Robot body and industrial robot having the same

Abstract

A robot body and an industrial robot having the same. The robot body includes a lower limb assembly and a synchronization device. The lower limb assembly includes a first leg module and a second leg module and is configured to be switchable between a folded state and an unfolded state. A height of the robot body in the folded state is less than a height of the robot body in the unfolded state. The synchronization device is connected to the first leg module and the second leg module, respectively, and is configured to synchronize movement of the first leg module and the second leg module.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to a robot body and an industrial robot having the aforementioned robot body. Background Technology

[0002] With the increasing demand for specialized transportation, heavy-duty warehousing, and operations in complex terrains, the requirements for robots' load-bearing capacity, motion stability, and operational flexibility are becoming increasingly stringent. Humanoid robots can be categorized into monoped, bipedal, and multi-legged robots. For robots employing a bipedal folding structure, their load-bearing capacity and anti-tipping performance are limited. Summary of the Invention

[0003] In a first aspect, a robot body is provided. The robot body includes a lower limb assembly and a synchronization device. The lower limb assembly includes a first leg module and a second leg module, and is configured to switch between a folded state and an unfolded state. The height of the robot body in the folded state is less than its height in the unfolded state. The synchronization device is connected to both the first leg module and the second leg module, and is configured to synchronize the movement of the first leg module and the second leg module.

[0004] In some embodiments, the first leg module includes a first fixed base, a first motor, a first leg joint assembly, and a second leg joint assembly. The first motor is disposed on the first fixed base. The first leg joint assembly is connected to the first motor. The second leg joint assembly is rotatably connected to the first leg joint assembly. The second leg module includes a second fixed base, a second motor, a third leg joint assembly, and a fourth leg joint assembly. The second motor is disposed on the second fixed base. The third leg joint assembly is connected to the second motor. The fourth leg joint assembly is rotatably connected to the third leg joint assembly. The synchronization device includes a first synchronization tube. The first synchronization tube connects the first motor and the second motor.

[0005] In some embodiments, the first leg joint assembly includes a first leg body and a third motor. A first end of the first leg body is connected to the shaft of the first motor. The third motor is disposed at a second end of the first leg body. The second leg joint assembly includes a second leg body and a fourth motor. A first end of the second leg body is connected to the shaft of the third motor. The fourth motor is disposed at a second end of the second leg body. The third leg joint assembly includes a third leg body and a fifth motor. A first end of the third leg body is connected to the shaft of the second motor. The fifth motor is disposed at a second end of the third leg body. The fourth leg joint assembly includes a fourth leg body and a sixth motor. A first end of the fourth leg body is connected to the shaft of the fifth motor. The sixth motor is disposed at a second end of the fourth leg body. The synchronization device further includes at least one of a second synchronization tube and a third synchronization tube. The second synchronization tube connects the third motor and the fifth motor. The third synchronization tube connects the fourth motor and the sixth motor.

[0006] In some embodiments, the first leg joint assembly further includes a first limiting member. The first limiting member is detachably disposed on one side of the first leg body in a first direction and near the first end of the first leg body. The first limiting member is configured to abut against the second leg body when the lower limb assembly is folded to limit the second leg joint assembly. The third leg joint assembly further includes a second limiting member. The second limiting member is detachably disposed on one side of the third leg body in the first direction and near the first end of the third leg body. The second limiting member and the first limiting member are spaced apart along a second direction and are configured to abut against the fourth leg body when the lower limb assembly is folded to limit the fourth leg joint assembly. The first direction is perpendicular to the second direction.

[0007] In some embodiments, the first leg body, the second leg body, the third leg body, and the fourth leg body are each a single piece.

[0008] In some embodiments, the lower limb assembly further includes a plurality of cover plates. The plurality of cover plates are detachably disposed on one side of the first leg body, the second leg body, the third leg body, and the fourth leg body, respectively.

[0009] In some embodiments, the lower limb assembly further includes a first connector rotatably connected to one end of the first leg module and one end of the second leg module.

[0010] In some embodiments, the robot body further includes a waist assembly and a torso. The waist assembly is rotatably disposed on the side of the first connector away from the first leg module and the second leg module. The torso is rotatably connected to the waist assembly.

[0011] In some embodiments, the waist assembly includes a first rotating portion, an extension portion, a second rotating portion, a first waist motor, a second waist motor, and a third waist motor. The extension portion is disposed on one side of the first rotating portion in a first direction, and at least a portion of the extension portion is higher than the first rotating portion in a third direction. The third direction is perpendicular to the first and second directions. The second rotating portion is located on the side of the first rotating portion in the third direction and on the side of the extension portion closest to the first rotating portion. The first waist motor is disposed on the side of the first connector away from the first leg module and the second leg module. The first waist motor is rotatably connected to the first rotating portion and configured to drive the first rotating portion to rotate along a first rotation axis. The second waist motor is disposed on the extension portion. The second waist motor is rotatably connected to the second rotating portion and configured to drive the second rotating portion to rotate along a second rotation axis. The third waist motor is disposed on the second rotating portion. The third waist motor is rotatably connected to the torso and configured to drive the torso to rotate along a third rotation axis. The first, second, and third rotation axes are perpendicular to each other.

[0012] In some embodiments, the robot body further includes an upper limb assembly. The upper limb assembly is disposed at the end of the torso away from the waist assembly, and the upper limb assembly includes a first robotic arm and a second robotic arm.

[0013] In some embodiments, the first robotic arm and the second robotic arm are arranged symmetrically about the torso.

[0014] In some embodiments, the first robotic arm and the second robotic arm are each provided with an end effector.

[0015] In some embodiments, the upper limb assembly further includes a base. The base is disposed at one end of the torso away from the waist assembly, and the first robotic arm and the second robotic arm are respectively disposed on opposite sides of the base in a second direction. Each of the first robotic arm and the second robotic arm includes a plurality of joints connected in sequence. The end effector is connected to the joint furthest from the base among the plurality of joints.

[0016] In some embodiments, any one of the plurality of joints includes a body and a joint module. The body has a mounting cavity. The joint module is disposed in the mounting cavity. The joint module is connected to the base or a joint adjacent to the body and is configured to drive components at both ends of the joint module to rotate. The joint module has a through hole. The through hole extends through the joint module along its central axis. Power lines and communication lines of the various components in the upper limb assembly pass through the through hole.

[0017] In some embodiments, the joint connected to the end effector among the plurality of joints further includes two links, which are connected between the body of the joint and the pivot of the joint module in the adjacent joint, and the two links are symmetrically arranged.

[0018] In some embodiments, the surface of the main body is curved, and it includes a first sub-body and a second sub-body. The first sub-body and the second sub-body are symmetrically arranged and detachably connected.

[0019] Secondly, an industrial robot is provided. This industrial robot includes a chassis and a robot body as described in any of the above embodiments. The robot body is connected to the chassis.

[0020] In some embodiments, on a plane perpendicular to a third direction, the orthographic projection of the connection point between the chassis and the robot body is located on one side of the orthographic projection of the chassis's center of gravity in the first direction, and the minimum distance between the center of the orthographic projection of the connection point between the chassis and the robot body and the orthographic projection of the chassis's center of gravity is 25% to 40% of the length of the chassis in the first direction. The third direction is perpendicular to the first direction.

[0021] In some embodiments, the chassis includes a body, a third limiting member, and a fourth limiting member. The third limiting member corresponds to the first leg module and is configured to abut against the first leg module when the lower limb assembly is folded to limit the first leg module. The fourth limiting member corresponds to the second leg module and is configured to abut against the second leg module when the lower limb assembly is folded to limit the second leg module. The third and fourth limiting members are detachably disposed on the side of the body near the lower limb assembly, and the third and fourth limiting members are located near the third-order end of the body.

[0022] In some embodiments, the robot body is detachably connected to the chassis. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in this disclosure, the accompanying drawings used in some embodiments of this disclosure will be briefly described below. However, the drawings described below are merely drawings of some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings. Furthermore, the drawings described below can be regarded as schematic diagrams and are not intended to limit the actual size of the product, the actual flow of the method, the actual timing of the signals, etc., involved in the embodiments of this disclosure.

