Robot and control method of robot

Abstract

A robot and its control method are disclosed. The robot includes a body, limb components, a clamping component, and a control unit. The limb components include a first power mechanism, a second power mechanism, and a third power mechanism. The first power mechanism is connected to the body; the second power mechanism is mechanically coupled to the output end of the first power mechanism; and the third power mechanism is connected to the output end of the second power mechanism. The clamping component includes a first clamping member and a second clamping member. The first clamping member is disposed on the first power mechanism. The second clamping member is disposed on the third power mechanism and is capable of clamping with the first clamping member. The control unit is used to issue control signals to control the position of the second clamping member disposed on the third power mechanism relative to the first clamping member disposed on the first power mechanism, so that the first clamping member clamps or disengages from the second clamping member. The robot proposed in this invention, after its limb components are clamped by the clamping component, facilitates the folding or transport of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to robots and methods for controlling robots. Background Technology

[0002] To increase the degree of freedom of movement of a robot's limb components, it is often necessary to combine multiple power components and some robotic arms into the robot's limb components.

[0003] In related technologies, if the power component is not equipped with a self-locking mechanism when the power is off, the output end of the power component can swing relative to the input end, causing the limb component to change position relative to the support surface. After the power is off, the robot is prone to lose dynamic balance under the action of gravity, the robot's center of gravity is unstable and it will tip over, making the robot difficult to retract; or after the robot is powered off, when the robot is lifted for movement, the entire limb component is prone to swinging back and forth, making it difficult to move. Summary of the Invention

[0004] In view of this, the present invention proposes a robot and a robot control method, which aims to enable the robot's limb components to lock a certain degree of freedom through a clamping component when the power is off, so as to facilitate folding or transport.

[0005] The robot proposed in the first aspect of the present invention includes: a body; a limb assembly connected to the body; the limb assembly including: a first power mechanism connected to the body; a second power mechanism mechanically coupled to the output end of the first power mechanism to move under the drive of the first power mechanism; a third power mechanism connected to the output end of the second power mechanism to change position relative to the first power mechanism under the drive of the second power mechanism and / or the first power mechanism; a clamping assembly including: a first clamping member disposed on the first power mechanism; a second clamping member disposed on the third power mechanism, the second clamping member being capable of clamping with the first clamping member; and a control unit. The control unit is electrically connected to the first power mechanism, the second power mechanism, and the third power mechanism to output a control signal to at least one of the first power mechanism, the second power mechanism, and the third power mechanism. The control signal is used to control the position of the second holding member of the third power mechanism relative to the first holding member of the first power mechanism to change, so that the first holding member engages or disengages with the second holding member; or, under the action of an external force, the control unit controls the position of the second holding member of the third power mechanism relative to the first holding member of the first power mechanism to change, so that the first holding member engages or disengages with the second holding member.

[0006] As can be seen from the above technical solution, the robot proposed in the first aspect of the present invention allows the first power mechanism to move independently, driving the second and third power mechanisms to move relative to the robot body; the second power mechanism can also move independently, driving the third power mechanism to move relative to the robot body. Before being folded up or transported, under the action of external force or the robot's control program, the first holding member of the first power mechanism at the head end and the second holding member of the third power mechanism at the tail end approach each other and engage. Under the robot's own weight, the output end of one or more of the first, second, and third power mechanisms cannot continue to move relative to the input end, thus keeping at least some parts of the limb assembly unchanged relative to the robot body. At least one degree of freedom of the limb assembly is locked, making it convenient for the user to fold up or transport the robot. When the robot needs to move or be used, under the action of external force or the robot's control program, the first holding member of the first power mechanism at the head end and the second holding member of the third power mechanism at the tail end move away from each other and disengage. The power mechanism of the restricted limb assembly is released from its movement restriction, allowing each part of the limb assembly to move relative to the robot body, and the limb assembly regains its own degree of freedom.

