 90 detects that the two lower leg components 40 are connected to the two upper limb components 20, the robot switches to a bipedal robot with only lower limbs. According to the bipedal robot, the motion and power algorithms are reconfigured to achieve stable bipedal standing and walking functions.

[0020] The robot provided in this embodiment can switch between a two-arm and a two-legged form. It can autonomously change its physical configuration according to the work task and the work environment. For example, it can adopt a two-arm, legless form when it needs to focus on manual operation, and a two-legged, armless form when it needs to focus on movement. In this way, it can switch between the two forms of dexterous operation and stable movement.

[0021] In this embodiment, the two-arms-without-legs form refers to tasks focused on the upper body, such as precision assembly, object handling, tool operation, or collaborative work. In this form, the torso 10 remains upright, and the arms have the largest possible workspace. At this time, the upper limb assembly 20 and the forearm assembly 30 are assembled together, while the lower leg assembly 40 is detached from the upper limb assembly 20 and does not function as a movement mechanism. The two-legs-without-arms form refers to tasks focused on whole-body movement and navigation, such as walking, running, climbing stairs, or maintaining balance on uneven terrain. In this form, the upper limb assembly 20 and the lower leg assembly 40 are assembled together, while the forearm assembly 30 is detached from the upper limb assembly 20 and does not function as an operation mechanism.

[0022] In this embodiment, the main controller 90 is used as the main control and computing unit of the robot, responsible for the robot's task planning, motion control, and coordination and scheduling of various joint modules. The main controller 90 is equipped with an adaptive operating system, which can automatically load the corresponding drive, kinematic model and control strategy according to the current physical configuration, and realize plug-and-play form switching and reconstruction; the power supply unit realizes the power supply under uninterrupted operation.

[0023] In this embodiment, each forearm assembly 30 employs a three-joint module to achieve omnidirectional manipulation capability at the end effector. The series, parallel, or hybrid connection of these three-joint modules enables precise fitting of complex motion outputs. For example, when the three-joint modules are connected in series, a ball-and-arm-like structure can be constructed, granting the end effector three rotational degrees of freedom, thus achieving true omnidirectional motion suitable for delicate, multi-angle manipulation tasks. Alternatively, the three-joint modules can be connected in parallel to enhance the rigidity and speed of the end effector, making it suitable for high-frequency, high-load grasping or operational scenarios. Each forearm assembly 30 is detachably connected to the lower limb assembly 202 via a configured first upper limb assembly end 31, enabling rapid connection and disassembly and improving assembly / disassembly switching efficiency.

[0024] In this embodiment, each lower leg assembly 40 employs a lower leg with wheel-like feet to achieve efficient and low-power rapid movement on flat or regular surfaces. Alternatively, it can employ a lower leg with one or two degrees of freedom to enable walking on uneven surfaces. A single-degree-of-freedom foot allows for reliable pitch adjustment suitable for standard walking and running, while a two-degree-of-freedom foot adds a lateral rolling degree of freedom to the single-degree-of-freedom foot, enabling autonomous adaptation to walking on uneven surfaces. Each lower leg assembly 40 is detachably connected to the lower limb assembly 202 via a second upper limb assembly end 42, enabling quick connection and disassembly and improving assembly / disassembly efficiency.

[0025] In this embodiment, this application constructs a unified, modular robot hardware platform. Utilizing the same torso 10, main controller 90, and upper limb assembly 20, and through the rapid replacement of end effector components (such as forearm assembly 30 or lower leg assembly 40), it achieves reconstruction between two completely different robot forms: a precision manipulation robot and a mobile robot. This not only solves the cost problem of users needing to purchase and maintain multiple robots, but more importantly, it provides a highly flexible and comparable experimental platform for algorithm development. For example, developers can focus on either the VLA algorithm for bi-arm cooperative operation or the RL algorithm for bi-leg dynamic balance on the exact same hardware, avoiding performance evaluation biases caused by hardware differences.

[0026] Please refer to Figures 1 to 7In some embodiments provided in this application, each upper limb component 20 includes a first upper limb joint module 21, a second upper limb joint module 22, a third upper limb joint module 23 and a fourth upper limb joint module 24 connected in series. Each first upper limb joint module 21 is disposed at the upper limb fixed end 200 and connected to the torso body 11. The fourth upper limb joint module 24 is connected to the forearm component 30 or the lower leg component 40 through the lower limb assembly end 202. Each of the first upper limb joint module 21, the second upper limb joint module 22, the third upper limb joint module 23 and the fourth upper limb joint module 24 includes a frameless torque motor and a reducer, and the frameless torque motor and reducer of each upper limb joint module are integrated and packaged in the housing of each upper limb joint module; The first transmission axes A1 of the two first upper limb joint modules 21 are coaxially arranged and orthogonal to the second transmission axis A2 of the second upper limb joint module 22, respectively. The second transmission axis A2 of the second upper limb joint module 22 is orthogonal to the third transmission axis A3 of the third upper limb joint module 23, and the third transmission axis A3 of the third upper limb joint module 23 is orthogonal to the fourth transmission axis A4 of the fourth upper limb joint module 24.

[0027] The robot provided in this embodiment uses a first upper limb joint module 21, a second upper limb joint module 22, a third upper limb joint module 23, and a fourth upper limb joint module 24 connected in series to form a four-degree-of-freedom mechanical limb. The first upper limb joint module 21 is connected to the torso 10 support to serve as a shoulder joint in a two-arms-without-legs configuration or a hip joint in a two-legs-without-arms configuration, serving as the core load-bearing joint of the robot. The first transmission axis A1 of the first upper limb joint module 21 is perpendicular to the standing direction of the torso 10 to provide the upper limb assembly 20 with rotational motion around the first transmission axis A1, thereby achieving the maximum range of motion and gait during limb operation or movement. The second upper limb joint module 22 is directly connected in series with the first upper limb joint module 21, and its second... The transmission axis A2 is orthogonal to the first transmission axis A1 to provide the upper limb assembly 20 with pitch movement around the second transmission axis A2 (similar to the flexion and extension of the shoulder joint), that is, to enable the upper limb assembly 20 to be used as a shoulder joint in the double-arm-without-legs form or as a hip joint in the double-leg-without-arms form; the third upper limb joint module 23 is directly connected in series with the second upper limb joint module 22, and its third transmission axis A3 is orthogonal to the second transmission axis A2 to provide the upper limb assembly 20 with rotation and reversal movements; the fourth upper limb joint module 24 is directly connected in series with the third upper limb joint module 23, and its fourth transmission axis A4 is orthogonal to the third transmission axis A3, so as to provide the upper limb assembly 20 with fine operation control for the forearm assembly 30 or to provide the necessary degree of freedom for the lower leg assembly 40.

[0028] In this embodiment, the robot is placed in a standard three-dimensional coordinate system. For example, when the standing direction of the torso 10 is the vertical direction and the placement direction of the upper limb assembly 20 is the same as the standing direction of the torso 10, the first transmission axis A1 is the horizontal direction, i.e., the X direction, the second transmission axis A2 is the longitudinal direction, i.e., the Y direction, the third transmission axis A3 is the vertical direction, i.e., the Z direction, and the fourth transmission axis A4 is the horizontal direction, i.e., the X direction.

[0029] In this embodiment, the upper limb component 20 has a dual function as either the upper arm or the thigh: In the armless and legless form, the first and second joints simulate the human shoulder joint, the third joint simulates the elbow joint, and the fourth joint serves as the base of the forearm component 30, together completing complex spatial trajectory operations. In the armless, two-legged configuration, the upper limb assembly 20 serves as the robot's lower limb thigh. The first and second joints are responsible for gait generation and center of gravity adjustment, the third joint assists in the flexion and extension of the knee joint, and the fourth joint is stably connected to the lower leg assembly 40 to transmit support and driving forces.

[0030] Through the collaborative work of these four joint modules and the unified standard interface design, the upper limb component 20 provides a solid and feasible physical basis for the upper limb component 20 to switch roles between the upper arm and thigh.

[0031] Please refer to Figures 1 to 7 In some embodiments provided in this application, two first upper limb joint modules 21 are fixedly connected to the lower end of the torso body 11. Each first upper limb joint module 21 is provided with a first output flange 212 for transmitting the output power of the first upper limb joint module 21 and supporting the pitch and yaw movements of the second upper limb joint module 22. The first output flange 212 is coaxial with the first transmission shaft A1; and / or Each upper limb assembly 20 also includes a first upper limb housing 25 for fixed installation of the first upper limb joint module 21. The torso body 11 includes a pair of opposing side frames 12. Each side frame 12 is provided with a first through hole 120 that is coaxial with the first transmission axis A1 and allows the first upper limb joint module 21 to pass through coaxially. The first upper limb housing 25 is fixedly connected to the side frame 12.

[0032] In this embodiment, the upper limb assembly 20 achieves precise positioning of the first transmission axis A1 by setting a first through hole 120 on the side frame 12 of the fuselage, and uses the first upper limb housing 25 to be fixedly connected to the side frame 12 to achieve structural support for the entire upper limb assembly 20. The first output flange 212 is used as the power output to ensure a short and efficient power transmission path, so that the upper limb assembly 20 has a shoulder or hip connection hub with high rigidity and easy assembly and maintenance.

[0033] In this embodiment, the upper limb assembly 20 is fixedly mounted with the first upper limb joint module 21 using the first upper limb housing 25. The first output flange 212 is coaxial with the first transmission shaft A1. The first upper limb housing 25 uses the first output flange 212 to bear the static load and operating torque of the upper limb assembly 20, forming the main load-bearing path for the connection of the upper limb assembly 20.

