Robot structure

Abstract

The invention discloses a robot structure, which belongs to the technical field of intelligent robots, and adopts the scheme that a head, arms, a body and leg components are integrated, the head is provided with double microphones, a camera and multiple interfaces, and a support is provided with a circuit board and a storage battery in a partitioned manner; the head achieves multi-angle movement through gear transmission, the body is provided with an infrared sensor, the leg support comprises a wiring cavity and a reinforcing rib, a circuit is arranged through a hidden channel, and the feet can be turned over. The small-size AI desktop robot structure is reasonable in structural layout, high in space utilization rate, excellent in interaction experience, reliable in movement and convenient and fast to assemble and maintain, and the problems that in the prior art, assembly layout is disordered, interaction adaptability is poor, a movement mechanism is unreliable, and lines are exposed and blocked are solved while the small-size installation requirement is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent robots, in particular to a robot structure, which is especially suitable for a desktop intelligent interactive robot integrating voice interaction, image recognition and multi-degree-of-freedom limb movement function. BACKGROUND

[0002] With the development of artificial intelligence technology, desktop intelligent robots are widely used in family companionship, office assistance, education and entertainment and other scenes due to their small size and convenient interaction. The existing structure design of desktop robots mainly has the following defects, which seriously affect the comprehensive performance and user experience: (1) Component layout and space utilization defects: the internal components (motors, circuit boards, batteries, etc.) of the existing desktop robots are arranged in disorder, lacking reasonable planning, resulting in low space utilization of the head, body and legs, making it difficult to integrate multi-degree-of-freedom movement mechanisms and rich interactive components under the limitation of small size, and often appearing the contradiction of "single function" or "too large size".

[0003] (2) Insufficient adaptability of interactive function: some robots only have a single microphone, and the voice collection is easily disturbed by the environment, with low command recognition accuracy; the camera installation position is unreasonable, and the image collection angle is limited; the interactive interfaces (charging, resetting, etc.) are scattered, and the operation is not convenient, with poor overall interactive experience.

[0004] (3) Reliability problem of head rotation mechanism: the existing robot head rotation mostly uses single gear transmission or angle-limiting-free design, which has the problems of unstable driving and uncontrollable head movement angle, easily leading to gear wear or internal line winding, affecting the safety and service life of the structure.

[0005] (4) Defects in leg structure design: the leg support is mostly solid or simply hollow structure, lacking wiring planning, and the exposed lines are easy to be entangled and damaged; the connection mechanism between the leg and the foot has low assembly precision, the foot turning action is not flexible, and the support structure has insufficient strength, which easily affects the stability of the robot due to stress deformation; some robots do not have environmental perception components, and are easy to collide and fall when moving on the table.

[0006] (5) Poor assembly and maintenance convenience: the internal circuit board has no partition layout, the line connection is chaotic, and the assembly efficiency is low; the line layout of the leg and the foot has no special channel, and the line disassembly is difficult during subsequent maintenance, increasing the maintenance cost.

[0007] (6) Lack of line layout rationality: the existing robot leg line is mostly exposed or the line path is disordered, which not only affects the appearance, but also easily causes line failure due to friction and winding during movement, thereby causing leg movement jamming and reducing the use reliability of the robot.

[0008] The defects of the prior art limit the performance improvement and market promotion of small-size AI robots. SUMMARY

[0009] To solve the above problems, the application provides a robot structure, which realizes a small-size AI desktop robot structure with reasonable structure layout, high space utilization, excellent interactive experience, reliable movement and convenient assembly and maintenance, meets the small-size installation requirement, and solves the problems of disordered component layout, poor interactive adaptability, unreliable movement mechanism and exposed line jamming in the prior art.