[0007] A second aspect of the present invention provides a robot control method comprising the following steps: controlling at least one of the first power mechanism, the second power mechanism, and the third power mechanism to move, thereby causing a second holding member of the third power mechanism to move closer to a first holding member of the first power mechanism; controlling the first holding member to engage with the second holding member, thereby stopping the movement of the limb assembly and placing the robot in a retracted state; and / or controlling at least one of the first power mechanism, the second power mechanism, and the third power mechanism to move, thereby causing the second holding member of the third power mechanism to move away from the first holding member of the first power mechanism; and controlling the first holding member to disengage from the second holding member, thereby placing the robot in an deployed state.

[0008] As can be seen from the above technical solution, the robot control method proposed in the second aspect of this invention employs a built-in control unit. This control unit outputs control signals and controls the movement of the output ends of one or more of the first, second, and third power mechanisms. After the first and second holding members engage, under the weight of the entire robot, the output ends of one or more of the first, second, and third power mechanisms cannot continue to move relative to their input ends. This ensures that at least some parts of the limb components remain unchanged relative to the robot body, locking at least one degree of freedom of the limb components. This makes it easier for the user to fold or move the robot when it is in the retracted state. By adjusting the posture of the robot's limb components through this control method, the robot can be folded or moved in a short time, making operation convenient.

[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of the present invention. Attached Figure Description

[0010] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a three-dimensional structural diagram of the robot proposed in some embodiments of the present invention;

[0012] Figure 2 This is a three-dimensional structural schematic diagram of the robot proposed in some embodiments of the present invention;

[0013] Figure 3 This is a three-dimensional structural diagram of the leg assembly and the holding assembly proposed in some embodiments of the present invention;

[0014] Figure 4 This is a top view of another leg assembly and holding assembly proposed in some embodiments of the present invention;

[0015] Figure 5 This is a top view of the arm assembly and the clamping assembly proposed in some embodiments of the present invention;

[0016] Figure 6 This is a side view of the leg assembly in an unfolded state according to some embodiments of the present invention, with the first retainer and the second retainer disengaged.

[0017] Figure 7 This is a longitudinal sectional view of the leg assembly in an unfolded state according to some embodiments of the present invention;

[0018] Figure 8 This is a side view of the leg assembly in a first retracted state according to some embodiments of the present invention, wherein the first retaining member and the second retaining member are engaged in a retaining relationship;

[0019] Figure 9 This is a partial longitudinal sectional view of the leg assembly in a first retracted state according to some embodiments of the present invention;

[0020] Figure 10 This is a side view of the leg assembly in a second retracted state according to some embodiments of the present invention, wherein the first retaining member and the second retaining member are engaged in a retaining relationship;

[0021] Figure 11 This is a longitudinal sectional view of the leg assembly in a second retracted state according to some embodiments of the present invention;

[0022] Figure 12 This is a longitudinal sectional view of the leg assembly proposed in some embodiments of the present invention;

[0023] Figure 13 This is a partially exploded schematic diagram of the leg assembly and the clamping assembly proposed in some embodiments of the present invention;

[0024] Figure 14 This is a schematic diagram of the structure of the leg assembly proposed in some embodiments of the present invention, which is locked with a certain degree of freedom by a clamping assembly;

[0025] Figure 15 yes Figure 14 A magnified schematic diagram of the structure of a portion of region A in the middle;

[0026] Figure 16 This is a schematic diagram of the structure of the leg assembly proposed in some embodiments of the present invention, which locks more degrees of freedom through a clamping assembly;

[0027] Figure 17 yes Figure 16 A magnified schematic diagram of the local structure of region B in the middle area;

[0028] Figure 18 These are schematic diagrams of the robot structure proposed in some embodiments of the present invention;

[0029] Figure 19 This is a flowchart of a robot control method proposed in some embodiments of the present invention;

[0030] Figure 20 This is a flowchart of a robot control method proposed in some embodiments of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1000, Robot;

[0033] 100. Fuselage;