[0034] Specifically, the first output flange 212 is fastened to the side frame 12 of the torso 10 around the mounting surface of the first through hole 120 using a group of high-strength bolts. The front end face of the first output flange 212 is provided with standard bolt hole rings for direct connection and driving of the second upper limb joint module 22, so that the driving torque is directly transmitted to the kinematic chain through the first output flange 212, effectively distributing the stress on the shell and improving the rigidity of the entire transmission chain.

[0035] In this embodiment, a pair of side frames 12 made of high-strength alloy or steel are provided on both sides of the torso body 11, serving as the core structure for supporting the upper limb assembly 20. At the lower end of each side frame 12, a first through hole 120 coaxial with the first transmission axis A1 of the first upper limb joint module 21 is precisely machined. The inner ring or end face of the first through hole 120 serves as a reference positioning surface to ensure the precise alignment and installation of each upper limb joint module.

[0036] Please refer to Figures 1 to 7 In some embodiments provided in this application, each second upper limb joint module 22 is provided with a pair of second output flanges 222 for transmitting the output power of the second upper limb joint module 22 and driving the third upper limb joint module 23 to perform pitching motion around the second transmission axis A2. The rotation axis direction of the second output flanges 222 is coaxially arranged with the second transmission axis A2; and / or Each upper limb assembly 20 also includes a second upper limb housing 26 for fixedly mounting the second upper limb joint module 22. The second upper limb housing 26 includes a first mounting housing 260 and a second mounting housing 262 that are fixedly connected to each other and form a barrel shape. The first mounting housing 260 includes a circumferential housing portion 2600 with a peripheral wall and an axial housing portion 2602 that extends along the periphery of the circumferential housing portion 2600 and has an axial fixing ring. The circumferential housing portion 2600 and the axial housing portion 2602 are integrally formed. The second mounting housing 262 is fixedly connected to the circumferential housing portion 2600. The circumferential housing portion 2600 is provided with a first flange connection portion 2601 that is detachably connected to the first output flange 212. The axial housing portion 2602 is provided with a first mounting hole 2603 that is coaxially arranged with the second transmission shaft A2.

[0037] In this embodiment, the upper limb assembly 20 uses a second output flange 222 coaxial with the second transmission shaft A2 and a split-type second upper limb housing 26 to realize the role of the second upper limb joint module 22 in the upper limb assembly 20.

[0038] In this embodiment, the upper limb assembly 20 drives the third upper limb joint module 23 by setting a pair of second output flanges 222, so that the third upper limb joint module 23 can accurately perform pitching movements around the second transmission axis A2, ensuring the balanced transmission of pitching torque.

[0039] In this embodiment, the first mounting housing 260 is manufactured using an integral molding process, and has a circumferential housing portion 2600 and an axial housing portion 2602, which ensures assembly accuracy and overall structural rigidity. A first flange connection portion 2601 is provided on the circumferential housing portion 2600 to allow for a detachable and robust connection with the first output flange 212 from the first upper limb joint module 21, bearing the power and load from the base of the torso 10. The axial housing portion 2602 has a precision-machined first mounting hole 2603 at its end, which is coaxial with the second transmission shaft A2, providing a crucial radial and axial support reference for the output shaft system. The second mounting housing 262 is fixedly connected to the other end of the circumferential housing portion 2600, together completing the sealing and protection of the second upper limb joint module 22.

[0040] Please refer to Figures 1 to 7 In some embodiments provided in this application, each third upper limb joint module 23 is provided with a third output flange 232 that drives the fourth upper limb joint module 24 to yaw around the third transmission axis A3, and the axial direction of the third output flange 232 is coaxially arranged with the third transmission axis A3; and / or Each upper limb assembly 20 also includes a third upper limb housing 27 for fixedly mounting the third upper limb joint module 23. The third upper limb housing 27 includes a first housing portion 270 and a second housing portion 272 fixedly connected to each other. The first housing portion 270 and the second housing portion 272 enclose and form an installation receiving port 2720 for accommodating the second upper limb housing 26 and a joint receiving cavity 2721 for accommodating the third upper limb joint module 23. The first housing portion 270 and the second housing portion 272 are respectively provided with a third flange connection portion on the side of the installation receiving port 2720, which is detachably connected to the third output flange 232. The joint receiving cavity 2721 has a connection hole 2722 for exposing the third output flange 232. The axial direction of the connection hole 2722 is coaxially arranged with the third transmission axis A3.

[0041] In this embodiment, the third upper limb joint module 23 uses the third output flange 232 as a power connection mechanism to directly drive the fourth upper limb joint module 24, so that the fourth upper limb joint module 24 yaws around the third transmission axis A3, thereby realizing direct power transmission from the third upper limb joint module 23 to the fourth upper limb joint module 24. The axial direction of the third output flange 232 is coaxial with the third transmission axis A3 to ensure the uniform distribution of output torque, so as to precisely control the yaw rotation of the fourth upper limb joint module 24.

[0042] In this embodiment, the first housing portion 270 and the second housing portion 272 together form an installation receiving port 2720 to fit the third flange connection portion, thereby realizing a detachable rigid connection of the third output flange 232 to receive power and load; by providing a connection hole 2722, it is ensured that the third output flange 232 can be exposed and connected to the fourth upper limb joint module 24, and the axial direction of the connection hole 2722 is coaxial with the third transmission axis A3 to ensure the accuracy of power output and transmission.

[0043] In this embodiment, the upper limb assembly 20, through the first housing portion 270 and the second housing portion 272, serves as an intermediate connection between the second upper limb joint module 22 and the fourth upper limb joint module 24, and also completely encapsulates and fixes the third upper limb joint module 23. This shortens the structure between the joints and improves the overall rigidity of the upper limb assembly 20.

[0044] Please refer to Figures 1 to 7 In some embodiments provided in this application, each fourth upper limb joint module 24 is provided with a fourth output flange 242 for driving the forearm assembly 30 or the lower leg assembly 40 to perform pitching motion around the fourth transmission axis A4, and the axial direction of the fourth output flange 242 is coaxially arranged with the fourth transmission axis A4; and / or Each upper limb assembly 20 also includes a fourth upper limb housing 28 for fixedly mounting the fourth upper limb joint module 24. The fourth upper limb housing 28 has a first end 280 that is connected to the connection hole 2722 of the third upper limb housing 27 and a second end 281 that is connected to the lower leg assembly 40 or the forearm assembly 30. The fourth upper limb housing 28 includes a third housing part 282 and a fourth housing part 283 that are fixedly connected to each other. The third housing part 282 and the fourth housing part 283 form a fixing cavity 284 at the first end 280 for fixedly mounting the fourth flange connection part. The fourth flange connection part is detachably connected to the fourth output flange 242. The third housing part 282 and the fourth housing part 283 are provided with a fourth flange connection part at the second end 281 that is detachably connected to the fourth output flange 242.

[0045] In this embodiment, the fourth upper limb joint module 24 is used to directly drive the end effector, such as the forearm assembly 30 or the lower leg assembly 40, and uses the fourth output flange 242 as the power output and transmission unit to drive the end effector to perform pitching motion around the fourth transmission axis A4.

[0046] In this embodiment, the upper limb assembly 20 is constructed by combining a third housing portion 282 and a fourth housing portion 283 to form a fourth upper limb housing 28, which encapsulates and securely mounts the fourth upper limb joint module 24. Specifically, the third housing portion 282 and the fourth housing portion 283 are bolted together to form a fixing cavity 284. The first end portion 280 is used to nest and fix the third flange connection portion of the third upper limb housing 27, and is specifically bolted to achieve a detachable fixed connection with the third output flange 232, serving as a power and load-bearing component. At the second end portion 281, the third housing portion 282 and the fourth housing portion 283 together form a fourth flange connection portion, and are specifically bolted to achieve a detachable fixed connection with the fourth output flange 242, so as to transmit power to the end effector unit.

[0047] In some embodiments provided in this application, each fourth upper limb housing 28 further includes a fifth housing portion 285 fixedly connected to the third housing portion 282 and the fourth housing portion 283. The third housing portion 282 and the fourth housing portion 283 enclose and form a clearance notch 286 for fixing the fifth housing portion 285. The clearance notch 286 gradually increases in size circumferentially from the middle of the third housing portion 282 toward the second end 281. The fifth housing portion 285 is recessed into the fixing cavity 284.

[0048] In this embodiment, the fifth housing part 285 is fixedly connected to the third housing part 282 and the fourth housing part 283 by circumferential bolts, together forming a complete fourth upper limb housing 28, and an avoidance notch 286 is formed at the fifth housing part 285 to provide corresponding free end adjustment space when the forearm assembly 30 or the lower leg assembly 40 moves.

[0049] In this embodiment, the fifth housing part 285 is a silicone housing made of flexible material. The biomimetic design of the avoidance notch 286 is not a simple form imitation; it can increase the workspace. For example, in the dual-arm configuration, the inner recess structure ensures that the forearm assembly 30 can achieve full flexion. Compared with the traditional right-angle joint housing design, the range of motion of the elbow joint is increased, allowing the robot to operate in a more compact space. It optimizes force transmission. For example, in the dual-leg configuration, the knee popliteal fossa design ensures that the drive linkage of the lower leg assembly 40 and the housing of the upper limb assembly 20 always maintain the optimal lever arm angle, reducing ineffective force components, improving the output efficiency of the joint module, and extending the service life of the motor and reducer. It avoids motion interference. For example, the unique contour ensures that there is no mechanical interference between the lower leg assembly 40 or the forearm assembly 30 and the main housing under any extreme motion posture, ensuring structural safety under high dynamic motion.