[0024] Figure 1 This is a structural diagram of a robot according to some embodiments; Figure 2 This is a structural diagram of the head of a robot based on some embodiments; Figure 3 These are structural diagrams of the head, upper limb assembly, and torso of a robot according to some embodiments; Figure 4 This is an exploded view of a joint according to some embodiments; Figure 5 This is a partial structural diagram of a joint according to some embodiments; Figure 6 This is a cross-sectional view of a joint module according to some embodiments; Figure 7 This is a structural diagram of the waist component of a robot according to some embodiments; Figure 8 These are structural diagrams of the chassis and lower limb components in a robot according to some embodiments; Figure 9 This is a structural diagram of the lower limb assembly in a robot according to some embodiments; Figure 10 These are partial structural diagrams of a robot based on some embodiments; Figure 11 This is a side view of a robot according to some embodiments; Figure 12 This is a block diagram of a robot according to some embodiments.

[0025] Figure label: Robot 1000; Chassis 10; Fourth body 101; Third limiting member 103; Fourth limiting member 104; Moving wheel 102; Robot body 20; Head 21; Rotating assembly 211; First rotating member 2111; Second rotating member 2112; Third rotating member 2113; Seventh motor 2114; Support 2115; Depth camera 212; Upper limb assembly 22; base 221; first body 2211; receiving groove 2212; first robotic arm 222; second robotic arm 223; joint 224; main body 2241; mounting cavity 2242; through hole 2243; first sub-body 2244; second sub-body 2245; joint module 2246; first joint J1; second joint J2; third joint J3; fourth joint J4; fifth joint J5; sixth joint J6; seventh joint J7; end effector 2247; power cord 2248; communication line 2249; link 2250; clearance part 2251; Torso 23; Second body 231; Second connector 232; Reinforcing member 233; Waist assembly 24; first rotating part 241; extension part 242; second rotating part 243; first waist motor 244; second waist motor 245; third waist motor 246; Lower limb assembly 25; First leg module 251; First fixing base 2511; First motor 2512; First leg joint assembly 2513; First leg body 2514; Third motor 2515; First limiting member 2516; Second leg joint assembly 2517; Second leg body 2518; Fourth motor 2519; Second leg module 252; Second fixing base 2521; Second motor 2522; Third leg joint assembly 2523 Third leg body 2524; Fifth motor 2525; Second limiting member 2526; Fourth leg joint assembly 2527; Fourth leg body 2528; Sixth motor 2529; Cover plate 253; First cover plate 2531; Second cover plate 2532; Third cover plate 2533; Fourth cover plate 2534; Reinforcing rib 254; First connector 255; Third body 2550; First connecting part 2551; Second connecting part 2552; Synchronization device 26; first synchronization tube 261; second synchronization tube 262; third synchronization tube 263; connecting plate 27; host computer 30. Detailed Implementation

[0026] The technical solutions in some embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. However, the described embodiments are only some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this disclosure are within the scope of protection of this disclosure.

[0027] Unless the context otherwise requires, throughout the specification and claims, the term "comprise" and its other forms, such as the third-person singular "comprises" and the present participle "comprising," are interpreted as open-ended and encompassing, meaning "including, but not limited to." In the description of the specification, terms such as "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example," or "some examples," etc., are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics mentioned may be included in any suitable manner in any one or more embodiments or examples.

[0028] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0029] In describing some embodiments, the term "connection" and its derivative expressions may be used. The term "connection" should be interpreted broadly; for example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. The embodiments disclosed herein are not necessarily limited to the content of this document.

[0030] "At least one of A, B and C" has the same meaning as "at least one of A, B or C", both including the following combinations of A, B and C: only A, only B, only C, combinations of A and B, combinations of A and C, combinations of B and C, and combinations of A, B and C.

[0031] The use of “applies to” or “configured to” in this article implies an open and inclusive language that does not preclude applicability to or configuration to devices that perform additional tasks or steps.

[0032] As used herein, “about,” “approximately,” or “approximately” includes the stated value and the average value within an acceptable range of deviation from the given value, wherein the acceptable range of deviation is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the given quantity (i.e., the limitations of the measurement system).

[0033] As used herein, “parallel,” “perpendicular,” and “equal” include the described situation and situations that are similar to the described situation, within an acceptable deviation range, which is determined by those skilled in the art taking into account the measurement under discussion and the errors associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, “parallel” includes absolute parallelism and approximate parallelism, where an acceptable deviation range for approximate parallelism may be, for example, within 5°; “perpendicular” includes absolute perpendicularity and approximate perpendicularity, where an acceptable deviation range for approximate perpendicularity may also be, for example, within 5°; “equal” includes absolute equality and approximate equality, where an acceptable deviation range for approximate equality may be, for example, a difference between the two equals being less than or equal to 5% of either one.

[0034] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots can perform tasks such as operations or movement through programming and automatic control.

[0035] Robots can be categorized into industrial robots and special-purpose robots. Industrial robots refer to multi-jointed manipulators (or robotic arms) or multi-degree-of-freedom robots designed for industrial applications. For example, industrial robots include collaborative robots, which are industrial robots capable of directly interacting with humans in a shared workspace. Special-purpose robots are various robots used outside of manufacturing and serving humans, such as service robots, underwater robots, entertainment robots, military robots, and agricultural robots.

[0036] Robots can be categorized by their shape into humanoid robots, wheeled robots, legged robots, crawling robots, and flying robots. For ease of description, the following description will primarily use humanoid robots as an example; however, this should not be construed as a limitation of this disclosure.

[0037] A humanoid robot is an intelligent robot that mimics the appearance and behavior of humans. The basic principle of a humanoid robot is to achieve similar mobility, manipulation and interaction capabilities to humans through the combination of mechanical structure, sensors, control system and artificial intelligence technology.

[0038] The humanoid robot includes a mechanical structure, a drive system, a sensing system, and a control system.

[0039] The mechanical structure includes joint-driven components (such as joint modules), limbs, and torso, and is configured to simulate human movement. Joint-driven components are the core components enabling flexible movement in humanoid robots; these components typically include motors, reducers, and sensors.

[0040] The drive system includes a high-precision servo motor or hydraulic drive unit, which is configured to provide power output to the humanoid robot.

[0041] The perception system integrates multiple sensors, including vision, touch, and hearing, and is configured to enable environmental perception and interaction.

[0042] A control system is a system that uses algorithms to achieve motion planning and dynamic balance control. For example, this control system can be combined with artificial intelligence technology to enhance its autonomous decision-making capabilities.

[0043] Humanoid robots have a wide range of applications. For example, in the industrial field, humanoid robots can be used for precision assembly and hazardous environment operations; in the medical field, humanoid robots can assist in surgery or rehabilitation training; and in the home, humanoid robots can provide services such as companionship and cleaning.

[0044] However, the widespread application of humanoid robots still faces many technical challenges, one of which is the optimization of the load-bearing capacity and anti-tipping performance of bipedal robots.

[0045] Typically, foldable wheeled humanoid robots are primarily designed for lightweight service applications. The arms of these service robots have limited weight capacity, typically around 3-5 kg, which is insufficient for industrial palletizing requirements (which usually require arms to withstand a weight of 15 kg or more). Furthermore, the foldable structure of these robots exhibits poor dynamic load performance and weak anti-tipping capabilities (making them prone to swaying when handling items). Here, "dynamic load performance" can be understood as the ability of a system (such as a robot or robotic arm) to stably withstand, handle, or respond to varying loads while in motion.

[0046] To address the aforementioned technical problems, some embodiments of this disclosure provide a robot 1000 for industrial applications. For example, the robot 1000 can be a humanoid robot, a collaborative robot, a service robot, etc., and this disclosure does not impose any limitations on this.

[0047] like Figure 1 As shown, the robot 1000 includes a chassis 10 and a robot body 20.

[0048] The robot body 20 is connected to the chassis 10, and the robot body 20 includes: head 21, upper limb assembly 22, torso 23, waist assembly 24, and lower limb assembly 25.

[0049] The chassis 10, lower limb assembly 25, waist assembly 24, torso 23, upper limb assembly 22 and head 21 are connected sequentially along a third direction Z (such as the height direction or the vertical direction).