[0010] To achieve the above object, the application adopts the technical scheme of a robot structure, which comprises a head assembly, an arm assembly, a body assembly and a leg assembly; the arm assembly is on both sides of the head assembly, the body assembly is below the head assembly, and the leg assembly is below the body assembly; the head assembly has a head shell and a rotating seat for neck connection; the head shell has a support inside, the support has an arm motor for driving the arm assembly to rotate and a head motor connected with a head driving gear installed thereon; the rotating seat has a mounting shaft transversely installed thereon, the mounting shaft is connected with a mounting slot hole in the head shell; the mounting shaft has a fixed gear; the head driving gear is engaged with the fixed gear; the body assembly has a leg motor for driving the leg assembly and a neck motor for driving the rotating seat to rotate inside; the leg assembly comprises a leg support, the leg support has a connecting seat at the top end and is connected with a reversible foot movement member through a rotating shaft component at the lower end, and the foot movement member has a foot motor for driving the foot movement member to turn inside.

[0011] The above technical scheme has the beneficial effects of realizing the reasonable layout and cooperative action of the components of the robot, the head motor can drive the head to turn up and down relative to the rotating seat through gear engagement, the neck motor can drive the rotating seat to rotate, thereby controlling the left and right rotation of the head, the arm motor can control the rotation of the arm assembly, the leg motor can drive the leg to swing, and the foot motor can realize the turning of the foot movement member, so that the robot has various actions required for head rotation, head lifting and lowering, arm rotation and foot walking, the flexibility and diversity of limb movement are improved, and meanwhile, the components are arranged compactly, which meets the small-size installation space requirement.

[0012] As a further improvement of the above scheme, the head shell has a display screen, a microphone and a camera assembly on the front face, a mesh for sound emission of a loudspeaker on the back face, and a key assembly on the top face; the back face of the head shell has a function slot at the upper end, and the function slot has a Type-C interface and / or a reset button.

[0013] The technical scheme has the beneficial effects that rich interactive components and function interfaces are integrated, the display screen can be used for information display, the microphone and the camera assembly can realize voice interaction and image recognition, the loudspeaker can guarantee sound output, the key assembly, the Type-C interface and the reset key can meet the operation, charging and fault reset requirements, and the interactive experience of the robot is comprehensively improved, so that the user can interact with the robot in multiple ways.

[0014] As a further improvement of the above scheme, the bracket is an open box structure, and the inside is adapted to be mounted with a storage battery; the front of the bracket is mounted with a main circuit board, and the top end is mounted with a secondary circuit board; the main circuit board is electrically connected with the display screen, the microphone, the camera assembly and the loudspeaker; and the secondary circuit board is electrically connected with the key assembly, the Type-C interface and the reset key.

[0015] The technical scheme has the beneficial effects that the bracket with the open box structure not only realizes stable installation of the storage battery, but also reasonably plans the circuit connection path through the partition layout of the main and secondary circuit boards, so that the electrical connection of each interactive component and the circuit board is clear and orderly, the line is avoided from being messy, and the internal space utilization is improved.

[0016] As a further improvement of the above scheme, two microphones are arranged on both sides of the display screen; and the camera assembly is arranged on the front upper end of the head shell.

[0017] The technical scheme has the beneficial effects that the double-microphone layout can improve the accuracy of voice collection, reduce environmental interference, and ensure that the robot can clearly receive the user's voice instructions; the camera assembly is arranged on the front upper end, which meets the best angle requirement of image collection, can more comprehensively and clearly capture the image information in front, and further optimizes the effects of voice interaction and image recognition.

[0018] As a further improvement of the above scheme, the neck motor is connected with a neck driving gear, the neck driving gear is engaged with a neck transmission gear, and the neck transmission gear is coaxially connected with the rotating seat; and the fixed gear is an incomplete gear.

[0019] The technical scheme has the beneficial effects that the multi-stage gear engagement transmission makes the driving of the neck motor on the rotating seat more stable and accurate, guarantees the fluency of the head rotation, and the design of the incomplete gear can limit the movement angle of the head relative to the rotating seat, avoid excessive rotation to cause component damage, meet the actual requirements of the head movement of the robot, and improve the safety and reliability of the structure.