[0034] 200. Limb component; 201. Arm component; 2011. First arm; 2012. Second arm; 202. Leg component;

[0035] 211. First power mechanism; 212. Second power mechanism; 213. Hip joint; 214. Reference plane;

[0036] 220. First leg; 221. First limiting angle;

[0037] 230. Third power mechanism; 231. Second fixed part; 232. Second movable part; 233. Second limiting part;

[0038] 240. Second leg; 241. Second limiting angle; 242. Third limiting angle;

[0039] 300. Control unit;

[0040] 400. Card holding components;

[0041] 410. First holding element; 411. First buckle body; 4111. First guide surface; 412. Stop element;

[0042] 420. Second cardholder;

[0043] 421. Second buckle body; 4211. Second guide surface; 4212. Buckling end; 422. Elastic element;

[0044] 423. Limiting groove; 4231. First limiting wall; 4232. Second limiting wall; 4233. Mating opening;

[0045] 424. Shaft;

[0046] 6000, Support surface. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention.

[0048] Robots are typically equipped with limb components to enhance their mobility and the richness of their movements. Limb components usually consist of one or both leg and arm components. To increase the degrees of freedom of movement of the limb components, multiple power units and robotic arms are often combined within them. When the robot is powered off or in sleep mode, all power units are de-energized.

[0049] Existing robots with limb components typically incorporate self-locking devices, such as electromagnetic brakes, in their power components to prevent the output end from rotating relative to the input end when power is off. However, using electromagnetic brakes increases the size and weight of the power components. This is especially true when limb components often have multiple power components, where each power component requires an electric braking mechanism. This increases the overall weight and cost of the limb component and can also lead to larger moments of inertia in different parts of the limb component during movement, making it difficult to control the movement accuracy of the limb component.

[0050] For robots that do not employ electric braking mechanisms, without locking devices, the output ends of each power component may continue to rotate relative to the input end under the influence of the robot's gravity when power is off. For example, in a robot with multiple power components in its leg assembly, if the robot is in a leg-supported posture before power-off, after power-off, the output ends of each power component in the leg assembly will cause the connected leg structures to rotate, shifting the robot's center of gravity and making it unable to maintain dynamic balance. If the robot tipps over, it requires manual lifting, and the tipping posture can vary, making it difficult for users to quickly fold up and store the robot. When users move the robot, the relative movement between the parts connected to the different power components in the leg assembly, and the irregular swinging of the leg assembly after lifting the robot, make it difficult to move. For example, in robots with multiple power components in the arm assembly, when users move the robot, the relative movement between the parts connected by different power components in the arm assembly will cause the arm assembly to swing irregularly after the robot is lifted, making it difficult for users to move the robot. The irregular swinging of the leg assembly and arm assembly at the same time can also lead to collisions and damage to parts.

[0051] In view of this, this application proposes a robot 1000 and a control method for the robot 1000, which aims to enable the limb component 200 of the robot 1000 to lock a certain degree of freedom through the clamping component 400 when the power is off, so as to facilitate the user to put it away or move it.

[0052] The robot 1000 of this application can be in the form of a legged robot, a wheeled-legged robot, a wheeled robot, etc.

[0053] Provided that the solutions do not contradict each other, the following embodiments can be combined with each other.

[0054] Combination Figure 1 , Figure 2 and Figure 18As shown, an embodiment of the present invention proposes a robot 1000, including: a body 100, a limb assembly 200, a gripping assembly 400, and a control unit 300.

[0055] Among them, reference Figure 1 and Figure 2 The limb assembly 200 is connected to the fuselage 100. The limb assembly 200 includes a first power mechanism 211, a second power mechanism 212, and a third power mechanism 230. The first power mechanism 211 is connected to the fuselage 100; the second power mechanism 212 is mechanically coupled to the output end of the first power mechanism 211 to move under the drive of the first power mechanism 211; the third power mechanism 230 is connected to the output end of the second power mechanism 212 to change position relative to the first power mechanism 211 under the drive of the second power mechanism 212 and / or the first power mechanism 211.