[0050] For example, the lower limb assembly 25 is foldably mounted on the chassis 10 and is configured to switch between a folded state and an unfolded state. The height of the robot 1000 in the unfolded state is greater than its height in the folded state. The waist assembly 24 is connected to the end of the lower limb assembly 25 away from the chassis 10. The torso 23 is connected to the end of the waist assembly 24 away from the lower limb assembly 25. A portion of the upper limb assembly 22 (as described below, base 221) is located at the end of the torso 23 away from the waist assembly 24, and another portion of the upper limb assembly 22 (as described below, first robotic arm 222 and second robotic arm 223) is located on both sides of the torso 23 in a second direction Y (e.g., left-right direction). The head 21 is located on the side of the upper limb assembly 22 away from the torso 23. The second direction Y is perpendicular to the third direction Z.

[0051] In some embodiments of the robot 1000 disclosed herein, the lower limb assembly 25 is foldable and switchable between a folded state and an unfolded state, which not only facilitates the application of the robot 1000 to different industrial scenarios but also benefits its transportation and storage. In some embodiments, such as Figure 2 As shown, the head 21 includes a rotating assembly 211 and a depth camera 212. The rotating assembly 211 is connected to the upper limb assembly 22 and is configured to drive the depth camera 212 to rotate at multiple angles. The depth camera 212 is disposed on the rotating assembly 211 and is configured to acquire images to provide visual information to the robot 1000.

[0052] For example, the rotating assembly 211 includes a first rotating member 2111, a second rotating member 2112, and a third rotating member 2113. The first rotating member 2111 is disposed on the upper limb assembly 22 and connected to a first end of the second rotating member 2112. The first rotating member 2111 is configured to drive the second rotating member 2112 to rotate about a first rotating axis L1. The second end of the second rotating member 2112 is connected to the third rotating member 2113, and the second rotating member 2112 is configured to drive the third rotating member 2113 to rotate about a third rotating axis L3.

[0053] A depth camera 212 is mounted on a third rotating member 2113, and the third rotating member 2113 is configured to drive the depth camera 212 to rotate around a second rotating axis L2. The third direction Z is perpendicular to the first direction X (e.g., the front-back direction) and the second direction Y. The second rotating axis L2 is parallel to the first direction X, the third rotating axis L3 is parallel to the second direction Y, the first rotating axis L1 is parallel to the third direction Z, and the first direction X is perpendicular to both the second direction Y and the third direction Z.

[0054] Here, each rotating component (e.g., the first rotating component 2111, the second rotating component 2112, or the third rotating component 2113) may include a seventh motor 2114 and a bracket 2115, the seventh motor 2114 being connected to the bracket 2115 to drive the bracket 2115 and the components connected to the bracket 2115 to rotate.

[0055] It is understood that in some embodiments, the rotating assembly 211 may also include a fourth rotating member, a fifth rotating member, and more rotating members to increase the motion degrees of freedom of the depth camera 212, and this disclosure is not limited thereto.

[0056] In some embodiments, such as Figure 1 As shown, the upper limb assembly 22 is disposed at one end of the torso 23 away from the waist assembly 24 (as shown at the upper end), and the upper limb assembly 22 includes a base 221, a first robotic arm 222, and a second robotic arm 223. The base 221 is disposed at one end of the torso 23 away from the waist assembly 24, and the first robotic arm 222 and the second robotic arm 223 are respectively disposed on both sides of the base 221 in the second direction Y. The head 21 is disposed on the base 221.

[0057] For example, such as Figure 3 As shown, the base 221 includes a first body 2211 and a receiving groove 2212. The first body 2211 is cylindrical and extends along the second direction Y. The first body 2211 is connected to the torso 23 on one side of the third direction Z (as shown below), and the receiving groove 2212 is recessed into the interior of the first body 2211 on the other side of the third direction Z (as shown above). The first rotating member 2111 of the head 21 (as shown below) Figure 2 The seventh motor 2114 of the first rotating component 2111 is disposed in the receiving groove 2212. The first robotic arm 222 and the second robotic arm 223 are respectively connected to the two sides (such as the left and right sides) of the first body 2211 in the second direction Y.

[0058] In some embodiments, the first robotic arm 222 and the second robotic arm 223 may be arranged symmetrically about the base 221. This balances the forces, thereby improving the anti-tipping performance of the robot 1000.

[0059] In some embodiments, such as Figure 3As shown, either the first robotic arm 222 or the second robotic arm 223 includes an end effector 2247 and a plurality of joints 224. The plurality of joints 224 are connected between the base 221 (such as one side of the first body 2211 in the second direction Y) and the end effector 2247. Adjacent joints 224 are rotatably connected, allowing the first robotic arm 222 and the second robotic arm 223 to have multiple degrees of freedom. The joint 224 closest to the base 221 is rotatably connected to the base 221, and the joint 224 furthest from the base 221 is connected to the end effector 2247.

[0060] The end effector 2247 is the functional component at the very end of the robotic arm that directly interacts with the target object. It is configured to grasp, transport, process, or inspect the target object (such as an object to be transported). For example, the end effector 2247 may include a gripper or a dexterous hand. Of course, the end effector 2247 can also be other types of grippers (such as suction cups), so that it can grasp items of different sizes or types according to different work requirements, thereby flexibly adapting to diverse grasping needs.

[0061] In some embodiments, such as Figure 3 As shown, any robotic arm includes multiple joints 224, including a first joint J1, a second joint J2, a third joint J3, a fourth joint J4, a fifth joint J5, a sixth joint J6, and a seventh joint J7. These joints are sequentially and rotatably connected. For example, in the direction from the base 221 to the end effector 2247, the first joint J1, second joint J2, third joint J3, fourth joint J4, fifth joint J5, sixth joint J6, and seventh joint J7 are arranged sequentially. The first joint J1 is rotatably connected to one side of the base 221 in the second direction Y (such as one side of the first body 2211), and the end effector 2247 is rotatably connected to the seventh joint J7. Thus, by including seven joints 224 in any robotic arm, a robotic arm with seven degrees of freedom can be formed, allowing the robotic arm to be controlled to be in different states, thus easily meeting diverse needs in industrial scenarios.

[0062] In some embodiments, such as Figure 4 As shown, each of the multiple joints 224 includes a body 2241 and a joint module 2246. The body 2241, serving as the skeleton and shell of the joint 224, can be made of metal. Furthermore, the surface of the body 2241 is constructed as a curved surface, which avoids stress concentration and thus helps to improve the structural strength of the joint 224.

[0063] The main body 2241 has a mounting cavity 2242. A joint module 2246 is disposed in the mounting cavity 2242 and is connected to a joint 224 or a base 221 (such as the first body 2211) adjacent to the main body 2241. The joint module 2246 is configured to drive the components at both ends of the joint module 2246 (such as two adjacent joints 224, or joints 224 and base 221) to rotate relative to each other.

[0064] For example, taking the first joint J1 as an example, the joint module 2246 in the first joint J1 connects the base 221 and the body 2241 of the first joint J1, so that the first joint J1 can rotate relative to the base 221.

[0065] In this way, by eliminating the separate outer shell of robot 1000 (i.e., the decorative outer shell at the arms) and adopting a curved skeleton (i.e., the main body 2241 with curved surfaces), the structural strength of joints 224 can be significantly improved while reducing redundant parts, and assembly complexity can be reduced. This improves the single-arm load capacity of robot 1000 (for example, the single-arm load capacity of robot 1000 can reach 20 kg) and the overall reliability of robot 1000. Furthermore, it enhances the overall durability, enabling robot 1000 to withstand high-intensity industrial environments.

[0066] In some embodiments, the main body 2241 is a separate component. For example, taking the second joint J2 as an example, as... Figure 4 As shown, the main body 2241 includes a first sub-body 2244 and a second sub-body 2245. The first sub-body 2244 and the second sub-body 2245 are symmetrically arranged and detachably connected. Thus, by designing the joints 224 as a split structure, each joint 224 can be divided in half to form two symmetrical parts. The two parts can then be fastened together to complete the assembly of the joint 224. This not only solves the problem of assembling curved joints 224, but also facilitates later maintenance.