[0020] As a further improvement of the above scheme, the body shell of the body assembly is provided with an infrared sensor.

[0021] The beneficial effects of the above technical scheme are that the addition of the infrared sensor enables the robot to have distance detection or obstacle recognition function, to timely sense the objects in the surrounding environment, to avoid collision during movement, and to improve the safety and environmental adaptability of the robot when used in a desktop scenario.

[0022] As a further improvement of the above scheme, the rotating seat is provided with a buckle hole, and the shaft of the neck transmission gear is provided with an upwardly extending buckle; the buckle is connected with the rotating seat after passing through the buckle hole.

[0023] The beneficial effects of the above technical scheme are that the cooperation of the buckle and the buckle hole further enhances the firmness of the connection between the rotating seat and the first transmission gear, and the double connection mode effectively prevents relative displacement of the two during movement, thereby ensuring the accuracy of transmission.

[0024] As a further improvement of the above scheme, the foot moving part includes a foot bottom plate and a protruding foot cover plate, the foot cover plate and the foot bottom plate combine to form a foot mounting cavity, and the foot motor is in the mounting cavity; the rotating shaft part is rotatably in the holes at both ends of the foot cover plate, and at least one rotating shaft part is connected with the foot motor.

[0025] The beneficial effects of the above technical scheme are that the foot mounting cavity provides a stable mounting space for the foot motor, and simultaneously realizes hidden arrangement of the motor, thereby avoiding exposure to affect the appearance and safety; the connection mode of the rotating shaft part and the foot motor ensures that the motor can accurately drive the foot moving part to turn around the rotating shaft, thereby guaranteeing the flexibility and reliability of the foot movement, and enabling the robot to better adapt to different placement planes.

[0026] As a further improvement of the above scheme, the leg support is in an inverted U shape or an inverted V shape, and is hollow inside to form a wiring cavity, the wiring cavity is spaced apart along the length direction and has reinforcing ribs, the reinforcing ribs are connected to the two side walls of the wiring cavity, and a slot is formed in the middle for wiring.

[0027] The beneficial effects of the above technical scheme are that the inverted U-shaped or inverted V-shaped leg support structure guarantees support stability while the hollow wiring cavity inside provides space for wiring arrangement; the design of the reinforcing ribs enhances the structural strength of the leg support, avoids deformation of the structure due to the hollow inside, and the slot in the middle facilitates wiring, thereby realizing orderly arrangement of the wiring and taking into account the structural strength and wiring convenience.

[0028] As a further improvement of the above scheme, the connecting seat has a wiring slot on the side, the wiring slot penetrates the upper end surface of the connecting seat along the axial direction, the slot opening exposed to the outer wall of the leg support is narrow on the outside and wide on the inside, and the cross section is in a T shape; the connecting seat has a wire passing hole on the bottom and at the side of the wiring slot, the wire passing hole penetrates the two sides of the connecting seat and communicates with the wiring cavity.

[0029] The beneficial effects of the above technical scheme are: the positioning groove or the positioning protrusion in the assembly hole makes the assembly of the connecting seat and the body assembly more accurate and stable, avoids the assembly deviation affecting the motion coordination; the cooperation of the T-shaped wiring groove and the wire passing hole realizes the smooth transition of the line from the connecting seat to the leg support wiring cavity, and the design of narrow slot and wide interior can prevent the line from being exposed, and at the same time, it is convenient for the installation and fixation of the line, and improves the neatness and reliability of the line arrangement.

[0030] As a further improvement of the above scheme, the lower ends of the leg support have coaxial mounting holes, the rotating shaft component includes a shaft sleeve inserted into the mounting hole, the shaft sleeve has a flange plate at one end, and the flange plate is connected to the leg support by bolts; the shaft sleeve side edge opening forms a wire passing groove, and the wire passing groove penetrates through both ends of the shaft sleeve.