[0056] refer to Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the holding assembly 400 includes a first holding member 410 and a second holding member 420. The first holding member 410 is disposed on the first power mechanism 211. The second holding member 420 is disposed on the third power mechanism 230, and the second holding member 420 is capable of holding the first holding member 410.

[0057] refer to Figure 18 The control unit 300 is electrically connected to the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 to output a control signal to at least one of them. The control signal controls the position of the second holding member 420 in the third power mechanism 230 relative to the first holding member 410 in the first power mechanism 211, so that the first holding member 410 engages or disengages with the second holding member 420. Alternatively, under the action of an external force, the control unit 300 controls the position of the second holding member 420 in the third power mechanism 230 relative to the first holding member 410 in the first power mechanism 211, so that the first holding member 410 engages or disengages with the second holding member 420.

[0058] Exemplary, the output ends of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 in the embodiments of this application should be interpreted broadly. For example, if the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 are motors, then the output end can be the rotating part of the motor; or, for example, if the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 are a motor and a reducer, then the output end is the torque output component of the reducer; furthermore, the output end may also include connecting components such as a connecting frame and a housing, as well as other transmission devices, such as connecting rods and other transmission mechanisms. In specific embodiments, such as... Figure 3 As shown, the hip joint 213 connected to the second power mechanism 212 also serves as the output end of the second power mechanism 212.

[0059] For example, in addition to the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230, the robot 1000 in this application embodiment can also add other power mechanisms according to the degrees of freedom of the limb component 200. For example, at least one of the fourth, fifth, and sixth power mechanisms can be added between the first power mechanism 211 and the third power mechanism 230. The other power mechanisms together with the second power mechanism 212 constitute an intermediate power mechanism between the first power mechanism 211 and the third power mechanism 230. The input end of the power mechanism at the first end of the intermediate power mechanism is connected to the output end of the first power mechanism 211; the output end of the power mechanism at the first end is connected to the input end of another power mechanism, forming a series structure in which the input ends and output ends of each power mechanism in the intermediate power mechanism are connected in sequence. The output end of the power mechanism at the end of the intermediate power mechanism is connected to the input end of the third power mechanism 230. These embodiments should also be within the protection scope of this application. In other words, the transmission chain formed by connecting the output and input ends of at least three power mechanisms in series can constrain the degree of freedom of one of the at least three power mechanisms through the first clamping member 410 of the power mechanism at the beginning and the second clamping member 420 of the power mechanism at the end, so that the degree of freedom of the robot 1000 in the retracted state is less than the degree of freedom of the robot 1000 in the unfolded state.

[0060] For example, in this embodiment of the invention, the first holding member 410 is disposed at the input end of the first power mechanism 211. When the output end of the first power mechanism 211 rotates, the position of the first holding member 410 disposed on the first power mechanism 211 relative to the body 100 remains unchanged. For example, the first power mechanism 211 is a motor, the first holding member 410 is disposed on the fixing part of the motor, the fixing part of the motor remains unchanged relative to the body 100, and the fixing part of the motor is connected to the body 100.

[0061] Exemplarily, in this embodiment of the invention, the second holding member 420 is disposed at the input end or the output end of the third power mechanism 230. When the second holding member 420 is disposed at the input end of the third power mechanism 230, the output end of the third power mechanism 230 can still rotate when the second holding member 420 is engaged with the first holding member 410. When the second holding member 420 is disposed at the output end of the third power mechanism 230, the rotation of the output end of the third power mechanism 230 is restricted when the second holding member 420 is engaged with the first holding member 410. For example, the third power mechanism 230 is a motor, with a fixed part at the input end and a rotating part at the output end, or the output end includes a rotating part and a connecting arm. It is understood that, compared to disposing the second holding member 420 at the input end of the third power mechanism 230, disposing the second holding member 420 at the output end of the third power mechanism 230 allows for locking more degrees of freedom of the robot 1000 when the first holding member 410 and the second holding member 420 are engaged.