[0050] Please refer to Figure 1 , Figure 4 , Figure 9 , Figure 13 , Figure 17 and Figure 18 In some embodiments provided in this application, the clearance notch 286 formed at the fifth housing portion 285 constitutes the inner elbow socket between the upper arm and forearm in the double-arm legless form; or The clearance notch 286 formed at the fifth shell part 285 constitutes the knee fossa between the thigh and lower leg for the reverse arch foot in the armless double-legged form; or The clearance 286 formed at the fifth shell part 285 constitutes the knee fossa between the thigh and calf of the legs in the double-legged, armless form.

[0051] Understandably, in the armless, legless configuration, the clearance notch 286 precisely forms the elbow recess between the upper and lower arms. This concave structure provides ample storage space for the connected forearm assembly 30 when it is fully flexed, allowing the forearm assembly 30 to achieve a completely natural folding posture and significantly improving its operational flexibility in confined spaces.

[0052] Understandably, in the bipedal, armless wheeled configuration, the clearance notch 286 forms the popliteal fossa between the thigh and lower leg for the reverse arch of the foot. This specific profile provides crucial structural clearance for the backward swing (reverse arch) of the wheeled assembly during the walking cycle, ensuring that the wheeled mechanism can achieve a full range of motion during high-speed movement while maintaining optimal force transmission efficiency. The clearance notch 286 is positioned facing the front of the torso 10, forming an angle between the lower leg assembly 40 and the upper limb assembly 20 facing the front of the torso 10, so that the bipedal, armless wheeled robot has a forward-leaning posture of the torso 10, specifically as follows... Figure 18 As shown.

[0053] Understandably, in the bipedal form, the clearance notch 286 constructs the popliteal fossa between the thigh and lower leg. This design simulates the physiological structure behind the human knee joint, providing the necessary mechanical clearance for the lower leg assembly 40 to achieve its maximum flexion angle during the gait cycle, enabling the robot to perform actions requiring a wide range of knee joint movement, such as squatting and climbing stairs. The clearance notch 286 is positioned towards the rear of the torso 10, forming an angle between the lower leg assembly 40 and the upper limb assembly 20 towards the rear of the torso 10, allowing the bipedal, armless robot to assume a forward knee flexion posture, specifically as follows... Figure 17 As shown.

[0054] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 In some embodiments provided in this application, each upper limb component 20 is further disposed on the lower limb assembly end 202 and detachably connected to the first upper limb assembly end 31 or the second upper limb assembly end 42. The lower limb connection mechanism 50 includes a fixed mounting part 51 fixedly connected to the fourth upper limb joint module 24 and a connector part 53 pluggably connected to the forearm component 30 or the lower leg component 40; and / or The fixed mounting part 51 and the connector part 53 are integrally formed; or, the fixed mounting part 51 and the connector part 53 are connected by interlocking and / or by fasteners.

[0055] In this embodiment, the robot utilizes a lower limb connection mechanism 50 fixedly mounted on the fourth upper limb joint module 24, which can be detachably plugged into the forearm assembly 30 or the lower leg assembly 40 as needed. This allows the upper limb assembly 20 and the forearm assembly 30 to form the upper arm and forearm of the arm, enabling manual operation; or, the upper limb assembly 20 and the lower leg assembly 40 to form the thigh and lower leg of the leg, enabling walking.

[0056] In this embodiment, the fixed mounting part 51 and the insertion part 53 of the lower limb connecting mechanism 50 are integrally formed or fixedly connected to form a whole. In this way, the lower limb connecting mechanism 50 and the fourth upper limb joint module 24 are fixedly connected to form a movable whole. Under the degree of freedom control of each joint module of the upper limb component 20, the desired action purpose can be achieved with the forearm component 30 or the lower leg component 40.

[0057] In this embodiment, the upper limb assembly 20 adopts a lower limb connection mechanism 50 that is detachably connected to the lower limb assembly end 202, so as to realize efficient power transmission connection with the end effector unit, and also enable the robot to have the ability to autonomously recognize the form configuration and its changes.

[0058] In other embodiments, when the forearm assembly 30 or the lower leg assembly 40 is inserted, the component identification unit can automatically identify its type, serial number, or performance parameters and report them to the main controller 90. Based on this, the main controller 90 automatically completes the configuration of the driver and the loading of software parameters, achieving true "plug and play".

[0059] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 In some embodiments provided in this application, the robot is detachably assembled via a lower limb connection mechanism 50 disposed between the lower limb assembly end 202 and the first upper limb assembly end 31 or the second upper limb assembly end 42. The lower limb connection mechanism 50 can be quickly detached from and connected between the lower limb assembly end 202 and the first upper limb assembly end 31 or between the lower limb assembly end 202 and the second upper limb assembly end 42.

[0060] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 In some embodiments provided in this application, the fixed mounting part 51 is provided with a second mounting hole 52 for the fourth upper limb joint module 24 to pass through, and the axial direction of the second mounting hole 52 is coaxial with the fourth transmission axis A4; The fixed mounting part 51 has a flange (not labeled) on the wall of the second mounting hole 52 for engaging with the outer shell of the fourth upper limb joint module 24, and the flange is fixedly connected to the outer shell of the fourth upper limb joint module 24 by fasteners (not shown).

[0061] In this embodiment, the diameter of the second mounting hole 52 is substantially the same as the outer diameter of the outer shell of the fourth upper limb joint module 24. The axial direction of the second mounting hole 52 is coaxially arranged with the fourth transmission axis A4 to ensure that the fixed mounting part 51 is coaxially arranged with the fourth upper limb joint module 24. The lower limb connecting mechanism 50 can be fixedly connected to the fourth upper limb joint module 24 by the interplay between the hole wall and the flange and groove on the outer shell wall. Thus, the lower limb connecting mechanism 50 is coaxially fixedly connected to the fourth upper limb joint module 24, and the output end of the fourth upper limb joint module 24 is directly fitted and fixed through the second mounting hole 52, ensuring precise alignment of the power transmission path. This allows the pitch movement of the fourth output flange 242 to be guided into the lower limb connecting mechanism 50 without deviation.

[0062] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25In some embodiments provided in this application, the connector 53 includes a first connector 55 and a second connector 56 disposed opposite to each other, and a connecting plate 57 connected between the first connector 55 and the second connector 56. The first connector 55 and the second connector 56 extend along one side of the fixed mounting portion 51 toward the forearm assembly 30 or the lower leg assembly 40. The first connector 55, the second connector 56 and the connecting plate 57 surround to form a connector slot 570 for insertion into the forearm assembly 30 or the lower leg assembly 40. The connector slot 570 communicates with the second mounting hole 52.

[0063] In this embodiment, a connecting plate 57 is directly and fixedly connected to the first connector 55 and the second connector 56 or integrally formed therein, so as to have a certain constraint and strengthening effect on the positional relationship and connection strength between the first connector 55 and the second connector 56.

[0064] In this embodiment, the connector 53 serves as a quick-change interface for the upper limb assembly 20. It matches the connection interface at the end of the forearm assembly 30 or the lower leg assembly 40 through the connector slot 570 formed by the first connector pin 55 and the second connector pin 56. It is reliably locked by fasteners passing through the first fixing hole 550 and the second fixing hole 560, thereby achieving a quick and stable connection with the end effector unit. In this way, it can effectively support the quick and reliable switching between the two-arm legless form and the two-leg armless form.

[0065] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 In some embodiments provided in this application, the first connector 55 and the second connector 56 form an inverted V-shaped connector slot 570, and the connector hole 54 is generally square. By setting the first connector 55 and the second connector 56 as an inverted V-shaped connector slot 570, it is convenient to connect the connector 53 to the forearm assembly 30 or the lower leg assembly 40. The connector hole 54 is generally square to facilitate better connection with the lower leg assembly 40 or the forearm assembly 30, and to provide sufficient support and connection strength along the length of the leg or arm when the lower leg assembly 40 and the upper limb assembly 20 form a leg or when the forearm assembly 30 and the upper limb assembly 20 form an arm.

[0066] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 In some embodiments provided in this application, the connector 53 further includes a first connector abutment 58 disposed at the end of the first connector pin 55 and a second connector abutment 59 disposed at the end of the second connector pin 56; An abutment block 60 is fixedly provided in the insertion port 443 of the lower leg assembly 40 or the forearm assembly 30. The abutment block 60 has a guide protrusion 62 that protrudes toward the fixed mounting part 51. The first insertion abutment part 58 and the second insertion abutment part 59 are provided with guide grooves 590 on the side near the guide protrusion 62 for guiding and positioning with the guide protrusion 62.

[0067] When the lower leg assembly 40 with legs and feet is engaged with the lower limb connection mechanism 50, the first connector 55 and the second connector 56 are inserted into the lower leg slot of the lower leg assembly 40, and the first connector abutment 58 and the second connector abutment 59 respectively abut against the bottom of the lower leg slot.

[0068] In this embodiment, the first insertion abutment portion 58 and the second insertion abutment portion 59 abut against the bottom of the lower leg insertion slot to provide the legged robot with a certain degree of elasticity and support in the walking state.

[0069] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 In some embodiments provided in this application, the first connector 55 is provided with a first fixing hole 550 and the second connector 56 is provided with a second fixing hole 560. The first fixing hole 550 and the second fixing hole 560 are arranged in an elongated shape along the extension direction of the connector slot. Multiple bolts are used to pass through the first fixing hole 550 and the second fixing hole 560 respectively along one side of the lower leg assembly 40 to lock it in the other side of the lower leg assembly 40; or, multiple bolts are used to pass through the first fixing hole 550 and the second fixing hole 560 respectively along one side of the housing of the forearm assembly 30 to lock it in the other side of the forearm assembly 30; and / or The opening size of the first fixing hole 550 and the second fixing hole 560 in the extension direction of the connector slot is narrow in the middle and wide at both ends. The first fixing hole 550 and the second fixing hole 560 are located on both sides of the connector slot to form a weight-reducing and pressure-bearing structure on the first connector pin 55 and the second connector pin 56.