[0067] The detachable connection between the first sub-body 2244 and the second sub-body 2245 can be achieved by using a positioning structure and fastener assembly, or by directly connecting them with fasteners, etc. This disclosure does not limit this.

[0068] For example, one of the first sub-body 2244 and the second sub-body 2245 is provided with a threaded hole, and the other of the first sub-body 2244 and the second sub-body 2245 is provided with a countersunk hole. Fasteners (such as bolts) pass through the countersunk hole and are screwed into the threaded hole, thereby connecting the first sub-body 2244 and the second sub-body 2245.

[0069] In some embodiments, a positioning structure may also be provided between the first sub-body 2244 and the second sub-body 2245. For example, one of the first sub-body 2244 and the second sub-body 2245 is provided with a positioning post, and the other of the first sub-body 2244 and the second sub-body 2245 is provided with a positioning groove. The positioning post can be inserted into the positioning groove, thereby realizing the positioning of the first sub-body 2244 and the second sub-body 2245 during assembly, which facilitates the further fixed connection between the first sub-body 2244 and the second sub-body 2245.

[0070] Of course, in some embodiments, the connection methods between the first sub-body 2244 and the second sub-body 2245 include, but are not limited to: bolt connection, snap-fit, plug-in connection, latch connection, magnetic connection, and adhesive bonding. The first sub-body 2244 and the second sub-body 2245 may also be arranged asymmetrically. The body 2241 may also be constructed as a single piece.

[0071] In some embodiments, the body 2241 may also be made of other alloys, composite materials, or engineering plastics with high strength and high stiffness. Furthermore, the body 2241 may be manufactured using processes such as casting, molding, or additive manufacturing (e.g., 3D printing).

[0072] In some embodiments, the joint 224 connected to the end effector 2247 further includes two links 2250. The two links 2250 are connected between the body 2241 of the joint 224 and the pivot of the joint module 2246 in the adjacent joint 224, and the two links 2250 can be arranged symmetrically.

[0073] For example, such as Figure 5 As shown, in addition to the main body 2241 and the joint module 2246, the seventh joint J7 also includes two symmetrically arranged connecting rods 2250. The first end of the two connecting rods 2250 is connected to the main body 2241 of the seventh joint J7, and the second end of the two connecting rods 2250 is connected to the pivot of the joint module 2246 of the sixth joint J6.

[0074] When the pivot of the joint module 2246 of the sixth joint J6 rotates, it can drive the two connecting rods 2250 to move, so that the two connecting rods 2250 can drive the main body 2241 of the seventh joint J7 to rotate, thereby realizing the rotation action of the seventh joint J7.

[0075] Thus, by arranging a double-link mechanism between two adjacent joints 224 near the end effector 2247, the stability of movement between the two adjacent joints 224 can be improved. Furthermore, the double-link mechanism can also act as a limit, preventing excessive rotation angles and misalignment of the joints 224, thereby improving the rotational accuracy and reliability of the upper limb assembly 22. In addition, it also helps to improve the operational stability of the end effector 2247. Of course, this disclosure is not limited to this; double-link mechanisms can also be arranged between other adjacent joints 224.

[0076] In some embodiments, the joint module 2246 of each joint 224 is configured with an internally hollow structure to facilitate wiring. For example... Figure 6 As shown, each joint module 2246 of the joint 224 has a through hole 2243. The through hole 2243 passes through the joint module 2246 along the central axis K of the joint module 2246. The power lines 2248 and communication lines 2249 of each component in the upper limb assembly 22 pass through the through hole 2243 for wiring.

[0077] For example, the power line 2248 and communication line 2249 of the first joint J1 pass through the through hole 2243 of the joint module 2246 in the first joint J1 and are electrically connected to the joint module 2246 of the second joint J2. The power line 2248 and communication line 2249 of the second joint J2 pass through the through hole 2243 of the joint module 2246 in the second joint J2 and are electrically connected to the joint module 2246 of the third joint J3.

[0078] In this way, by routing the wiring inside the joint 224, concealed wiring can be achieved, ensuring a clean appearance for the robot 1000 and preventing interference between external cables, which helps improve the compactness of the robot 1000. Furthermore, the main body 2241 of the joint 224 can be used to protect the power and communication lines, and the thickened main body 2241 (for example, at least part of the main body 2241 can be about 10 mm thick) can form multiple layers of electrical isolation protection, ensuring the communication stability of the joint 224 and enhancing its anti-interference capability.

[0079] In some embodiments, such as Figure 3 As shown, joint 224 may also include a clearance portion 2251, which is disposed at one end of the main body 2241 near the adjacent joint 224 and configured to provide space for rotation of the adjacent joint 224, thereby increasing the rotatable angle of joint 224. For example, clearance portion 2251 may be a groove on the main body 2241 in the fifth joint J5.

[0080] In some embodiments, such as Figure 3As shown, the torso 23 includes a second body 231, a second connector 232, and a reinforcing member 233. The second body 231 may be a hollow cuboid and thickened (e.g., the wall thickness of the second body 231 is greater than a preset value). The reinforcing member 233 is disposed within the second body 231 and connected at the corner of the second body 231. The torso 23 may include one or more reinforcing members 233. In this way, by providing reinforcing members 233, the structural strength of the torso 23 can be improved while simplifying its structure.

[0081] The second connector 232 is disposed on the side of the second body 231 near the waist assembly 24 (as shown below) and is rotatably connected to the waist assembly 24.

[0082] In some embodiments, such as Figure 1 As shown, the waist assembly 24 is rotatably connected to the lower limb assembly 25 and the torso 23.

[0083] like Figure 7 As shown, the waist assembly 24 includes a first rotating part 241, an extension part 242, a second rotating part 243, a first waist motor 244, a second waist motor 245, and a third waist motor 246. The first waist motor 244 is disposed on the lower limb assembly 25 (as described below as the first connector 255), and the first waist motor 244 is rotatably connected to the first rotating part 241. The first waist motor 244 is configured to drive the first rotating part 241 and the components connected to the first rotating part 241 to rotate along a first rotation axis L1.

[0084] An extension 242 is disposed on one side (e.g., the rear side) of the first rotating part 241 in the first direction X, and at least a portion of the extension 242 is disposed above the first rotating part 241 in the third direction Z. A second waist motor 245 is disposed on the extension 242 and is rotatably connected to the second rotating part 243. The second waist motor 245 is configured to drive the second rotating part 243 to rotate along the second rotation axis L2.

[0085] The second rotating part 243 is located on the side of the first rotating part 241 in the third direction Z (as above), and on the side of the extension 242 near the first rotating part 241 (as front).

[0086] The third waist motor 246 is disposed on the second rotating part 243 and is rotatably connected to the torso 23 (such as the second connector 232). The third waist motor 246 is configured to drive the torso 23 to rotate along the third rotation axis L3.

[0087] In this way, by setting the waist component 24 with multiple degrees of rotational freedom, the upper body of the robot can rotate 360°, allowing the upper body to rotate omnidirectionally to any working position, thus improving the flexibility of the robot 1000. Furthermore, by combining the different states of the upper body with multiple degrees of rotational freedom with the lower limb component 25 (such as folded state, unfolded state, etc.), it can be better adapted to different working scenarios.

[0088] The lower limb assembly 25 in some embodiments of this disclosure is described in detail below.

[0089] In some embodiments, such as Figure 8 and Figure 9 As shown, the lower limb assembly 25 includes a first leg module 251 and a second leg module 252. A first end (as shown below) of the first leg module 251 is connected to the chassis 10, and a second end (as shown above) of the first leg module 251 is connected to the waist assembly 24. A first end (as shown below) of the second leg module 252 is connected to the chassis 10, and a second end (as shown above) of the second leg module 252 is connected to the waist assembly 24. The first leg module 251 and the second leg module 252 are arranged at intervals along a second direction Y.

[0090] When the lower limb assembly 25 switches from the unfolded state to the folded state, the middle part of the first leg module 251 and the middle part of the second leg module 252 bend, the second end of the first leg module 251 moves toward the first end of the first leg module 251, and the second end of the second leg module 252 moves toward the first end of the second leg module 252.