[0062] As can be seen from the above, the robot 1000 proposed in this invention has a first power mechanism 211 that can drive the second power mechanism 212 and the third power mechanism 230 to move relative to the body 100 when the first power mechanism 211 moves alone; the second power mechanism 212 that can drive the third power mechanism 230 to move relative to the body 100 when the robot 1000 is folded up or moved. Under the action of external force or under the control program of the robot 1000, the first holding member 410 of the first power mechanism 211 at the head end and the second holding member 420 of the third power mechanism 230 at the tail end move closer to each other and hold each other. Under the action of the robot 1000's own weight, the output end of one or more of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 cannot continue to move relative to their respective input ends. This makes at least a part of the limb component 200 remain unchanged relative to the body 100, and at least one degree of freedom of the limb component 200 is locked, making it convenient for the user to fold up or move the robot 1000.

[0063] When the robot 1000 needs to move or be used, under the action of external force or the control program of the robot 1000, the first holding member 410 of the first power mechanism 211 at the head end and the second holding member 420 of the third power mechanism 230 at the tail end move away from each other and disengage. Any power mechanism of the restricted limb component 200 releases the movement restriction, allowing each part of the limb component 200 to move relative to the body 100. That is, the output end of the first power mechanism 211 can rotate relative to the input end of the first power mechanism 211, the output end of the second power mechanism 212 can rotate relative to the input end of the second power mechanism 212, and the output end of the third power mechanism 230 can rotate relative to the input end of the third power mechanism 230, so that the limb component 200 restores all its degrees of freedom and can realize the preset actions and preset functions.

[0064] For example, the control unit 300 is disposed within the body 100. The control unit 300 is communicatively connected to the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 via a wired connection, enabling wired communication. This ensures reliable and rapid transmission of control signals, facilitating more precise control and allowing for more refined movements of the limb assembly 200. In some embodiments, the body 100 also includes a battery for powering the control unit 300. The control unit 300 includes an integrated circuit board, and the wired connection can serve as both a carrier for communication signals and a carrier for power supply. In other embodiments, wireless communication can also be achieved between some of the power mechanisms and the control unit 300 via a wireless communication device. In these embodiments, a separate wire can be used to connect the wireless communication power mechanism to the battery independently.

[0065] The technical solutions of the limb component 200 in some embodiments of this application will be described below by way of example.

[0066] In some embodiments, reference Figure 1The limb assembly 200 includes an arm assembly 201, which includes a first arm 2011, a second arm 2012, a first power mechanism 211, a second power mechanism 212, and a third power mechanism 230. The output end of the second power mechanism 212 is connected to the first arm 2011, and the end of the first arm 2011 away from the second power mechanism 212 is connected to the third power mechanism 230. The output end of the third power mechanism 230 is connected to the second arm 2012. In these embodiments, by setting the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230, the arm assembly 201 can have three degrees of freedom. The movements of the first arm 2011 and the second arm 2012 are more flexible. Through the locking action of the locking assembly 400, at least one degree of freedom generated by the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 is locked, so that after the robot 1000 is powered off, at least a part of the arm assembly 201 remains in a fixed position relative to the body 100, facilitating further retraction of the arm assembly 201; or facilitating the handling of the robot 1000 without at least a part of the arm assembly 201 swinging. In other embodiments, the connection position of the first arm 2011 and the arrangement position of the three power mechanisms can also be adjusted to other structural forms as needed. Figure 5 The input end of the first power mechanism 211 is provided with a first holding member 410. The output end of the first power mechanism 211 is connected to the output end of the second power mechanism 212. The output end of the second power mechanism 212 is connected to the input end of the third power mechanism 230. The output end of the third power mechanism 230 is connected to the second arm 2012.