[0070] In this embodiment, a first fixing hole 550 and a second fixing hole 560 are provided on the lower limb connecting mechanism 50, so that bolts can be passed through the housing of the lower leg assembly 40 or the forearm assembly 30 and locked into the first fixing hole 550 and the second fixing hole 560 respectively. Preferably, four bolts are used to achieve the fixed connection, with two bolts fixed and locked above and below the first fixing hole 550 and the second fixing hole 560 respectively. In this way, the lower leg assembly 40 or the forearm assembly 30 is fixedly connected to the upper limb assembly 20 through the lower limb connecting mechanism 50, and plays a role in preventing lateral shearing.

[0071] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 A flange 512 is formed between the fixed mounting part 51 and the insertion part 53. The flange 512 abuts against the upper edge of the forearm assembly 30 or the lower leg assembly 40 to absorb the vertical impact force between the lower limb connecting mechanism 50 and the forearm assembly 30 or the lower leg assembly 40; and / or The forearm assembly 30 or the lower leg assembly 40 facing the lower limb connecting mechanism 50 has a pair of first positioning holes 64 diagonally provided along the insertion groove 570, and the abutment flange 512 has a pair of second positioning holes (not shown) facing the first positioning holes 64. The lower limb connecting mechanism 50 also includes a positioning post connecting the first positioning holes 64 and the second positioning holes; and / or The connecting plate 57 has a snap-fit ​​block 514 protruding on the side opposite to the insertion slot 570. The forearm assembly 30 or the lower leg assembly 40 has a snap-fit ​​hole 66 on its shell wall that mates with the snap-fit ​​block 514. The snap-fit ​​block 514 and the snap-fit ​​hole 66 cooperate with each other to prevent the lower limb connecting mechanism 50 from performing torsional shearing motion relative to the forearm assembly 30 or the lower leg assembly 40.

[0072] In this embodiment, the robot uses a first locking protrusion (not shown) and a second locking protrusion (not shown) to engage with the protrusion to provide a certain degree of limitation and blocking, thereby preventing the lower limb connecting mechanism 50 from wobbling up and down or through the lower leg assembly 40 or the forearm assembly 30, which could lead to instability in movement or operation.

[0073] Please refer to Figures 1 to 4 , Figures 9 to 13 ,as well as Figure 16 , Figures 22 to 25 In some embodiments provided in this application, each forearm assembly 30 includes a forearm body 32, and a lower limb connection mechanism 50 is inserted between the forearm body 32 and the fourth upper limb joint module 24. The forearm body 32 has a forearm insertion structure that cooperates with the insertion part 53. The forearm insertion structure is inserted into the insertion hole (not shown) along the insertion slot 570 to fix the forearm assembly 30 and the upper limb assembly 20; or Each lower leg assembly 40 includes a lower leg body 44, and a lower limb connection mechanism 50 is inserted between the lower leg body 44 and the fourth upper limb joint module 24. The lower leg body 44 is provided with a connector 443 that cooperates with the connector 53 to allow the lower leg assembly 40 and the upper limb assembly 20 to be detachably and fixedly connected.

[0074] In this embodiment, the forearm assembly 30 adopts a plug-in structure and is detachably plugged into the plug part 53 of the lower limb connection mechanism 50 to achieve quick and reliable docking with the lower limb connection mechanism 50.

[0075] Please refer to Figures 1 to 4 ,as well as Figures 8 to 10In some embodiments provided in this application, each forearm assembly 30 further includes an end effector 346 disposed at the end of the degree of freedom. The end effector 346 includes an end connection part 3460 connected to the forearm joint assembly 34, an end effector 3462 for realizing the required action, and a detection and recognition device 3466 for detecting and recognizing the work scene. The end-connector 3460 is driven by the forearm joint assembly 34, which in turn drives the end-acting part 3462 to pitch around the first end-drive axis (not shown) of the end-connector 3460, and the end-acting part 3462 to yaw around the second end-drive axis. The first end-drive axis and the second end-drive axis are orthogonal.

[0076] In this embodiment, the end effector 346 is fixedly connected to the end of the forearm joint assembly 34 and driven by the forearm joint assembly 34, causing the entire end effector 346 to pitch around the first end drive axis; the end effector 3462 yaws around the second end drive axis. The first end drive axis and the second end drive axis are orthogonal to each other, forming a mechanism equivalent to a universal wrist joint, thereby enabling the end effector 3462 to rotate around two mutually perpendicular first and second end drive axes in space. This allows the robot to quickly adjust its posture without moving the entire robotic arm, greatly enhancing its ability to cope with complex operational angles and positional requirements.

[0077] In this embodiment, the end effector 3462 employs a frameless torque motor and a reducer, and the frameless torque motor and reducer of the end effector 3462 are integrated and packaged within the housing of the end effector 346 to serve as a drive unit for the end effector 346.

[0078] In this embodiment, the detection and recognition device 3466 is directly installed at the proximal end of the end connector 3460 or the end actuator 3462 and moves with the end. The detection and recognition device 3466 can be a miniature depth camera, a laser scanner or a structured light sensor. The detection and recognition device 3466 is responsible for real-time detection and recognition of target objects, relative positions, postures and types in the work scene.

[0079] In this embodiment, the end effector 3462 is a functional module that can be quickly replaced according to the task, such as a gripper, a two- or three-finger dexterous hand, a vacuum suction cup, a special tool holder, etc., to directly realize the required grasping, operation or processing actions.

[0080] Please refer to Figures 1 to 4 ,as well as Figures 8 to 10In some embodiments provided in this application, each forearm assembly 30 includes a forearm body 32 and a forearm joint assembly 34. The forearm body 32 includes a first forearm shell 320 and a second forearm shell 322 that are fixedly connected to each other and enclose to form a forearm encapsulation cavity (not labeled). The forearm joint assembly 34 is installed in the forearm encapsulation cavity. One side of the connector 53 is detachably and fixedly connected to the fixed mounting part 51, and the other side is inserted into the forearm body 32. The first forearm housing 320 and the second forearm housing 322 form a connector structure that can be detachably engaged with the connector 53 on one side of the first upper limb assembly end 31.

[0081] In this embodiment, the forearm assembly 30 adopts a split forearm body 32 design, which is formed by a first forearm shell 320 and a second forearm shell 322 tightly connected by axial bolts, together forming a complete and closed forearm encapsulation cavity. The forearm joint assembly 34 is fixedly installed in the forearm encapsulation cavity to provide a high-rigidity mounting shell to effectively resist external impact and dust intrusion.

[0082] In this embodiment, the ends of the first forearm housing 320 and the second forearm housing 322 are connected to form a plug-in structure, and the plug-in portion 53 is in the form of a male or female head to achieve a detachable fit.

[0083] Please refer to Figures 1 to 4 ,as well as Figures 8 to 10 In some embodiments provided in this application, each forearm joint assembly 34 includes a first forearm joint module 340, a second forearm joint module 342 and a third forearm joint module 344 connected in series along the first upper limb assembly end 31 toward the end of the degree of freedom. When the forearm assembly 30 and the upper limb assembly 20 are in a natural hanging state and aligned with the standing direction of the torso 10, the sixth transmission axis B1 of the first forearm joint module 340 is parallel to the standing direction of the torso 10, the seventh transmission axis B2 of the second forearm joint module 342 is orthogonal to the sixth transmission axis B1 and parallel to the fourth transmission axis A4; the eighth transmission axis B3 of the third forearm joint module 344 is orthogonal to the seventh transmission axis B2 and orthogonal to the sixth transmission axis B1.

[0084] In this embodiment, the forearm assembly 30 is arranged along an axis by a first forearm joint module 340, a second forearm joint module 342, and a third forearm joint module 344 connected in series. The first forearm joint module 340, the second forearm joint module 342, and the third forearm joint module 344 all employ frameless torque motors and reducers, and the frameless torque motors and reducers of each forearm joint module are integrated and packaged within a forearm encapsulation cavity formed by the forearm enclosed by the first forearm housing 320 and the second forearm housing 322.

[0085] In this embodiment, the sixth transmission axis B1 of the first forearm joint module 340 is orthogonal to the fourth transmission axis A4 (i.e., the pitch axis) at the end of the upper limb assembly 20, thereby constituting the first degree of freedom of the forearm assembly 30 and realizing the yaw motion of the end effector; the second forearm joint module 342 is connected to the first module through the connecting rod 345, and the seventh transmission axis B2 is orthogonal to the sixth transmission axis B1 and parallel to the fourth transmission axis A4, thereby constituting the second degree of freedom of the forearm assembly 30 and realizing the pitch motion of the end effector; the eighth transmission axis B3 of the third forearm joint module 344 is orthogonal to both the seventh transmission axis B2 and the sixth transmission axis B1, thereby constituting the third degree of freedom of the forearm assembly 30 and realizing the pitch motion of the end effector.

[0086] In this embodiment, the forearm assembly 30 uses a first forearm joint module 340, a second forearm joint module 342, and a third forearm joint module 344 to form an equivalent spherical motion mechanism, so that the end of the forearm assembly 30 can achieve rotational motion in three independent directions around space, that is, achieve true omnidirectional freedom.

[0087] Please refer to Figures 1 to 4 ,as well as Figures 8 to 10 In some embodiments provided in this application, each forearm joint assembly 34 includes a force transmission assembly and a first forearm joint, a second forearm joint, and a third forearm joint connected in parallel between the first upper limb assembly end 31 and the end of freedom. Each forearm joint includes a power component and a linkage component that are sequentially connected. The linkage component enables the linkage between the first upper limb assembly end 31 and the end of freedom. The force transmission component includes a ball and a cylindrical rod. The ball is fixed to the first upper limb assembly end 31 through the cylindrical rod, and the ball is located at the opening at the center of the end of freedom. The ball, the cylindrical rod, and the first upper limb assembly end 31 cooperate to transmit the force generated at the end of freedom and the forearm joint.