[0031] The beneficial effects of the above technical scheme are: the coaxial mounting hole ensures the coaxiality of the installation of the rotating shaft component, the connection mode of the flange plate and the bolt makes the fixation of the rotating shaft component and the leg support more firm, and improves the assembly precision; the design of the wire passing groove provides a channel for the line to pass through the rotating shaft component, realizes the full-path hidden arrangement of the leg line, avoids the line entanglement affecting the rotation of the rotating shaft component, at the same time, guarantees the smoothness of the leg movement, solves the problems of line exposure and motion jam in the prior art.

[0032] The overall beneficial effects of the present application compared with the prior art are: The robot structure adapts to the core requirements of small size and limited internal installation space of AI desktop robots, and through the optimized layout and structure design of various components, it efficiently integrates multiple functions such as voice interaction, image recognition, information display, multi-directional movement, etc. in a compact space.

[0033] The problems of low space utilization, poor adaptability of rotating mechanism, insufficient arm expansion, poor interaction experience and inconvenient maintenance of existing AI desktop robots are solved, at the same time, the full-path hidden arrangement of the leg line is realized, the structural strength, assembly precision and motion flexibility of the leg movement component are guaranteed, and defects such as line exposure, structure deformation, inaccurate assembly positioning and motion jam are avoided.

[0034] The overall structure is convenient to assemble and maintain, the robot limb movement is flexible and diverse, the environmental adaptability and use safety are high, and the comprehensive performance and user experience of the small-size AI desktop robot are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is a schematic diagram of the front structure of the robot.

[0036] Figure 2 It is a schematic diagram of the back structure of the robot.

[0037] Figure 3 Fig. 8 is a schematic diagram of the front side of the interior of the robot head.

[0038] Figure 4 Fig. 9 is a schematic diagram of the back side of the interior of the robot head.

[0039] Figure 5 Fig. 10 is a schematic diagram of the bottom of the interior of the robot head.

[0040] Figure 6 Fig. 11 is a schematic diagram of the connection of the fixed gear on the rotating seat and the head driving gear.

[0041] Figure 7 Fig. 12 is a schematic diagram of the interior of the robot head shell.

[0042] Figure 8 Fig. 13 is a schematic diagram of the interior of the robot body assembly.

[0043] Figure 9 Fig. 14 is a schematic diagram of the rotating seat structure.

[0044] Figure 10 Fig. 15 is a schematic diagram of the neck transmission gear structure.

[0045] Figure 11 Fig. 16 is a schematic diagram of the leg assembly structure.

[0046] Figure 12 Fig. 17 is a schematic diagram of the leg support structure.

[0047] Figure 13 Fig. 18 is a schematic diagram of the appearance of the leg assembly.

[0048] Figure 14 Fig. 19 is a schematic diagram of the rotating shaft component on the leg support structure.

[0049] Figure 15 Fig. 20 is a schematic diagram of the side of the leg support structure.

[0050] Figure 16 Fig. 21 is a schematic diagram of the rotating shaft component structure.

[0051] Figure 17 Fig. 22 is a schematic diagram of the connection of the rotating shaft component and the body assembly structure.

[0052] In the diagram: 1. Head assembly; 2. Arm assembly; 3. Body assembly; 4. Leg assembly; 6. Infrared sensor; 13. Mesh; 101. Display screen; 102. Microphone; 103. Camera assembly; 104. Button assembly; 105. Function slot; 106. Type-C interface; 107. Reset button; 108. Speaker; 109. Arm motor; 110. Head motor; 111. Neck drive gear; 112. Head drive gear; 113. Rotating base; 114. Fixed gear; 115. Battery; 116. Bracket; 117. Main circuit board; 118. Sub-circuit board ; 119, Snap-fit ​​hole; 120, Mounting slot; 121, Mounting shaft; 201, Hand interface slot; 301, Neck drive gear; 302, Neck motor; 303, Leg motor; 304, Body shell; 401, Leg bracket; 402, Foot cover plate; 403, Foot sole plate; 405, Rotating shaft assembly; 407, Foot motor; 408, Bracket cover plate; 1110, Snap-fit; 4010, Connecting seat; 4011, Cable routing groove; 4012, Cable passage hole; 4013, Assembly hole; 4051, Bushing; 4052, Cable passage groove; 4053, Flange plate; 4054, Boss with hole. Detailed Implementation