[0067] In some embodiments, reference Figure 3 and Figure 4The limb component 200 includes a leg component 202, which includes a first leg 220, a second leg 240, a first power mechanism 211, a second power mechanism 212, and a third power mechanism 230. The output end of the second power mechanism 212 is connected to the first leg 220, and the end of the first leg 220 away from the second power mechanism 212 is connected to the third power mechanism 230. The output end of the third power mechanism 230 is connected to the second leg 240. In these embodiments, by setting the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230, the leg assembly 202 can have three degrees of freedom. The first leg 220 and the second leg 240 move more flexibly, which makes the robot 1000 move more conveniently and can better adapt to different terrains. Through the locking action of the locking assembly 400, at least one degree of freedom of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 is locked, so that after the robot 1000 is powered off, at least part of the leg assembly 202 remains in a fixed position relative to the body 100, which facilitates further retraction of the leg assembly 202; or facilitates the handling of the robot 1000 without the leg assembly 202 swinging.

[0068] In other embodiments, the leg assembly 202 includes a first leg 220, a second leg 240, a first power mechanism 211, a second power mechanism 212, and a third power mechanism 230. The output end of the first power mechanism 211 is connected to the second power mechanism 212, and the output end of the second power mechanism 212 is connected to the first leg 220. The first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 are all located on the same side of the first leg 220. The second leg 240 is rotatably connected to the first leg 220. The third power mechanism 230 drives the second leg 240 to rotate through a linkage mechanism. The linkage mechanism passes through the first leg 220 and is connected to the second leg 240. The linkage mechanism serves as the output end of the third power mechanism 230. Alternatively, the second leg 240 can also be considered as the output end of the third power mechanism 230. The second holding member 420 is located at the second leg 240 or the linkage mechanism.

[0069] In some embodiments, reference Figure 1The limb assembly 200 includes both the arm assembly 201 and the leg assembly 202 of the aforementioned embodiments. When the clamping assembly 400 connected to the arm assembly 201 completes clamping, it can lock at least one of the multiple power mechanisms of the arm assembly 201, generating at least one degree of freedom. When the clamping assembly 400 connected to the leg assembly 202 completes clamping, it can restrict at least one of the multiple power mechanisms of the leg assembly 202, thereby facilitating the folding of the limb assembly 200. When storing the robot 1000, it is convenient to quickly organize the limb assembly 200 into a specific shape for storage. It also facilitates reducing the swing range of the limb assembly 200 and reducing the probability of collision between the arm assembly 201 and the leg assembly 202 when transporting the robot 1000.

[0070] In some embodiments, reference Figure 3 , Figure 4 and Figure 5 Of the three power mechanisms 211, 212, and 230, one is a rolling force mechanism for driving at least a portion of the limb assembly 200 to swing in the rolling direction, and the other two are pitching force mechanisms for driving at least a portion of the limb assembly 200 to swing in the pitching direction. For example, as... Figure 3 As shown, the first power mechanism 211 is a rolling power mechanism, which drives the second power mechanism 212 to perform rolling motion, and the third power mechanism 230 follows the second power mechanism 212 in performing rolling motion; both the second power mechanism 212 and the third power mechanism 230 are pitch power mechanisms, so when the second power mechanism 212 moves, it drives the third power mechanism 230 to perform pitch motion, and when the third power mechanism 230 moves, it enables its output end to perform pitch motion. For example, as... Figure 4 and Figure 5 As shown, the second power mechanism 212 is a rolling force mechanism, which can drive the output end of the second power mechanism 212 and the third power mechanism 230 connected to the output end to perform rolling motion; the first power mechanism 211 and the third power mechanism 230 are both pitch power mechanisms, so when the first power mechanism 211 moves, it can drive the second power mechanism 212 connected to the output end of the first power mechanism 211 to perform pitch motion, and drive the third power mechanism 230 connected to the second power mechanism 212 to perform pitch motion; when the third power mechanism 230 moves, it can cause its output end to perform pitch motion. The above-mentioned rolling force mechanism can provide the limb component 200 with a degree of freedom in the rolling direction; the above-mentioned two pitch power mechanisms can provide the limb component 200 with two degrees of freedom in the pitch direction, so the combination of the above three power mechanisms can provide a single limb component 200 with three degrees of freedom.