[0088] In this embodiment, the forearm assembly 30 employs a first forearm joint, a second forearm joint, and a third forearm joint connected in parallel to form a stable triangular or spatial polyhedral support mechanism at the first upper limb assembly end 31 and the end of the degree of freedom. The first, second, and third forearm joints all utilize frameless torque motors and reducers, and the frameless torque motors and reducers of each forearm joint are integrated and encapsulated within the forearm encapsulation cavity formed by the forearm enclosure of the first forearm housing 320 and the second forearm housing 322.

[0089] In this embodiment, each forearm joint is driven by a power component such as a frameless motor and reducer integrated module and a linkage such as a telescopic rod or swing arm. The motion generated by the power component is transmitted through the linkage, coordinating the drive of the end effector. The force transmission assembly consists of a cylindrical rod and a ball at its end. One end of the cylindrical rod is fixedly connected to the center of the first upper limb assembly end 31, and the other end is rigidly connected to the ball. The ball is precisely positioned in the spherical opening at the center of the end effector, forming a ball-joint constraint. Moreover, the main forces (especially axial force and bending moment) are directly transmitted to the first upper limb assembly end 31 through the ball and the cylindrical rod, effectively diverting the force burden of the parallel joints.

[0090] Please refer to Figures 1 to 4 ,as well as Figure 11 In some embodiments provided in this application, each lower leg assembly 40 includes a lower leg body 44, a lower leg joint module 45, and an end effector 46. A connector is connected between the lower leg body 44 and the lower limb assembly end 202. The lower leg joint module 45 is connected between the lower leg body 44 and the end effector 46. The fifth transmission axis C1 of the lower leg joint module 45 is orthogonal to the standing direction of the torso 10; and / or The lower leg body 44 includes a first lower leg shell 440 and a second lower leg shell 442 that are fixedly connected to each other. A lower leg fixing part 444 is provided on the side near the end moving component 46 and is fixedly connected to the shell of the lower leg joint module 45. The lower leg fixing part 444, together with the lower leg joint module 45, is connected to the end moving component 46 so that the power generated by the lower leg joint module 45 drives the end moving component 46 to move.

[0091] In this embodiment, the lower leg body 44 is quickly connected and locked to the lower limb assembly end 202 of the upper limb assembly 20 via a connector. The lower leg body 44 is formed by bolting together a first lower leg shell 440 and a second lower leg shell 442 to form a robust sealed cavity that can be used to accommodate cables, etc.

[0092] In this embodiment, the lower leg joint module 45 is connected between the lower leg body 44 and the end effector 46. The fifth transmission axis C1 of the lower leg joint module 45 is orthogonal to the standing direction of the torso 10, so that the pitching motion of the lower leg component 40 and the pitching motion of the end effector of the upper limb component 20 can be superimposed in the same plane, which greatly simplifies the complexity of bipedal gait generation and control, while ensuring the structural stability of the leg and the efficiency of force transmission during support. The lower leg joint module 45 adopts a frameless torque motor and a reducer, and the frameless torque motor and reducer of the lower leg joint module 45 are integrated and packaged in the housing of the lower leg component 40.

[0093] In this embodiment, the rotational power generated by the lower leg joint module 45 drives the end moving component 46 to produce a pitching motion through its output flange. Whether it drives the wheel-foot component to lift the leg and land, or drives the foot component to flex and extend the ankle joint, it can ensure that the power transmission is direct and precise, which is the core of achieving stable movement and flexible obstacle crossing.

[0094] Please refer to Figures 1 to 4 ,as well as Figure 11 In some embodiments provided in this application, the end-effector 46 is a foot-type leg 462, and includes a leg mounting portion 4620 detachably connected to the lower leg joint module 45 and a foot portion 4622 fixedly connected to the leg mounting portion 4620. The leg mounting portion 4620 has a fifth flange connection portion 4624 connected to the fifth output flanges on both sides of the lower leg joint module 45.

[0095] In this embodiment, the end-effector 46 of the lower leg assembly 40 is a foot-shaped leg 462, which is fixedly connected to the lower surface of the leg mounting part 4620 through its base mounting surface to form a complete foot structure. The end-effector 46, through its high-rigidity connection interface and biomimetic structural design, provides reliable support for stable support and efficient movement in the robot's bipedal movement mode.

[0096] In this embodiment, the leg mounting part 4620 serves as the core connection and power transfer component. It has high-strength fifth flange connection parts 4624 on both sides. The fifth flange connection parts 4624 are directly and firmly detachably connected to the fifth output flanges on both sides of the lower leg joint module 45 through a group of precision-machined bolt holes. This facilitates the replacement of different types of foot parts 4622 (such as different sizes or materials) according to task requirements, or quick replacement when damaged, greatly improving the maintainability of the system.

[0097] In this embodiment, the foot portion 4622 is a rigid frame to ensure support strength, and the bottom of the foot portion 4622 is covered with an elastic material with a high coefficient of friction and high wear resistance to increase grip and absorb impact.

[0098] Please refer to Figure 1 , Figure 12 and Figure 13 In some embodiments provided in this application, the end-effector 46 is a wheeled leg 464, and includes a wheeled mounting part 4640 detachably connected to the lower leg joint module 45 and a walking wheel 4642 rotatably connected to the wheeled mounting part 4640. The walking wheel 4642 is coaxially arranged with the fifth transmission axis C1 of the lower leg joint module 45.

[0099] In this embodiment, the end effector 46 uses the wheel mounting part 4640 as the core load-bearing and connecting component. It achieves a detachable connection with the output end of the lower leg joint module 45 through a flange interface integrated inside the wheel mounting part 4640. For example, a bearing seat is embedded inside the wheel mounting part 4640 to provide precise rotational support for the walking wheel 4642. The walking wheel 4642 serves as the mobile terminal, achieving a rotatable connection with the wheel mounting part 4640 through a hub bearing. Its rotation axis is strictly coaxial with the fifth transmission axis C1 of the lower leg joint module 45. Thus, on flat or regular ground, the robot can lower its center of gravity and achieve rapid, smooth, and low-power rolling movement by placing the walking wheel 4642 on the ground.

[0100] In this embodiment, the hub of the walking wheel 4642 is made of lightweight alloy to reduce rotational inertia, and is covered with elastic rubber or polyurethane material to provide the necessary ground adhesion and cushioning effect.

[0101] Please refer to Figure 1 , Figure 14 , Figure 15 , Figure 19 and Figure 20 In some embodiments provided in this application, the torso body 11 is provided with a first mounting space 110, a second mounting space 112, and a third mounting space 114 arranged sequentially from bottom to top, and a fourth mounting space 116 located on the front side; wherein, The upper limb fixing ends 200 of the two upper limb components 20 are installed in the first installation space 110; the battery 61 is installed in the second installation space 112; the main controller 90 is installed in the third installation space 114; and the power supply controller 80 is installed in the fourth installation space 116. The upper limb fixing ends 200, the battery 61, the main controller 90 and the power supply controller 80 are electrically / communicationally connected to each other.

[0102] In this embodiment, the main body 11 systematically plans and allocates functions in its internal space and adopts a modular layout, which makes the entire system easy to maintain and optimize. Each functional layer is relatively independent, and the maintenance or upgrade of any module (such as battery 61, main controller 90) does not require large-scale disassembly of the main body 10, which greatly reduces maintenance costs and time.

[0103] In this embodiment, the power supply unit can be a modular battery pack or a distributed power management architecture. For the modular battery pack structure, the power supply unit consists of multiple independent batteries 61 or battery modules connected in parallel or in series, and each battery 61 or battery module is connected to the power supply controller 80 through a bidirectional power latch connector; corresponding to the distributed power management architecture, a central power distribution unit is set in the main body 11, which is connected to the main output of each battery 61, and supplies power to the main controller 90, each joint module and the end effector, etc. through independent lines.

[0104] In this embodiment, the first mounting space 110 serves as the robot's power space and is located at the lower end of the torso 10. The two upper limb fixing ends 200 of the upper limb assembly 20 are placed within this space, allowing the center of gravity of the upper limb assembly 20 and the torso 10 to be relatively lower. This enables the robot to adaptively maintain a stable center of gravity in both armless and legless configurations, thus improving the overall stability and balance of the robot. The second mounting space 112 is used to mount the battery 61, placing the heaviest battery 61 in the middle of the torso 10. This effectively optimizes the robot's overall center of gravity distribution, improving stability during bipedal movement or static standing. Stability and balance; the third installation space 114 is used to install the main controller 90, so as to realize electrical communication connection with other electrical communication components, and can be expanded and integrated with core sensing devices such as panoramic vision sensors and lidar. The main controller 90 is placed at the highest point of the body 10, which on the one hand realizes electrical communication connection with other components, and on the other hand avoids the problem of being blocked by mechanical structure and signal shielding, ensuring 360° omnidirectional wireless signal coverage and environmental perception capability without blind spots. This tower-like layout provides a reliable sensing and data link foundation for the robot's autonomous navigation, remote interaction and multi-machine collaboration.

[0105] In this embodiment, the second installation space 112 is provided with a slide rail and a quick-plug interface, which allows the battery 61 to be easily replaced as an independent module, thereby achieving rapid energy replenishment under uninterrupted operation.

[0106] In this embodiment, the internal space of the torso 10 is vertically layered according to function (power, energy, control, power supply), with the heaviest battery 61 placed in the middle. This layout systematically optimizes the overall center of gravity and rotational inertia of the robot in both the two-arm mode (during operation) and the two-legged mode (during movement), laying a physical foundation for dynamic stability (such as impact resistance and tipping prevention) in both modes, rather than simply utilizing space.