[0053] To enable those skilled in the art to better understand the technical solution, the present invention will be described in detail below with reference to embodiments. The description in this part is only exemplary and explanatory, and should not be used to limit the scope of protection of the present invention in any way.

[0054] I. Component Preparation like Figures 1-17 As shown, prepare the following components in advance to ensure that the dimensions of each component are suitable for the installation requirements of the small desktop robot (the overall body height is controlled within 15-30cm): Components related to head assembly 1: head shell, rotating base 113, bracket 116 with open box structure, battery 115, main circuit board 117, auxiliary circuit board 118, head motor 110, head drive gear 112, fixed gear 114 (incomplete gear), display screen 101, two microphones 102, camera assembly 103, speaker 108, button assembly 104, Type-C interface 106, reset button 107; Arm assembly 2: Arm assembly 2 is a shell structure with a cavity, and a hand interface groove 201 is provided at the end; Body component 3 related parts: body shell 304, neck motor 302, neck drive gear 301, neck transmission gear 111, leg motor 303, infrared sensor 6; The rotating base 113 is provided with a snap-fit ​​hole 119; the shaft of the neck transmission gear 111 is provided with an upwardly extending snap 1110; the snap 1110 passes through the snap-fit ​​hole 119 and is snapped into the rotating base 113. Leg assembly 4 related components: inverted U-shaped leg bracket 401 (hollow inside to form a cable routing cavity, with reinforcing ribs spaced along the length of the cable routing cavity, the two ends of the reinforcing ribs connected to the two side walls of the cable routing cavity, a slot in the middle, and a detachable bracket cover plate 408 on the outside), connecting seat 4010 (with an assembly hole 4013 on the top, a positioning groove with annular distribution and extending along the axial direction on the inner wall of the assembly hole 4013, a T-shaped cable routing groove 4011 on the side, and a cable passage hole 4012 at the bottom), rotating shaft component 405 (including bushing 4051, flange plate 4053, perforated boss 4054, and bolts, with a cable passage groove 4052 formed by the side opening of the bushing 4051 of one of the rotating shaft components 405), foot moving parts (including foot plate 403 and raised foot cover plate 402, which together form a foot mounting cavity), and foot motor 407; Auxiliary components: bolts, wires, and grease required for gear meshing.

[0055] Circuit boards: main circuit board 117, secondary circuit board 118, and circuit boards within body assembly 3.

[0056] II. Assembly of Header Component 1 (Achieving component layout optimization and interactive function integration, such as...) Figures 1-7 As shown: Installation of bracket 116 and internal components: The battery 115 is fitted and installed inside the open box structure bracket 116. The purpose of this step is to use the structure of bracket 116 to securely fix the battery 115, while reserving space for the installation of the circuit board. Then, the main circuit board 117 is fixed to the front of bracket 116, and the secondary circuit board 118 is fixed to the top of bracket 116. The purpose of this step is to plan a clear circuit path by dividing the main and secondary circuit boards 118 into sections, so as to avoid messy wiring.

[0057] Head motor 110 and gear assembly: The head motor 110 is fixed to the bracket 116, and the output end of the head motor 110 is connected to the head drive gear 112; the fixed gear 114 (incomplete gear) is installed on the mounting shaft 121 of the rotating seat 113. The purpose of this step is to limit the head movement angle through the incomplete gear and prevent excessive rotation from damaging the parts; the mounting shaft 121 of the rotating seat 113 is connected to the mounting slot 120 in the head housing, so that the head housing can rotate around the mounting shaft 121, ensuring that the head drive gear 112 and the fixed gear 114 are precisely meshed. The function of this step is to enable the head motor 110 to drive the head to move relative to the mounting shaft 121, providing power for the head to raise and lower.