[0091] When the lower limb assembly 25 switches from a folded state to an unfolded state, the middle part of the first leg module 251 and the middle part of the second leg module 252 unfold, the second end of the first leg module 251 moves away from the first end of the first leg module 251, and the second end of the second leg module 252 moves away from the first end of the second leg module 252.

[0092] In some embodiments, such as Figure 8 and Figure 9 As shown, the first leg module 251 includes a first fixing base 2511, a first motor 2512, a first leg joint assembly 2513, and a second leg joint assembly 2517. The first fixing base 2511 is disposed on the chassis 10. The first motor 2512 is disposed on the first fixing base 2511. The first end (lower end) of the first leg joint assembly 2513 is connected to the first motor 2512. The first end (lower end) of the second leg joint assembly 2517 is rotatably connected to the second end (upper end) of the first leg joint assembly 2513, and the second end (upper end) of the second leg joint assembly 2517 is rotatably connected to the waist assembly 24.

[0093] The second leg module 252 includes a second mounting base 2521, a second motor 2522, a third leg joint assembly 2523, and a fourth leg joint assembly 2527. The second mounting base 2521 is mounted on the chassis 10. The second motor 2522 is mounted on the second mounting base 2521. The first end (as shown below) of the third leg joint assembly 2523 is connected to the second motor 2522. The first end (as shown below) of the fourth leg joint assembly 2527 is rotatably connected to the second end (as shown above) of the third leg joint assembly 2523, and the second end (as shown above) of the fourth leg joint assembly 2527 is rotatably connected to the waist assembly 24.

[0094] The first fixing seat 2511 and the second fixing seat 2521 are arranged at intervals along the second direction Y, the first leg joint group 2513 and the third leg joint group 2523 are arranged at intervals along the second direction Y, and the second leg joint group 2517 and the fourth leg joint group 2527 are arranged at intervals along the second direction Y. For example, the first fixing seat 2511 and the second fixing seat 2521 are opposite to each other and arranged at intervals along the second direction Y, the first leg joint group 2513 and the third leg joint group 2523 are opposite to each other and arranged at intervals along the second direction Y, and the second leg joint group 2517 and the fourth leg joint group 2527 are opposite to each other and arranged at intervals along the second direction Y.

[0095] When the lower limb assembly 25 switches from the unfolded state to the folded state, the second end of the second leg joint group 2517 approaches the first end of the first leg joint group 2513, the second end of the fourth leg joint group 2527 approaches the first end of the third leg joint group 2523, the included angle between the first leg joint group 2513 and the second leg joint group 2517 decreases, and the included angle between the third leg joint group 2523 and the fourth leg joint group 2527 decreases.

[0096] When the lower limb assembly 25 switches from a folded state to an unfolded state, the second end of the second leg joint group 2517 moves away from the first end of the first leg joint group 2513, the second end of the fourth leg joint group 2527 moves away from the first end of the third leg joint group 2523, the angle between the first leg joint group 2513 and the second leg joint group 2517 increases, and the angle between the third leg joint group 2523 and the fourth leg joint group 2527 increases.

[0097] Furthermore, when the lower limb assembly 25 is in a folded state, the second end of the first leg joint assembly 2513 or the first end of the second leg joint assembly 2517 is close to one end of the chassis 10 in the first direction X (such as the front end), and the second end of the third leg joint assembly 2523 or the first end of the fourth leg joint assembly 2527 is close to one end of the chassis 10 in the first direction X (such as the front end).

[0098] When the lower limb assembly 25 is in the deployed state, the second end of the first leg joint assembly 2513 or the first end of the second leg joint assembly 2517 is away from the front end of the chassis 10, and the second end of the third leg joint assembly 2523 or the first end of the fourth leg joint assembly 2527 is away from the front end of the chassis 10.

[0099] Here, the "angle between the first leg joint group 2513 and the second leg joint group 2517" can be understood as the angle formed with the second end of the first leg joint group 2513 or the first end of the second leg joint group 2517 as the vertex, and the extension direction of the first leg joint group 2513 and the extension direction of the second leg joint group 2517 as the side length.

[0100] The "angle between the third leg joint group 2523 and the fourth leg joint group 2527" can be understood as the angle formed with the second end of the third leg joint group 2523 or the first end of the fourth leg joint group 2527 as the vertex, and the extension directions of the third leg joint group 2523 and the fourth leg joint group 2527 as the side lengths.

[0101] In some embodiments, such as Figure 8 and Figure 9 As shown, the first leg joint assembly 2513 includes a first leg body 2514 and a third motor 2515. The first end (as shown below) of the first leg body 2514 is connected to the shaft of the first motor 2512, and the third motor 2515 is located at the second end (as shown above) of the first leg body 2514. Driven by the first motor 2512, the first leg body 2514 can rotate around the third rotation axis L3.

[0102] The second leg joint assembly 2517 includes a second leg body 2518 and a fourth motor 2519. The first end (as shown below) of the second leg body 2518 is connected to the shaft of the third motor 2515, and the fourth motor 2519 is located at the second end (as shown above) of the second leg body 2518. Driven by the third motor 2515, the second leg body 2518 can rotate around the third rotation axis L3. The shaft of the fourth motor 2519 is connected to the second connecting member 232.

[0103] The third leg joint assembly 2523 includes a third leg body 2524 and a fifth motor 2525. The first end (as shown below) of the third leg body 2524 is connected to the shaft of the second motor 2522, and the fifth motor 2525 is located at the second end (as shown above) of the third leg body 2524. Driven by the second motor 2522, the third leg body 2524 can rotate around the third rotation axis L3.

[0104] The fourth leg joint assembly 2527 includes a fourth leg body 2528 and a sixth motor 2529. The first end (as shown below) of the fourth leg body 2528 is connected to the shaft of the fifth motor 2525, and the sixth motor 2529 is located at the second end (as shown above) of the fourth leg body 2528. Driven by the fifth motor 2525, the fourth leg body 2528 can rotate about a third rotation axis L3. The shaft of the sixth motor 2529 is connected to a second connector 232. The fourth motor 2519 and the sixth motor 2529 are configured to drive the torso 23 to rotate about the third rotation axis L3.

[0105] The first motor 2512, the second motor 2522, the third motor 2515, the fourth motor 2519, the fifth motor 2525, and the sixth motor 2529 all use high-torque motors.

[0106] It is understandable that the joint module 2246 in the aforementioned joint 224 and the multiple waist motors can also be high-torque motors to further improve the dynamic load capacity of the robot 1000.

[0107] For example, a servo motor with a rated torque of 10 N•m or above and a peak torque of 25 N•m or above can be called a high-torque motor, but this disclosure is not limited thereto.

[0108] In some embodiments of this disclosure, by equipping each leg of the robot 1000 with a high-power motor at the hip, knee, and ankle joints, the robot 1000's dynamic load capacity, impact resistance, and stability can be improved while achieving a wide range of folding of the lower limb assembly 25. Furthermore, the coordinated operation between the folding and lifting of the lower limb assembly 25 and the rotation of the waist assembly 24 enables large-scale operations.

[0109] It should be noted that during the process of the lower limb assembly 25 switching from the unfolded state to the folded state, or during the process of the lower limb assembly 25 switching from the folded state to the unfolded state, the rotation direction of the first leg joint group 2513 is opposite to the rotation direction of the second leg joint group 2517, and the rotation direction of the third leg joint group 2523 is opposite to the rotation direction of the fourth leg joint group 2527.

[0110] In some embodiments, such as Figure 8 and Figure 9 As shown, the lower limb assembly 25 also includes a plurality of cover plates 253, which are respectively disposed on one side of the first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528. For example, such as Figure 8 and Figure 9As shown, the plurality of cover plates 253 include a first cover plate 2531, a second cover plate 2532, a third cover plate 2533, and a fourth cover plate 2534. The first cover plate 2531 is connected to the first leg body 2514 and is located on the side of the first leg body 2514 opposite to the third leg body 2524. The second cover plate 2532 is connected to the second leg body 2518 and is located on the side of the second leg body 2518 opposite to the fourth leg body 2528. The third cover plate 2533 is connected to the third leg body 2524 and is located on the side of the third leg body 2524 opposite to the first leg body 2514. The fourth cover plate 2534 is connected to the fourth leg body 2528 and is located on the side of the fourth leg body 2528 opposite to the second leg body 2518.