[0107] Please refer to Figure 1 , Figure 14 and Figure 15In some embodiments provided in this application, the torso body 11 includes a pair of side frames 12, a front frame 13, a rear frame 14, a bottom frame 15, and a top frame 16 that enclose a generally cubic space, as well as a first partition bracket 17 and a second partition bracket 18 that divide the cubic space into a first installation space 110, a second installation space 112, and a third installation space 114. The two side frames 12 face each other, and the front frame 13 and the rear frame 14 face each other and are fixedly connected between the two side frames 12. The front frame 13, the two side frames 12, the bottom frame 15 and the top frame 16 enclose a fourth installation space 116. The bottom frame 15, the first partition bracket 17, the second partition bracket 18 and the top frame 16 are arranged at intervals from bottom to top and are fixedly connected between the two side frames 12 on both sides.

[0108] In this embodiment, the torso body 11 is formed by a pair of oppositely arranged side frames 12 and a rear frame 14 fixedly connected between the two side frames 12. These four frames together form the vertical load-bearing surface of the torso 10. The bottom frame 15 and the top frame 16 are fixed to the bottom and top of the two side frames 12 respectively, forming a complete closed cubic space together with the vertical frame.

[0109] In this embodiment, the main body 11 achieves functional partitioning through two sets of horizontally arranged first partition brackets 17 and second partitions. Specifically, the bottom frame 15, the first partition brackets 17, the second partition brackets 18, and the top frame 16 are spaced apart from bottom to top, and their left and right sides are firmly fixed to the side frames 12 on both sides. In this way, the three-layer structure divides the cubic space into three clear installation areas from top to bottom: The first installation space 110 at the bottom is located between the bottom frame 15 and the first partition bracket 17; the second installation space 112 in the middle is located between the first partition bracket 17 and the second partition bracket 18; and the third installation space 114 at the top is located between the second partition bracket 18 and the top frame 16.

[0110] Please refer to Figure 1 , Figure 14 , Figure 15 , Figure 19 and Figure 20 In some embodiments provided in this application, the front frame 13 includes a support body 190 located on the front side of the torso body 11 and facing the rear frame, and mounting feet 192 extending diagonally along the support body 190 and fixed to the side frames 12, the bottom frame 15 and the top frame 16. The torso 10 also includes a camera 70 fixedly mounted below the fourth mounting space 116. The camera 70 is located below two mounting legs 192 on one side near the bottom frame 15. and / or The main body 11 includes an outer shell assembly that covers and is fixedly connected to the outside of the side frames 12, the front frame 13, the bottom frame 15 and the top frame 16.

[0111] In this embodiment, the safety anti-collision bracket 19 is fixed to the two side frames 12, the bottom frame 15 and the top frame 16 by its four diagonally bent and extended mounting legs 192, forming a protective layer suspended above the main structure. The safety anti-collision bracket 19 is made of high-toughness composite material, which can effectively absorb impact energy through elastic deformation when a collision occurs, providing reliable protection for internal precision components.

[0112] In this embodiment, the camera 70 is preferably installed below the mounting foot 192 on the side close to the bottom frame 15, so that the camera 70 can obtain a high-quality field of view of the robot body forward and downward. This is particularly beneficial for: real-time monitoring of obstacles and terrain changes on the robot's foot movement path in the two-legged and armless form, providing close-range visual feedback of the workspace in the two-armed and legless form, and the low-position layout effectively avoids the robot's own limbs from obstructing the field of view.

[0113] In this embodiment, the housing assembly adopts a fully enclosed structure to completely cover and fix the outer sides of the two side frames 12, the front frame 13, the bottom frame 15 and the top frame 16 to form a fully enclosed protective housing. For example, each functional area is provided with a detachable door or panel. The battery 61 door facilitates quick replacement of the battery 61 module, the maintenance door provides convenient access to the main controller 90, and the sensor window ensures unobstructed transmission of communication module signals.

[0114] Please refer to Figure 1 , Figure 14 , Figure 15 , Figure 19 and Figure 20 In some embodiments provided in this application, the power supply controller 80 is connected to multiple rows of terminal blocks 82. Each terminal block 82 is arranged according to its function, facing the left and right sides and the top and bottom sides of the body 11. A terminal mounting port 194 for routing the terminal blocks 82 is formed between the support body 190 and the mounting feet 192. In this embodiment, by setting multiple rows of terminal blocks 82 on the power supply controller 80, the connecting wires of the electrical communication connection to the power supply controller 80 can be neatly and orderly connected to the corresponding electrical components through the terminal mounting ports 194 located on the left and right sides and the top and bottom sides of the body 11. By adopting the layered stacking structure of the body 11, combined with the multiple rows of terminal blocks 82 facing different directions on the power supply controller 80, neat cable routing and layered management of different power consumption units are achieved, thus making the internal structure of the body 10 compact and the wiring orderly. Figure 21 As shown.

[0115] In some embodiments provided in this application, the torso 10 includes a plurality of detachable paired plug-in interfaces and at least two detachable functional components. Each plug-in interface integrates a power-on side and a communication side. The power-on side is used to realize power transmission and supply between the power source and each detachable functional component, and the communication side is used to realize data interaction between the main controller 90 and each detachable functional component. Each detachable functional component includes at least various types of sensors, an end effector 346, and a frameless torque motor.

[0116] In this embodiment, multiple paired plug-in interfaces are provided on the main body 11. Each interface unit adopts an integrated design and integrates a power-on side and a communication side. The power-on side includes current transmission contacts and is directly connected to the battery 61 inside the main body 10 through an internal bus to provide stable and reliable power transmission and supply for external functional components. The communication side integrates high-speed data communication contacts and is directly connected to the main controller 90 through an internal CAN bus or gigabit Ethernet to realize real-time data interaction with functional components.

[0117] In this embodiment, the detachable functional components support the rapid connection of at least two types of detachable functional components to the torso 10 through the aforementioned interface. For example, the perception functional components include various sensors such as 3D vision cameras, LiDAR, and ultrasonic sensors, which can be flexibly configured in different positions on the torso 10 to build the robot's all-round perception capability of the working environment. The execution functional components include end effectors 346 (such as different grippers, suction cups, and special tools) and special joint modules driven by auxiliary frameless torque motors. These components can be quickly replaced according to task requirements, greatly expanding the robot's working range.

[0118] In some embodiments provided in this application, the main controller 90 is configured as follows: When it is detected that the two forearm assemblies 30 are connected to the upper limb assembly 20, the first control algorithm for controlling the robot arm is loaded. When it is detected that the two lower leg components 40 are connected to the upper limb component 20, a second control algorithm for controlling the movement of the two legs is loaded.

[0119] The main controller 90 of this application monitors the connection status in real time through a component identification unit integrated in the lower limb connection mechanism 50. When the forearm assembly 30 is connected to the upper limb assembly 20 via the first upper limb assembly end 31, the component identification unit detects a specific electronic identifier on the forearm assembly 30 and loads a first control algorithm, which controls the robot arm to perform the required operations. When the lower leg assembly 40 is connected via the second upper limb assembly end 42, different electronic features are identified, and a second control algorithm is loaded, which controls the robot's legs to move along a planned path. Based on the identification results, the main controller 90 automatically calls the corresponding control algorithm from its internal memory.

[0120] In one embodiment, the first control algorithm is constructed based on the robot's whole-body dynamics model, and its specific modules include: a seven-degree-of-freedom inverse kinematics solving unit, which calculates the joint space trajectory of the robotic arm end effector in real time based on the series configuration of the upper limb component 20 (four degrees of freedom) and the forearm component 30 (three degrees of freedom); a dual-arm collaborative planning unit, which coordinates the relative motion and force distribution between the two arms through a master-slave or symmetrical control strategy; an impedance control unit, which adjusts the joint torque output in real time based on the feedback from the six-dimensional torque sensor at the end effector to achieve compliant operation; and a workspace obstacle avoidance unit, which detects and avoids self-collision between the two arms in real time based on the robot's own collision model.

[0121] The first control algorithm, through the real-time computing core of the main controller 90, executes cyclically at a set frequency: it senses the actual position and torque of each joint module, plans the desired trajectory of the end effectors of both arms, solves the inverse kinematics to obtain the target position of each joint, calculates the desired torque of each joint through impedance control, and finally outputs the current loop to each joint module. In the legless, dual-arm configuration, this first control algorithm enables the robot to perform complex tasks such as precision assembly and tool operation.

[0122] In one embodiment, the second control algorithm is a bipedal dynamic movement control algorithm based on a whole-body dynamics control framework, comprising the following core modules: a gait generation unit, which generates a gait trajectory adapted to the terrain in real time according to the movement speed command, supporting both static walking and dynamic running; a whole-body control unit, which coordinates all joints to achieve dynamic balance based on model predictive control and automatically restores stability when subjected to external force disturbances; a terrain adaptation module, which identifies ground characteristics in real time and adjusts foot placement and gait parameters through foot pressure sensors and visual data; and an energy optimization unit, which minimizes energy consumption during walking through passive dynamic matching. The second control algorithm operates at a preset frequency through the main controller 90: acquiring data from the inertial measurement unit, joint encoders, and foot pressure sensors; predicting the robot's dynamic state within a preset time (e.g., 0.5 seconds); solving the whole-body optimization problem to obtain the desired acceleration of each joint; calculating the desired torque of each joint through inverse dynamics; and finally outputting the results to each joint module.

[0123] In one embodiment, the first control algorithm and the second control algorithm share the same underlying driver interface and state estimation framework, but employ different high-level control strategies. The main controller 90 has internal smooth switching logic to achieve a gradual transition of control parameters during the state transition process.