[0071] The following describes the solutions for the robot 1000 in its folded and unfolded states.

[0072] In some embodiments, reference Figure 2 , Figure 8 and Figure 10 Based on the embodiment where one of the aforementioned first power mechanism 211, second power mechanism 212, and third power mechanism 230 is a roll mechanism and the other two are pitch mechanisms, the robot 1000 has a retracted state. In the retracted state, the limb assembly 200 has a roll angle of 0 degrees along the roll axis. The first holding member 410 and the second holding member 420 engage. With a roll angle of 0 degrees, the limb assembly 200 is approximately parallel to the sagittal plane of the robot 1000. Therefore, the second holding member 420 can be moved towards the first holding member 410 in the direction of gravity along a direction approximately perpendicular to the cross-section, utilizing the weight of the robot 1000's components. When in the upper position, the device is held in place by gravity on the surface of the first holding member 410; and / or, in the retracted state, the third power mechanism 230 is closest to the first power mechanism 211, so the relative distance between the third power mechanism 230 and the first power mechanism 211 remains unchanged in the retracted state; and / or, in the retracted state, the angle formed by the line connecting the axis center of the third power mechanism 230 and the axis center of the second power mechanism 212, and the line connecting the axis center of the second power mechanism 212 and the axis center of the first power mechanism 211, is a fixed angle, that is, in the retracted state, the relative distance between the three power mechanisms remains basically unchanged, and one or more degrees of freedom in the pitch direction are locked by gravity.

[0073] In some embodiments, reference Figure 1 , Figure 2 , Figure 3 The limb assembly 200 includes a leg assembly 202, which further includes a first leg 220 and a second leg 240. The output end of the first power mechanism 211 is connected to the second power mechanism 212, the output end of the second power mechanism 212 is connected to the first leg 220, the end of the first leg 220 away from the second power mechanism 212 is connected to the third power mechanism 230, and the output end of the third power mechanism 230 is connected to the second leg 240. (Reference) Figure 8 and Figure 9As shown, the retracted state includes a first retracted state. In the first retracted state, the plane formed by the intersection of the output axis of the first power mechanism 211 and the output axis of the second power mechanism 212 is used as the reference plane 214. The angle formed between the extension direction of the first leg 220 and the reference plane 214 is the first limiting angle 221. The angle formed by the second leg 240 relative to the first leg 220 is the second limiting angle 241. At least a portion of the second leg 240 contacts the support surface 6000 to support the robot 1000. Thus, by placing the robot 1000 on the support surface 6000, the leg assembly 202 of the robot 1000 is supported on the support surface 6000, and the robot 1000 maintains dynamic balance relative to the support surface 6000 without tipping over. When the robot 1000 switches from the deployed state to the first retracted state, the first leg 220 and / or the second leg 240 are configured to move under human force, or the control signals from the control unit 300 drive the power mechanisms to execute control programs, thereby causing the first leg 220 and the second leg 240 to move. This adjusts both the first leg 220 and the second leg 240 to their extreme positions in the direction of gravity. At this point, the angle of the second leg 240 relative to the first leg 220 is the second limit angle 241, and the first leg 220 relative to the reference surface 214... At the first limiting angle 221, before the second holding member 420 and the first holding member 410 are locked together, the second holding member 420 is lower in the direction of gravity than the first holding member 410. Driven by the first leg 220 and the third power mechanism 230, the second holding member 420 moves closer to the first holding member 410 until the second holding member 420 moves above the first holding member 410 and locks together. In the first retracted state, the first holding member 410 and the second holding member 420 are locked together along the direction of the sagittal plane of the robot 1000. In the first retracted state, when the robot 1000 is powered off, due to the locking action of the first holding member 410 and the second holding member 420, the output ends of the pitch power mechanisms in the first power mechanism 211 and the second power mechanism 212 will not rotate relative to their input ends under the action of gravity. At this time, the robot 1000 can remain stable in the current state (first retracted state) and will not tilt forward or backward because the pitch power mechanism is not working and does not generate torque. Since the output end of the third power mechanism 230 is already locked at the limit position relative to the input end, and the second leg 240 is also at the limit position relative to the first leg 220, in the first retracted state, the input and output ends of the pitch power mechanisms in the first power mechanism 211 and the second power mechanism 212, and the output and input ends of the third power mechanism 230, remain relatively stable. Even if the robot 1000 is powered off or goes into hibernation at this time, the entire machine can still maintain a specific posture supported on the support surface 6000 in the first retracted state.