[0058] Interactive component installation and electrical connection: install the display screen 101 on the front of the head shell, fix two microphones 102 on both sides of the display screen 101, and fix the camera assembly 103 on the upper end of the front of the head shell. The purpose of this step is to improve the accuracy of voice collection and the angle of image collection; the back of the head shell is provided with a mesh hole 13, the loudspeaker 108 is installed inside the mesh hole 13, the top is provided with a key assembly 104, the back upper end is provided with a function slot 105, the Type-C interface 106 and the reset button 107 are installed in the function slot 105. The function of this step is to integrate rich interactive interfaces and operation components; finally, the display screen 101, the microphone 102, the camera assembly 103, the loudspeaker 108 and the main circuit board 117 are electrically connected through wires, and the key assembly 104, the Type-C interface 106 and the reset button 107 are electrically connected with the auxiliary circuit board 118. The purpose of this step is to realize the signal transmission and power supply of each interactive component.

[0059] Three, body assembly 3 assembly (realize neck driving and environment sensing function), as shown in Figures 8-10 Body internal component installation: fix the neck motor 302 and the leg motor 303 inside the body shell 304, the output end of the neck motor 302 is connected with the neck driving gear 301, the neck driving gear 301 is engaged with the neck transmission gear 111, and the neck transmission gear 111 is coaxially connected with the rotating seat 113. The purpose of this step is to realize the smooth and accurate driving of the rotating seat 113 by the neck motor 302 through multi-stage gear transmission, and to ensure the smooth rotation of the head; install the infrared sensor 6 on the surface of the body shell 304 and electrically connect it with the main circuit board 117 through wires. The function of this step is to give the robot obstacle recognition function and improve the safety of use.

[0060] Head assembly 1 and body assembly 3 connection: coaxially fix the rotating seat 113 of the head assembly 1 and the neck transmission gear 111 of the body assembly 3, and the rotating seat 113 is provided with a buckle hole 119; the shaft of the neck transmission gear 111 is provided with an upward extending buckle 1110; the buckle 1110 passes through the buckle hole 119 and is connected with the rotating seat 113; at the same time, the rotating seat 113 and the neck transmission gear 111 can be further connected and fixed by bolts; ensure that the rotating seat 113 and the head as a whole can be rotated when the neck motor 302 is driven. The purpose of this step is to realize the 360-degree rotation function of the head and improve the diversity of the limb movement of the robot.

[0061] Four, leg assembly 4 assembly (realize line hiding and flexible movement of feet), as shown in Figures 11-17 ​​Leg support installation: The connecting seat 4010 is located at the top of the leg support 401. After the connecting seat 4010 passes through the hole in the bottom of the body shell, the assembly hole 4013 at the top of the connecting seat 4010 is connected with the output shaft of the leg motor through the positioning slot. The wires in the robot body directly enter the T-shaped wiring slot 4011 on the side of the connecting seat 4010 from the top of the connecting seat 4010, pass through the wire hole 4012 at the bottom, and then enter the wiring cavity of the leg support. Then it can enter the foot movement part. This realizes the orderly arrangement of the circuit and prevents it from being exposed and tangled.