[0111] Multiple cover plates 253 can be plastic parts, for example, multiple cover plates 253 can be acrylonitrile butadiene styrene copolymer (ABS).

[0112] In this way, by covering the lower limb assembly 25 with a streamlined ABS cover plate 253, the internal structure of the lower limb assembly 25 can be concealed, and the overall aesthetics of the robot 1000 can be improved. In some embodiments, multiple cover plates 253 are detachably connected to corresponding leg bodies. For example, a first cover plate 2531 can be connected to a first leg body 2514 by fasteners (such as screws), and a second cover plate 2532 can be connected to a second leg body 2518 by fasteners (such as screws).

[0113] The above mainly describes an embodiment in which the lower limb assembly 25 includes four cover plates 253. In some embodiments, the lower limb assembly 25 may also include one, two, three or more cover plates 253, and this disclosure does not limit this.

[0114] In some embodiments, such as Figure 8 and Figure 9 As shown, the first leg joint assembly 2513 also includes a first limiting member 2516. The first limiting member 2516 is detachably disposed on a first side (e.g., rear side) of the first leg body 2514 in a first direction X, and is close to a first end of the first leg body 2514. The first limiting member 2516 is configured to abut against the second leg body 2518 when the lower limb assembly 25 switches from an unfolded state to a folded state, thereby limiting the second leg joint assembly 2517.

[0115] The third leg joint assembly 2523 also includes a second limiting member 2526. The second limiting member 2526 is detachably disposed on a first side (such as the rear side) of the third leg body 2524 in the first direction X, and is close to a first end of the third leg body 2524. The second limiting member 2526 is configured to abut against the fourth leg body 2528 when the lower limb assembly 25 switches from an unfolded state to a folded state, so as to limit the fourth leg joint assembly 2527.

[0116] For example, when the lower limb assembly 25 switches from an unfolded state to a folded state, the second end of the second leg body 2518 approaches the first end of the first leg body 2514 until the second leg body 2518 abuts against the first limiting member 2516 on one side (such as the rear side) in the first direction X, thereby stopping the second leg body 2518 from rotating.

[0117] When the lower limb assembly 25 switches from the unfolded state to the folded state, the second end of the fourth leg body 2528 approaches the first end of the third leg body 2524 until the fourth leg body 2528 abuts against the second limiting member 2526 on one side (such as the rear side) in the first direction X, thereby stopping the fourth leg body 2528 from rotating.

[0118] In this way, by setting the first limiting member 2516 and the second limiting member 2526, it is possible to avoid collisions between the first leg joint group 2513 and the second leg joint group 2517, and between the third leg joint group 2523 and the fourth leg joint group 2527 when the lower limb assembly 25 switches from the unfolded state to the folded state. In addition, it can also serve as a zero-position calibration, thereby helping to improve the motion reliability of the robot 1000 under complex working conditions.

[0119] In addition, by providing a detachable first limiting member 2516 and a second limiting member 2526, it is convenient to maintain the first limiting member 2516 and the second limiting member 2526, and to adjust the position or size of the first limiting member 2516 and the second limiting member 2526, thereby adapting to different limiting and zero-degree calibration requirements.

[0120] Here, "zero-position calibration" can also be called origin return or zero finding, which refers to the process of defining an absolute and consistent physical reference position for each joint axis of robot 1000.

[0121] In some embodiments, the first limiting member 2516 and the second limiting member 2526 may be made of a metallic material, such as steel.

[0122] Of course, in some embodiments, the first limiting member 2516 and the second limiting member 2526 may not be provided, which can reduce the number of parts and thus simplify the structure of the robot 1000.

[0123] In some embodiments, the first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528 are all integral parts. For example, the first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528 can be manufactured using processes such as casting, molding, or additive manufacturing. This not only facilitates the assembly of the robot 1000 but also helps to improve the structural rigidity of the robot 1000 and enhance its reliability in use.

[0124] In some embodiments, the first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528 may be made of a metallic material (such as steel). Alternatively, the first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528 may also be made of other alloys, composite materials, or engineering plastics with high strength and high rigidity.

[0125] In some embodiments, such as Figure 10 As shown, Figure 10 The lower limb assembly 25 is shown after the cover plate 253 has been removed. The first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528 are each provided with reinforcing ribs 254. The reinforcing ribs 254 help to improve the structural strength of the corresponding leg bodies.

[0126] The robot 1000 for industrial applications in some embodiments of this disclosure achieves lightweighting while ensuring structural strength by using a one-piece molding process to manufacture the first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528, and by designing reinforcing ribs 254 inside the first leg body 2514, the second leg body 2518, the third leg body 2524, and the fourth leg body 2528.

[0127] In some embodiments, such as Figure 8 and Figure 9 As shown, the lower limb assembly 25 also includes a first connector 255. The first connector 255 is rotatably connected to the second end of the first leg module 251 and the second end of the second leg module 252. The first connector 255 may be positioned close to the waist assembly 24.

[0128] For example, the first connector 255 includes a third body 2550, a first connecting portion 2551, and a second connecting portion 2552. A waist assembly 24 (such as a first waist motor 244) is disposed on the side of the third body 2550 away from the first leg module 251 and the second leg module 252 (e.g., the upper side). The first connecting portion 2551 and the second connecting portion 2552 are respectively disposed on both sides of the third body 2550 in the second direction Y (e.g., the left and right sides), and extend in a direction close to the first leg module 251 and the second leg module 252 (e.g., downwards), or extend in a direction away from the waist assembly 24. The first connecting portion 2551 is connected to the shaft of the fourth motor 2519, and the second connecting portion 2552 is connected to the shaft of the sixth motor 2529. Thus, driven by the fourth motor 2519 and the sixth motor 2529, the first connector 255 can rotate about the third rotation axis L3.

[0129] In some embodiments, such as Figure 9 As shown, the robot body 20 also includes a synchronization device 26. The synchronization device 26 is connected to the first leg module 251 and the second leg module 252 respectively, and is configured to make the first leg module 251 and the second leg module 252 move synchronously.

[0130] Here, "synchronous movement of the first leg module 251 and the second leg module 252" can be understood as the orthographic projection of the moving first leg module 251 and the orthographic projection of the moving second leg module 252 completely coinciding in a plane perpendicular to the second direction Y.

[0131] In some embodiments, such as Figure 9 As shown, the synchronization device 26 includes a first synchronization tube 261. The first synchronization tube 261 connects the shaft of the first motor 2512 and the shaft of the second motor 2522. For example, the first synchronization tube 261 can be connected to the shafts of the first motor 2512 and the second motor 2522 by an interference fit. In this way, the first motor 2512 and the second motor 2522 can rotate synchronously.

[0132] Here, "the first motor 2512 and the second motor 2522 can rotate synchronously" can be understood as the first motor 2512 and the second motor 2522 having the same rotation angle, and the first motor 2512 and the second motor 2522 having the same position in the first direction X and the third direction Z.

[0133] In this way, by increasing the torque of the lower limb assembly 25, the motion consistency of the left and right legs (i.e., the first leg module 251 and the second leg module 252) in the lower limb assembly 25 can be guaranteed, thereby improving the dynamic stability of the robot 1000.

[0134] In some embodiments, such as Figure 9As shown, the synchronization device 26 also includes a second synchronization tube 262. The second synchronization tube 262 connects the shaft of the third motor 2515 and the shaft of the fifth motor 2525. For example, the second synchronization tube 262 can be connected to the shafts of the third motor 2515 and the fifth motor 2525 by an interference fit. In this way, the third motor 2515 and the fifth motor 2525 can rotate synchronously.

[0135] Here, "the third motor 2515 and the fifth motor 2525 can rotate synchronously" can be understood as the third motor 2515 and the fifth motor 2525 having the same rotation angle, and the third motor 2515 and the fifth motor 2525 having the same position in the first direction X and the third direction Z.

[0136] In this way, by setting the first synchronization tube 261 and the second synchronization tube 262, the motion consistency of the left and right legs (i.e. the first leg module 251 and the second leg module 252) in the lower limb assembly 25 can be further ensured while increasing the torque of the lower limb assembly 25, thereby improving the dynamic stability of the robot 1000.