[0124] In one embodiment, both the first control algorithm and the second control algorithm can be developed based on algorithms such as "Visual-Language-Action (VLA)" and "Reinforcement Learning (RL)". The specific type of algorithm used can be selected by those skilled in the art based on actual needs. The above examples do not constitute a limitation on the specific selection of the first control algorithm and the second control algorithm.

[0125] Please refer to Figures 1 to 20 In a second aspect, this application provides a robot that can switch between a two-arm form and a two-leg form. The robot includes a torso 10, two forearm assemblies 30 and two lower leg assemblies 40. The torso 10 includes a torso body 11, a main controller 90, a power supply unit with a battery 61, and two upper limb assemblies 20 disposed opposite each other on both sides of the torso body 11. Two forearm assemblies 30 are detachably connected to two upper limb assemblies 20 to form a two-armed legless robot; two lower leg assemblies 40 are detachably connected to two upper limb assemblies 20 to form a two-legged armless robot. Depending on the changing needs, the two forearm assemblies 30 and the two lower leg assemblies 40 can be detachably connected to the two upper limb assemblies 20 to be configured as a two-armed legless robot or a two-legged armless robot.

[0126] In this embodiment, the robot uses a main controller 90 to receive user commands from an upper-level task planning system or directly, and generates operation commands after form switching based on current task requirements (such as operation or movement). When the forearm assembly 30 or the lower leg assembly 40 is connected to the upper limb assembly 20 through a standard interface, the recognition module integrated in the interface (such as an encoding chip or the aforementioned torque sensor feature detection) will report the component type information to the main controller 90 in real time. The main controller 90 automatically loads the corresponding kinematic model, dynamic parameters and control algorithm according to the received form switching command. For example, when the forearm assembly 30 is connected, the multi-arm collaborative operation control system is enabled; when the lower leg assembly 40 is connected, the bipedal gait planning and balance control system is enabled.

[0127] When the two forearm components 30 are detachably connected to the lower limb assembly ends 202 of the two upper limb components 20 via their first upper limb assembly ends 31, the robot forms a two-armed, legless form focused on operation. At this time, all joint modules achieve precise collaborative operation of the two arms under the coordination of the main controller 90. When the two lower leg components 40 are detachably connected to the lower limb assembly ends 202 of the two upper limb components 20 via their second upper limb assembly ends 42, the robot forms a two-legged, armless form focused on movement. At this time, the upper limb components 20 transform into hip joints and thighs, driving the lower leg components 40 to achieve stable bipedal movement.

[0128] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A robot capable of switching between a two-armed form and a two-legged form, characterized in that, include: The torso includes a torso body, a main controller, a power supply unit with a battery, and two upper limb assemblies arranged opposite each other on both sides of the torso body. Each upper limb assembly is a four-degree-of-freedom mechanical limb formed by four joint modules connected in series, and includes an upper limb fixed end and a lower limb assembly end. The upper limb fixed end is detachably connected to the torso body. Two forearm assemblies, each of which is a forearm assembly with three joint degrees of freedom to enable the end to have universal operation capability, and one end is configured as the first upper limb assembly end; Two lower leg components, each of which is a lower leg foot with a wheel foot or a lower leg foot with one or two degrees of freedom, and one end is configured as a second upper limb assembly end; The lower limb assembly end can be detachably assembled with the first upper limb assembly end to form a robot with two arms; or, the lower limb assembly end can be detachably assembled with the second upper limb assembly end to form a robot with two legs. When the lower limb assembly end is equipped with two of the forearm components, the robot is a dual-arm, legless robot. When the lower limb assembly end is equipped with the two lower leg components, the robot is a two-legged, armless robot.

2. The robot as described in claim 1, characterized in that, Each of the upper limb components includes a first upper limb joint module, a second upper limb joint module, a third upper limb joint module, and a fourth upper limb joint module connected in series. Each first upper limb joint module is disposed at the upper limb fixed end and connected to the torso body. The fourth upper limb joint module is connected to the forearm component or the lower leg component through the lower limb assembly end. Each of the first upper limb joint module, the second upper limb joint module, the third upper limb joint module, and the fourth upper limb joint module includes a frameless torque motor and a reducer, and the frameless torque motor and reducer of each upper limb joint module are integrated and packaged in the housing of each upper limb joint module; The first transmission axes of the two first upper limb joint modules are coaxially arranged and orthogonal to the second transmission axis of the second upper limb joint module, respectively. The second transmission axis of the second upper limb joint module is orthogonal to the third transmission axis of the third upper limb joint module, and the third transmission axis of the third upper limb joint module is orthogonal to the fourth transmission axis of the fourth upper limb joint module.

3. The robot as described in claim 2, characterized in that, Two first upper limb joint modules are fixedly connected to the lower end of the main body of the torso. Each first upper limb joint module is provided with a first output flange for transmitting the output power of the first upper limb joint module and supporting the pitch and yaw motion of the second upper limb joint module. The first output flange is coaxial with the first transmission axis. and / or Each of the upper limb components further includes a first upper limb housing for fixedly mounting the first upper limb joint module. The torso body includes a pair of opposing side frames. Each side frame is provided with a first through hole coaxial with the first transmission axis and allowing the first upper limb joint module to pass through coaxially. The first upper limb housing is fixedly connected to the side frame.

4. The robot as described in claim 3, characterized in that, Each of the second upper limb joint modules is provided with a pair of second output flanges for transmitting the output power of the second upper limb joint module and driving the third upper limb joint module to perform pitching motion around the second transmission axis. The rotation axis of the second output flange is coaxial with the second transmission axis; and / or Each of the upper limb components further includes a second upper limb housing for fixedly mounting the second upper limb joint module. The second upper limb housing includes a first mounting housing and a second mounting housing that are fixedly connected to each other and form a barrel shape. The first mounting housing includes a circumferential housing portion with a peripheral wall and an axial housing portion extending along the periphery of the circumferential housing portion and having an axial fixing ring. The circumferential housing portion and the axial housing portion are integrally formed. The second mounting housing is fixedly connected to the circumferential housing portion. The circumferential housing portion is provided with a first flange connection portion that is detachably connected to the first output flange. The axial housing portion is provided with a mounting hole that is coaxially arranged with the second transmission axis.

5. The robot as described in claim 4, characterized in that, Each of the third upper limb joint modules is provided with a third output flange for driving the fourth upper limb joint module to yaw around the third transmission axis, the axial direction of the third output flange being coaxial with the third transmission axis; and / or Each of the upper limb components further includes a third upper limb housing for fixedly mounting the third upper limb joint module. The third upper limb housing includes a first housing portion and a second housing portion fixedly connected to each other. The first housing portion and the second housing portion enclose and form a mounting and receiving opening for accommodating the second upper limb housing and a joint receiving cavity for accommodating the third upper limb joint module. The first housing portion and the second housing portion are respectively provided with a third flange connecting portion on one side of the mounting and receiving opening, which is detachably connected to the third output flange. The joint receiving cavity has a connecting hole for exposing the third output flange. The axial direction of the connecting hole is coaxial with the third transmission axis.

6. The robot as described in claim 5, characterized in that, Each of the fourth upper limb joint modules is provided with a fourth output flange for driving the forearm assembly or the lower leg assembly to perform pitching motion around the fourth transmission axis, the axial direction of the fourth output flange being coaxially arranged with the fourth transmission axis; and / or Each of the upper limb components further includes a fourth upper limb housing for fixedly mounting the fourth upper limb joint module. The fourth upper limb housing has a first end that is connected to the connection hole of the third upper limb housing and a second end that is connected to the lower leg assembly or the forearm assembly. The fourth upper limb housing includes a third housing portion and a fourth housing portion that are fixedly connected to each other. The third housing portion and the fourth housing portion form a fixing cavity for fixedly mounting the fourth flange connection portion at the first end. The fourth flange connection portion is detachably connected to the fourth output flange. The third housing portion and the fourth housing portion are provided with a fourth flange connection portion that is detachably connected to the fourth output flange at the second end.

7. The robot as described in claim 6, characterized in that, Each of the fourth upper limb shells further includes a fifth shell portion fixedly connected to the third shell portion and the fourth shell portion. The third shell portion and the fourth shell portion enclose and form an avoidance notch for fixing the fifth shell portion. The avoidance notch gradually increases in size circumferentially from the middle of the third shell portion toward the second end. The fifth shell portion is concave toward the fixing cavity.

8. The robot as described in claim 7, characterized in that, The clearance notch formed at the fifth housing portion constitutes the elbow recess between the upper and lower arms in the legless double-arm configuration; or The clearance notch formed at the fifth shell portion constitutes the popliteal fossa between the thigh and lower leg for a reverse-arched foot in the armless double-legged form; or The clearance formed at the fifth shell portion constitutes the popliteal fossa between the thigh and calf of the legs in the armless form, which has feet.

9. The robot as described in claim 1, characterized in that, Detachable assembly is achieved through a lower limb connection mechanism disposed between the lower limb assembly end and the first / second upper limb assembly end.

10. The robot as claimed in claim 1, characterized in that, Each of the upper limb components further includes a lower limb connection mechanism disposed at the lower limb assembly end and detachably connected to the first upper limb assembly end or the second upper limb assembly end. The lower limb connection mechanism includes a fixing mounting portion fixedly connected to the lower limb assembly end and a connector portion pluggably connected to the forearm assembly or the lower leg assembly; and / or The fixed mounting part and the connector part are integrally formed; or, the fixed mounting part and the connector part are connected by interlocking and / or by fasteners.