[0062] Rotary shaft component 405 and foot movement part assembly: Install the foot motor 407 in the foot mounting cavity formed by the combination of the foot bottom plate 403 and the foot cover plate 402. The purpose of this step is to realize hidden arrangement of the motor, ensuring aesthetics and safety. The rotary shaft component 405 is rotatably installed in the hole at both ends of the foot cover plate 402. One of the rotary shaft components 405 is fixedly connected with the output end of the foot motor 407. This step functions to drive the rotary shaft component 405 to rotate through the foot motor 407, thereby driving the foot movement part to flip. Then, the coaxial mounting holes at both ends of the lower part of the leg support 401 are matched with the shaft sleeve 4051 of the rotary shaft component 405. The flange plate 4053 at one end of the shaft sleeve 4051 is fixed with the leg support 401 through bolts. The purpose of this step is to ensure the stable installation of the rotary shaft component 405 and improve the reliability of the foot movement. The wires pass through the wire slot 4052 of the rotary shaft component 405 and are electrically connected with the foot motor 407. This step functions to realize the full-path hidden of the leg circuit, avoiding the entanglement of the circuit during movement.

[0063] Five, overall assembly and debugging (ensure that each component works together) Fix the connecting seat 4010 of the leg assembly 4 with the bottom of the body assembly 3, and ensure that the leg motor 303 is electrically connected with the main circuit board 117 through the wires. The purpose of this step is to realize the control of the body assembly 3 over the leg movement. Check whether all components are firmly assembled and whether the wire connection is correct without looseness or misconnection.

[0064] Turn on the power supply of the battery 115 and supply power through the Type-C interface 106. Debug the action of each motor: control the head motor 110 to rotate, drive the head drive gear 112 to rotate through the leg motor 303, and make the head drive gear 112 rotate around the fixed gear 114, thereby driving the head to rotate around the installation shaft 121. Verify whether the head lifting and lowering angle meets the design requirements, and the angle range is controlled within the limit of the incomplete gear. Control the neck motor 302 to verify whether the head rotation is smooth without jamming. Control the leg motor 303 to verify the rotation stability of the leg support 401. Control the foot motor 407 to verify whether the foot flipping action is flexible. Through the coordinated movement of the rotation of the leg support 401 and the flipping of the foot, the movement of the robot is realized. Debugging infrared sensor 6, verify the obstacle detection sensitivity; test the microphone 102 voice collection, camera image collection, display screen 101 display, speaker 108 sound function is normal, the step effect is to ensure that each component works together, realize the preset technical effect.

[0065] Through the above steps, the complete assembly of the robot is completed, and the implementation process strictly follows the principles of component adaptability, assembly accuracy and functional integrity, and finally realizes the technical purposes of reasonable structure layout, rich functional integration, reliable movement, convenient assembly and maintenance.

[0066] It should be noted that in this paper, the terms: including, containing and any other variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. The principles and implementation of the technical solutions of the present application are described in specific examples. The above example is only used to help understand the method of the present application and its core idea. The above description is only the preferred embodiment of the present application. It should be pointed out that due to the limitation of language expression, there are infinite specific structures objectively. For ordinary skilled persons in the art, without departing from the principles of the present application, some improvements, refinements or changes can be made, or the above technical features can be combined in a proper way; these improvements, refinements, changes or combinations, or the application of the concept and technical solutions of the present application to other fields without improvement, shall be regarded as the protection scope of the present application.

Claims

1. A robot structure, characterized in that, It comprises a head assembly (1), an arm assembly (2), a body assembly (3) and a leg assembly (4); the arm assembly (2) is arranged on both sides of the head assembly (1), the body assembly (3) is arranged below the head assembly (1), and the leg assembly (4) is arranged below the body assembly (3); The head assembly (1) comprises a head shell and a rotating seat (113) for connecting the neck; a support (116) is arranged in the head shell, an arm motor (109) for driving the arm assembly (2) to rotate and a head motor (110) connected with a head driving gear (112) are arranged on the support (116); a mounting shaft (121) is arranged transversely on the rotating seat (113) and connected with a mounting slot hole (120) in the head shell; a fixed gear (114) is arranged on the mounting shaft (121); the head driving gear (112) is engaged with the fixed gear (114). The body assembly (3) is internally provided with a leg motor (303) for driving the leg assembly (4) and a neck motor (302) for driving the rotating seat (113) to rotate; The leg assembly (4) comprises a leg support (401), the top end of the leg support (401) is provided with a connecting seat (4010), the lower end is connected with a reversible foot moving part through a rotating shaft part (405), and the foot moving part is internally provided with a foot motor (407) for driving the foot moving part to turn over.