[0137] In some embodiments, such as Figure 9 As shown, the synchronization device 26 also includes a third synchronization tube 263. The third synchronization tube 263 connects the shaft of the fourth motor 2519 and the shaft of the sixth motor 2529. For example, the third synchronization tube 263 can be connected to the shafts of the fourth motor 2519 and the sixth motor 2529 by an interference fit. In this way, the fourth motor 2519 and the sixth motor 2529 can rotate synchronously.

[0138] Here, "the fourth motor 2519 and the sixth motor 2529 can rotate synchronously" can be understood as the fourth motor 2519 and the sixth motor 2529 having the same rotation angle, and the fourth motor 2519 and the sixth motor 2529 having the same position in the first direction X and the third direction Z.

[0139] In this way, by setting the first synchronization tube 261, the second synchronization tube 262 and the third synchronization tube 263, the motion consistency of the left and right legs (i.e. the first leg module 251 and the second leg module 252) in the lower limb assembly 25 can be further ensured while increasing the torque of the lower limb assembly 25, thereby improving the dynamic stability of the robot 1000.

[0140] Of course, in some embodiments, the synchronization device 26 may also employ other connecting devices that can maintain synchronized movement between the two joints.

[0141] In some embodiments of this disclosure, by providing a synchronization device 26 between the six high-torque motors of the lower limb assembly 25, the risk of tipping over due to misalignment between multiple motors can be avoided while ensuring that the lower limb assembly 25 provides high load capacity, thus greatly improving the stability of the robot 1000.

[0142] In some embodiments, the chassis 10 is detachably connected to the robot body 20. This facilitates the assembly and disassembly of the chassis 10 and the robot body 20, and makes maintenance easier.

[0143] For example, such as Figure 8 As shown, the chassis 10 includes a fourth body 101. The connection methods between the first fixing seat 2511 and the second fixing seat 2521 and the chassis 10 include, but are not limited to: bolt connection, snap-fit, plug-in connection, latch connection, magnetic connection, and adhesive bonding.

[0144] In some embodiments, such as Figure 8 As shown, the chassis 10 also includes a third limiting member 103 and a fourth limiting member 104.

[0145] The third limiting member 103 and the fourth limiting member 104 are detachably disposed on the side of the fourth body 101 near the lower limb assembly 25 (as above), and the third limiting member 103 and the fourth limiting member 104 are near the end of the fourth body 101 in the third direction Z (as front end). The third limiting member 103 and the fourth limiting member 104 correspond to the first leg joint assembly 2513 and the second leg joint assembly 2517, respectively. The third limiting member 103 is configured to abut against the first leg module 251 when the lower limb assembly 25 switches from the unfolded state to the folded state, so as to limit the first leg module 251. The fourth limiting member 104 is configured to abut against the second leg module 252 when the lower limb assembly 25 switches from the unfolded state to the folded state, so as to limit the second leg module 252.

[0146] For example, when the lower limb assembly 25 switches from an unfolded state to a folded state, the second end of the first leg body 2514 approaches the front end of the chassis 10 until the second side (such as the front side) of the first leg body 2514 in the first direction X abuts against the third limiting member 103, thereby stopping the first leg body 2514 from rotating.

[0147] When the lower limb assembly 25 switches from the unfolded state to the folded state, the second end of the third leg body 2524 approaches the front end of the chassis 10 until the second side (such as the front side) of the third leg body 2524 in the first direction X abuts against the fourth limiting member 104, thereby stopping the third leg body 2524 from rotating.

[0148] In this way, by setting the third limiting member 103 and the fourth limiting member 104, it is possible to prevent the first leg joint group 2513 from colliding with the chassis 10 and the third leg joint group 2523 from colliding with the chassis 10 when the lower limb assembly 25 is folded. In addition, it can also play a role in zero-position calibration, thereby improving the motion reliability of the robot 1000 under complex working conditions.

[0149] Of course, in some embodiments, the third limiting member 103 and the fourth limiting member 104 may not be provided, which can reduce the number of parts and thus simplify the structure of the robot 1000.

[0150] In some embodiments, such as Figure 11 As shown, in the first direction X, the connection position between the chassis 10 and the robot body 20 is located on one side (such as the rear side) of the center (or center of gravity G) of the chassis 10 in the first direction X.

[0151] For example, such as Figure 11 As shown, on a plane perpendicular to the third direction Z, the orthographic projection of the connection position between the chassis 10 and the robot body 20 (such as the first fixed seat 2511 and the second fixed seat 2521) is located on one side (such as the rear side) of the orthographic projection of the center of gravity of the chassis 10 in the first direction X, and the minimum distance D2 between the center G1 of the orthographic projection of the connection position between the chassis 10 and the robot body 20 and the orthographic projection of the center of gravity G2 of the chassis 10 is 25% to 40% of the length D1 of the chassis 10 in the first direction X (such as one-quarter or one-third of the length D1).

[0152] In this way, by placing the connection between the chassis 10 and the robot body 20 at the rear, the center of gravity of the robot body 20 can be made to coincide with the geometric center of the chassis 10, thereby reducing the risk of the robot 1000 tipping over and improving the dynamic stability of the robot 1000.

[0153] In some embodiments, such as Figure 8 As shown, the robot body 20 may also include a connecting plate 27. The connecting plate 27 is disposed between the chassis 10 and the lower limb assembly 25, and the chassis 10 and the lower limb assembly 25 can be connected through the connecting plate 27. For example, the first fixing seat 2511 and the second fixing seat 2521 are detachably disposed on the connecting plate 27.

[0154] In this way, by setting the connecting plate 27, the structure of the chassis 10 can be connected without adjusting it, facilitating the connection between the robot body 20 and the chassis 10. Furthermore, when the structure of the robot body 20 changes or a different type of chassis 10 is needed, only the structure of the connecting plate 27 needs to be adjusted to connect the robot body 20 to the chassis 10, facilitating subsequent adjustments and expansions to the robot structure.

[0155] It is understandable that, in the case where the robot 1000 is equipped with a third limiting member 103 and a fourth limiting member 104, the third limiting member 103 and the fourth limiting member 104 can also be set on the connecting plate 27.

[0156] In some embodiments, such as Figure 11 As shown, the chassis 10 also includes multiple wheels 102 and multiple motors. The multiple motors are mounted on the fourth body 101, and each of the multiple wheels 102 is connected to one of the multiple motors. Thus, by assigning an independent motor to each wheel 102, multiple wheels 102 can be controlled to rotate at different speeds simultaneously, thereby achieving differential speed control. Therefore, through differential speed control, the chassis 10 can turn in place, improving the robot 1000's maneuverability in confined spaces.

[0157] In some embodiments, the chassis 10 may also adopt a structure with two drive wheels and two auxiliary wheels to achieve differential control.

[0158] In some embodiments, the robot 1000 may also move by a movable means such as a wheeled, tracked, or combined drive system, which is not limited in this disclosure.

[0159] In some embodiments, the chassis 10 also includes a LiDAR and is equipped with Simultaneous Localization and Mapping (SLAM) technology. Thus, by incorporating SLAM technology, the robot 1000 can perform intelligent navigation and autonomous line following, achieving precise path planning and adapting to the dynamic environment of a smart factory.

[0160] Of course, in some embodiments, the chassis 10 can also achieve intelligent navigation and autonomous tracking through one or more combinations of technologies such as vision, laser, and ultra-wideband (UWB), enabling precise path planning and adapting to the dynamic environment of the smart factory.

[0161] In some embodiments of this disclosure, multiple drive components (such as motors, joint modules, depth cameras, end effectors, etc.) can support two or more communication protocols. For example, the motor interface supports both Controller Area Network (CAN) and Ethernet for Control Automation Technology (EtherCAT) communication protocols, and the communication protocols can be switched via DIP switches or software configuration to meet the needs of diverse industrial control systems. This improves the compatibility of the various drive components in the robot 1000, enhances the control reliability and stability of the robot 1000, and allows for flexible adaptation to different industrial environments.

[0162] In some embodiments, the robot 1000 also integrates a high-density power management module. This improves space utilization while enhancing the stability of the robot 1000's control system.