11. The robot as claimed in claim 10, characterized in that, The fixed mounting part is provided with mounting holes for the lower limb assembly ends to cooperate with each other, and the lower limb connecting mechanism has a connecting hole on the connecting part, and the connecting hole and the mounting hole are interconnected. The fixed mounting part has a flange on the wall of the mounting hole for engaging with the lower limb assembly end, and the flange is fixedly connected to the lower limb assembly end by fasteners.

12. The robot as claimed in claim 11, characterized in that, The connector includes a first connector pin and a second connector pin facing each other, and a connecting plate connecting the first connector pin and the second connector pin. The first connector pin and the second connector pin extend along one side of the fixed mounting part toward the forearm assembly or the lower leg assembly. The first connector pin, the second connector pin and the connecting plate surround to form a slot for insertion into the forearm assembly or the lower leg assembly. The slot communicates with the mounting hole through the connector hole.

13. The robot as described in claim 12, characterized in that, The lower limb connection mechanism further includes a first insertion abutment portion disposed at the end of the first connector pin and a second insertion abutment portion disposed at the end of the second connector pin; An abutment block is fixedly provided in the slot of the lower leg assembly or the forearm assembly. The abutment block has a guide protrusion that protrudes toward the fixed mounting part. The first insertion abutment part and the second insertion abutment part are provided with guide grooves on the side near the guide protrusion for guiding and positioning with the guide protrusion.

14. The robot as claimed in claim 12, characterized in that, The first connector pin has a first fixing hole and the second connector pin has a second fixing hole. The first fixing hole and the second fixing hole are elongated along the extension direction of the connector slot. Multiple bolts are used to pass through the first fixing hole and the second fixing hole on one side of the lower leg assembly to lock it in the other side of the lower leg assembly; or, multiple bolts are used to pass through the first fixing hole and the second fixing hole on one side of the forearm assembly housing to lock it in the other side of the forearm assembly; and / or The opening size of the first fixing hole and the second fixing hole in the extension direction of the connector slot is narrow in the middle and wide at both ends. The first fixing hole and the second fixing hole are located on both sides of the connector slot to form a weight-reducing and pressure-bearing structure on the first connector pin and the second connector pin.

15. The robot as described in claim 12, characterized in that, A retaining flange is formed between the fixed mounting portion and the connecting portion. The retaining flange abuts against the upper edge of the forearm assembly or the lower leg assembly to absorb the vertical impact force between the lower limb connecting mechanism and the forearm assembly or the lower leg assembly; and / or The forearm assembly or the lower leg assembly has a pair of first positioning holes diagonally opposite each other along the slot on the side facing the lower limb connecting mechanism; the abutment flange has a pair of second positioning holes facing the first positioning holes; the lower limb connecting mechanism further includes a positioning post connected between the first positioning holes and the second positioning holes; and / or The connecting plate has a snap-fit ​​block protruding on the side opposite to the slot. The forearm assembly or the lower leg assembly has a snap-fit ​​hole on its shell wall that mates with the snap-fit ​​block. The snap-fit ​​block and the snap-fit ​​hole cooperate with each other to prevent the lower limb connecting mechanism from performing torsional shearing motion relative to the forearm assembly or the lower leg assembly.

16. The robot as claimed in claim 12, characterized in that, Each of the forearm assemblies includes a forearm body, and the lower limb connecting mechanism is inserted between the forearm body and the fourth upper limb joint module; the forearm body has a forearm insertion structure that cooperates with the insertion part, and the forearm insertion structure is inserted into the forearm assembly and the upper limb assembly along the insertion slot to achieve a fixed connection; or Each of the lower leg components includes a lower leg body, and the lower limb connecting mechanism is inserted between the lower leg body and the fourth upper limb joint module. The lower leg body is provided with a connector that cooperates with the connector to allow the lower leg component to be detachably and fixedly connected to the aforementioned upper limb component.

17. The robot as claimed in claim 1, characterized in that, Each of the forearm components further includes an end effector disposed at the end of the degree of freedom. The end effector includes an end connection portion connecting the forearm joint component, an execution component for realizing the required action, an end joint module installed between the end connection portion and the execution component, and a detection and recognition device for detecting and recognizing the working scene. The end-connecting part is driven by the forearm joint assembly to perform pitch motion around the first end-drive axis of the end-connecting part, and the end-drive module drives the execution component to perform yaw rotation around the second end-drive axis of the end-drive module. The first end-drive axis and the second end-drive axis are orthogonal.

18. The robot as claimed in claim 1, characterized in that, Each of the forearm assemblies includes a forearm body and a forearm joint assembly. The forearm body includes a first forearm shell and a second forearm shell that are fixedly connected to each other and enclose a forearm encapsulation cavity. The forearm joint assembly is installed in the forearm encapsulation cavity.

19. The robot as claimed in claim 18, characterized in that, Each of the forearm joint components includes a first forearm joint module, a second forearm joint module, and a third forearm joint module that are connected in series along the first upper limb assembly end to the end of the degree of freedom. When the forearm assembly and the upper limb assembly are in a natural hanging state and aligned with the standing direction of the torso, the sixth transmission axis of the first forearm joint module is parallel to the standing direction of the torso, the seventh transmission axis of the second forearm joint module is orthogonal to the sixth transmission axis, and the eighth transmission axis of the third forearm joint module is orthogonal to both the seventh and sixth transmission axes.

20. The robot as claimed in claim 1, characterized in that, Each of the lower leg components includes a lower leg body, a lower leg joint module, and an end-effector moving component. The lower limb connecting mechanism is connected between the lower leg body and the lower limb assembly end. The lower leg joint module is connected between the lower leg body and the end-effector moving component. The fifth transmission axis of the lower leg joint module is orthogonal to the standing direction of the torso. and / or The lower leg body includes a first lower leg shell and a second lower leg shell that are fixedly connected to each other. A lower leg fixing part is provided on the side near the end moving component and is fixedly connected to the shell of the lower leg joint module. The lower leg fixing part, together with the lower leg joint module, is connected to the end moving component so that the power generated by the lower leg joint module drives the end moving component to move.

21. The robot as claimed in claim 20, characterized in that, The end-effector is a foot-type leg and includes a leg mounting part detachably connected to the lower leg joint module and a foot part fixedly connected to the leg mounting part. The leg mounting part has a fifth flange connection part that is connected to the fifth output flanges on both sides of the lower leg joint module.

22. The robot as claimed in claim 20, characterized in that, The end-effector is a wheeled leg and includes a wheeled mounting part detachably connected to the lower leg joint module and a walking wheel rotatably connected to the wheeled mounting part. The walking wheel is coaxially arranged with the fifth transmission axis of the lower leg joint module.

23. The robot as described in any one of claims 1 to 8, characterized in that, The main body of the torso has a first mounting space, a second mounting space, and a third mounting space arranged in layers from bottom to top, as well as a fourth mounting space located on the front side; wherein, The first installation space contains the upper limb fixing ends of the two upper limb components; the second installation space contains the battery; the third installation space contains the main controller; and the fourth installation space contains the power supply controller. The upper limb fixing ends, the battery, the main controller, and the power supply controller are electrically / communicationally connected to each other.

24. The robot as claimed in claim 23, characterized in that, The main body of the trunk includes a pair of side frames, a front frame, a rear frame, a bottom frame, and a top frame that enclose a roughly cubic space, as well as a first partition bracket and a second partition bracket that divide the cubic space into the first installation space, the second installation space, and the third installation space. The two side frames face each other, and the front frame and the rear frame face each other and are fixedly connected between the two side frames. The front frame, the two side frames, the bottom frame and the top frame enclose the fourth installation space. The bottom frame, the first partition bracket, the second partition bracket and the top frame are spaced apart from bottom to top and are fixedly connected between the two side frames on both sides.

25. The robot as described in claim 24, characterized in that, The front frame includes a support body located on the front side of the torso and facing the rear frame, and mounting feet extending diagonally along the support body and fixed to the two side frames, the bottom frame and the top frame. The torso also includes a camera fixedly installed below the fourth mounting space, the camera being positioned below the two mounting legs near the bottom frame; and / or The main body of the torso includes an outer shell assembly that covers and is fixedly connected to the outside of the two side frames, the front frame, the bottom frame, and the top frame.

26. The robot as described in claim 25, characterized in that, The power supply controller is connected to multiple rows of terminals, each of which is arranged facing the left and right sides and the top and bottom sides of the main body according to its function. A terminal mounting port for the wiring of the terminals is formed between the main body of the bracket and the mounting feet.

27. The robot as claimed in claim 23, characterized in that, The trunk includes multiple detachable paired plug-in interfaces and at least two detachable functional components. Each plug-in interface integrates a power-on side and a communication side. The power-on side is used to realize power transmission and supply between the power supply controller and each of the detachable functional components. The communication side is used to realize data interaction between the main controller and each of the detachable functional components. Each of the detachable functional components includes at least various types of sensors, end effectors, and frameless torque motors.

28. The robot as claimed in claim 1, characterized in that, The main controller is configured as follows: When it is detected that the two forearm components are connected to the upper limb component, a first control algorithm for controlling the robot arm is loaded. When it is detected that the two lower leg components are connected to the upper limb component, a second control algorithm for controlling the movement of the two legs is loaded.

29. A robot capable of switching between a two-armed form and a two-legged form, characterized in that, The robot includes a torso, two forearm assemblies, and two lower leg assemblies; The torso includes a torso body, a main controller, a power supply unit with a battery, and two upper limb assemblies disposed opposite each other on both sides of the torso body. The two forearm assemblies are detachably connected to the two upper limb assemblies to form a two-armed legless robot; the two lower leg assemblies are detachably connected to the two upper limb assemblies to form a two-legged armless robot. Depending on the changing needs, the two forearm assemblies and the two lower leg assemblies can be detachably connected to the two upper limb assemblies to be configured as a dual-arm legless robot or a dual-leg armless robot.

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