2. A robot structure according to claim 1, characterized in that The front surface of the head shell is provided with a display screen (101), a microphone (102) and a camera assembly (103), the back surface is provided with a mesh (13) for sound emission of a loudspeaker (108), and the top surface is provided with a key assembly (104); the upper end of the back surface of the head shell is provided with a function slot (105), and the function slot (105) is internally provided with a Type-C interface (106) and / or a reset key (107).

3. A robot structure according to claim 1, characterized in that The support (116) is an open box structure, and a storage battery (115) is internally fitted and arranged; a main circuit board (117) is arranged on the front surface of the support (116), and a secondary circuit board (118) is arranged on the top end; the main circuit board (117) is electrically connected with the display screen (101), the microphone (102), the camera assembly (103) and the loudspeaker (108); the secondary circuit board (118) is electrically connected with the key assembly (104), the Type-C interface (106) and the reset key (107).

4. A robot structure according to claim 2, characterized in that The microphone (102) is provided with two, which are respectively arranged on both sides of the display screen (101); the camera assembly (103) is arranged on the upper end of the front surface of the head shell.

5. The robotic structure of claim 1, wherein, The neck motor (302) is connected with a neck driving gear (301), the neck driving gear (301) is engaged with a neck transmission gear (111), the neck transmission gear (111) is coaxially connected with the rotating seat (113); the fixed gear (114) is an incomplete gear.

6. A robotic structure according to claim 1, wherein, An infrared sensor (6) is arranged on the body shell (304) of the body assembly (3).

7. A robot structure according to claim 1, characterized in that The foot moving part comprises a foot bottom plate (403) and a convex foot cover plate (402), the foot cover plate (402) and the foot bottom plate (403) combine to form a foot mounting cavity, and a foot motor (407) is arranged in the mounting cavity; the rotating shaft part (405) is rotatably arranged in the hole at both ends of the foot cover plate (402), and at least one rotating shaft part (405) is connected with the foot motor (407).

8. The robotic structure of claim 1, wherein, The leg support (401) is in an inverted U shape or an inverted V shape, is hollow in the inside to form a wire routing cavity, and is provided with reinforcing ribs which are distributed along the length direction and are spaced apart from each other in the wire routing cavity, the reinforcing ribs are connected with the two side walls of the wire routing cavity at both ends, and a slot is arranged in the middle of the reinforcing ribs for wire routing.

9. A robotic structure according to claim 1, wherein, The connecting seat (4010) is provided with a wire routing groove (4011) at the side edge, the wire routing groove (4011) penetrates through the upper end surface of the connecting seat (4010) along the axial direction, the slot opening of the wire routing groove (4011) is narrow on the outer wall of the leg support (401) and is wide in the inside, and the cross section of the wire routing groove (4011) is in a T shape; the connecting seat (4010) is provided with a wire passing hole (4012) at the bottom and at the side edge of the wire routing groove (4011), the wire passing hole (4012) penetrates through the two sides of the connecting seat (4010) and is in communication with the wire routing cavity.

10. The robotic structure of claim 1, wherein, The lower part of the leg support (401) is provided with coaxial mounting holes at both ends, the rotating shaft part (405) comprises a shaft sleeve (4051) which is inserted into the mounting hole, the shaft sleeve (4051) is provided with a flange plate (4053) at one end, the flange plate (4053) is connected with the leg support (401) through bolts, and the shaft sleeve (4051) of at least one rotating shaft part (405) is provided with a wire passing groove (4052) at the side edge, the wire passing groove (4052) penetrates through both ends of the shaft sleeve (4051).

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