[0163] In some embodiments, such as Figure 12 As shown, the robot 1000 also includes a host computer 30. The host computer 30 is used to communicate with the robot body 20 and the chassis 10 to control the robot 1000.

[0164] For example, the host computer 30 can be a local device directly connected to the robot 1000, or the host computer 30 can be a terminal remotely controlled via a network.

[0165] In some embodiments, both the motor and joint module described above may include high-torque harmonic reducers. This allows for a compact power layout, improving space utilization while enhancing the overall load capacity and dynamic stability of the robot 1000.

[0166] In some embodiments of the robot 1000 disclosed herein, the dual arms have high load capacity and the lower limbs have high torque, enabling it to adapt to high-load movement requirements. Furthermore, the robot 1000 has a wide working height range, allowing it to operate flexibly within a height of 0.6 m to 2 m, covering the storage and retrieval needs of standard shelves and adapting to different operational scenarios.

[0167] Furthermore, the various components of the robot 1000 in some embodiments of this disclosure are modularly designed, which facilitates assembly, transportation, maintenance, replacement, adjustment and structural upgrades, greatly improving the applicability and scalability of the robot 1000.

[0168] Understandably, in Robot 1000, the drive connections between components (such as the rotational connection between the leg motor and the leg joint) can include devices with speed reduction and torque amplification functions (such as reducers), as long as the drive components can provide the required output torque and motion accuracy.

[0169] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0170] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A robot body, characterized in that, include: A lower limb assembly, including a first leg module and a second leg module, is configured to switch between a folded state and an unfolded state, wherein the height of the robot body in the folded state is less than its height in the unfolded state; and A synchronization device is connected to the first leg module and the second leg module respectively, and the synchronization device is configured to make the first leg module and the second leg module move synchronously; The first leg module includes: First fixed seat; A first motor is mounted on the first fixed base; The first leg joint assembly is rotatably connected to the first motor; and The second leg joint assembly is rotatably connected to the first leg joint assembly; The second leg module includes: Second fixed seat; The second motor is mounted on the second fixed base; The third leg joint assembly is rotatably connected to the second motor; and The fourth leg joint assembly is rotatably connected to the third leg joint assembly; The synchronization device includes a first synchronization tube, which is connected to the shaft of the first motor and the shaft of the second motor.

2. The robot body according to claim 1, characterized in that, The first leg joint assembly includes: A first leg body, the first end of which is connected to the shaft of the first motor; and The third motor is located at the second end of the first leg body; The second leg joint group includes: The second leg body, the first end of which is connected to the shaft of the third motor; and The fourth motor is located at the second end of the second leg body; The third leg joint assembly includes: The third leg body, the first end of which is connected to the shaft of the second motor; and The fifth motor is located at the second end of the third leg body; The fourth leg joint assembly includes: A fourth leg body, the first end of which is connected to the shaft of the fifth motor; and The sixth motor is located at the second end of the fourth leg body; The synchronization device further includes at least one of the following: A second synchronizing tube, which is connected to the third motor and the fifth motor; and The third synchronizing tube is connected to the fourth motor and the sixth motor.

3. The robot body according to claim 2, characterized in that, It also meets at least one of the following conditions: The first leg joint assembly further includes a first limiting member, which is detachably disposed on one side of the first leg body in a first direction and near the first end of the first leg body. The first limiting member is configured to abut against the second leg body when the lower limb assembly is folded to limit the second leg joint assembly; and The third leg joint assembly further includes a second limiting member, which is detachably disposed on one side of the third leg body in the first direction and close to the first end of the third leg body. The second limiting member and the first limiting member are spaced apart along the second direction and are configured to abut against the fourth leg body when the lower limb assembly is folded to limit the fourth leg joint assembly. The first direction is perpendicular to the second direction.

4. The robot body according to claim 2, characterized in that, The first leg body, the second leg body, the third leg body, and the fourth leg body are all integral parts.

5. The robot body according to claim 2, characterized in that, The lower limb assembly also includes multiple cover plates, which are detachably disposed on one side of the first leg body, the second leg body, the third leg body, and the fourth leg body, respectively.

6. The robot body according to claim 1, characterized in that, The lower limb assembly also includes a first connector, which is rotatably connected to one end of the first leg module and one end of the second leg module.

7. The robot body according to claim 6, characterized in that, Also includes: A waist assembly is rotatably disposed on the side of the first connector away from the first leg module and the second leg module; as well as The torso is rotatably connected to the waist assembly.

8. The robot body according to claim 7, characterized in that, The waist assembly includes: First rotating part; An extension is disposed on one side of the first rotating part in a first direction, at least a portion of the extension is higher than the first rotating part in a third direction, and the third direction is perpendicular to the first direction and the second direction; The second rotating part is located on the side of the first rotating part facing the third direction, and on the side of the extension part close to the first rotating part; A first waist motor is disposed on the side of the first connector away from the first leg module and the second leg module. The first waist motor is rotatably connected to the first rotating part and is configured to drive the first rotating part to rotate along a first rotating axis. A second waist motor, disposed in the extension, is rotatably connected to the second rotating part and configured to drive the second rotating part to rotate along a second rotation axis; and A third waist motor is disposed in the second rotating part, the third waist motor is rotatably connected to the torso, and is configured to drive the torso to rotate along a third rotating axis; The first rotation axis, the second rotation axis, and the third rotation axis are perpendicular to each other.

9. The robot body according to claim 7, characterized in that, Also includes: An upper limb assembly is disposed at the end of the torso away from the waist assembly, and the upper limb assembly includes a first robotic arm and a second robotic arm.

10. The robot body according to claim 9, characterized in that, The first robotic arm and the second robotic arm are arranged symmetrically about the torso.

11. The robot body according to claim 9, characterized in that, The first robotic arm and the second robotic arm are each equipped with an end effector.

12. The robot body according to claim 11, characterized in that, The upper limb assembly also includes: A base is disposed at one end of the torso away from the waist assembly. The first robotic arm and the second robotic arm are respectively disposed on both sides of the base in a second direction. Each of the first robotic arm and the second robotic arm includes a plurality of joints connected in sequence. The end effector is connected to the joint furthest from the base among the plurality of joints.

13. The robot body according to claim 12, characterized in that, Any of the plurality of joints includes: The main body has a mounting cavity; and A joint module is disposed in the mounting cavity, the joint module is connected to the base or a joint adjacent to the main body, and is configured to drive the components at both ends of the joint module to rotate; The joint module has a through hole that runs through the joint module along its central axis, and the power lines and communication lines of each component in the upper limb assembly pass through the through hole.

14. The robot body according to claim 13, characterized in that, The joints connected to the end effector among the plurality of joints also include two connecting rods. The two connecting rods are connected between the body of the joint and the pivot of the joint module in the adjacent joint, and the two connecting rods are symmetrically arranged.

15. The robot body according to claim 13, characterized in that, The surface of the main body is curved, and it includes a first sub-body and a second sub-body. The first sub-body and the second sub-body are symmetrically arranged and detachably connected.

16. An industrial robot, characterized in that, include: Chassis; as well as The robot body is connected to the chassis, and the robot body is the robot body according to any one of claims 1 to 15.

17. The industrial robot according to claim 16, characterized in that, On a plane perpendicular to the third direction, the orthographic projection of the connection point between the chassis and the robot body is located on one side of the orthographic projection of the chassis's center of gravity in the first direction, and the minimum distance between the center of the orthographic projection of the connection point between the chassis and the robot body and the orthographic projection of the chassis's center of gravity is 25% to 40% of the length of the chassis in the first direction; the third direction is perpendicular to the first direction.

18. The industrial robot according to claim 16, characterized in that, The chassis includes: ontology; A third limiting member, corresponding to the first leg module, is configured to abut against the first leg module when the lower limb assembly is folded, thereby limiting the position of the first leg module; and A fourth limiting member, corresponding to the second leg module, is configured to abut against the second leg module when the lower limb assembly is folded, so as to limit the second leg module; The third limiting member and the fourth limiting member are detachably disposed on the side of the body near the lower limb assembly, and the third limiting member and the fourth limiting member are located near the third end of the body in the third direction.

19. The industrial robot according to claim 16, characterized in that, The robot body is detachably connected to the chassis.

Images