[0074] Understandably, after the holding component 400 holds the robot, the pitch direction freedom of the robot 1000 is limited under the action of gravity in the first retracted state. In some specific embodiments, the second power mechanism 212 is connected to the hip joint 213, the hip joint 213 is connected to the first leg 220, the first leg 220 serves as the thigh unit, the second leg 240 serves as the lower leg unit, and the third power mechanism 230 serves as the knee power mechanism.

[0075] For example, the support surface 6000 can be the ground, the motion surface of the robot 1000 when it is in the unfolded state, the inner surface of the cabin used to house the robot 1000, etc., as long as it can support the robot 1000.

[0076] For example, when robot 1000 is placed on support surface 6000 and in its first retracted state, the extension line of the second leg 240 intersects the extension line of the first leg 220 at a second limiting angle 241. This second limiting angle 241 is the minimum angle at which the second leg 240 does not interfere with or collide with the first leg 220, that is, the angle formed between the two legs when the second leg 240 is closest to the first leg 220; the angle of the first leg 220 relative to the reference surface 214 has a first limiting angle 241. 21. The first limiting angle 221 is the minimum angle at which the first leg 220 does not interfere or collide with the first power mechanism 211, that is, the angle formed between the first leg 220 and the reference surface 214 when the first leg 220 is closest to the reference surface 214. When the robot 1000 is in the first retracted state, the entire robot 1000 can maintain this specific state. The extension line of the second leg 240 intersects the extension line of the first leg 220 with a second limiting angle 241, and the angle of the first leg 220 relative to the reference surface 214 is the first limiting angle 221.

[0077] In a specific embodiment, when the second holding member 420 is located at the input or output end of the third power mechanism 230, in the first retracted state, the robot 1000 can be stabilized by the locking action of the holding component 400 and the effect of gravity. In the first retracted state, the robot 1000 is limited by gravity and the limiting effect of the holding component 400. The first leg 220 and the second leg 240 cannot move downward relative to the first power mechanism 211. The robot 1000 will not tilt forward, backward, or sideways, and the posture of the limb component 200 relative to the support surface 6000 remains stable.

[0078] In an exemplary embodiment, reference is made to Figure 2 and Figure 3The first power mechanism 211 is a rolling power mechanism, used to drive the first leg 220 to swing along the rolling axis; the second power mechanism 212 and the third power mechanism 230 are pitch power mechanisms, the second power mechanism 212 is used to drive the first leg 220 to swing along the pitch axis, and the third power mechanism 230 is used to drive the second leg 240 to swing along the pitch axis; in response to the retraction command, combined with Figure 8 , Figure 14 and Figure 18 The control unit 300 is used to control the lateral rolling force mechanism (i.e., the first power mechanism 211) to rotate so that the lateral rolling angle of the leg assembly 202 along the lateral rolling axis is 0 degrees; the control unit 300 is also used to control the second power mechanism 212 to rotate so that the angle between the first leg 220 and the reference surface 214 is the first limit angle 221, and to control the third power mechanism 230 to rotate so that the angle between the second leg 240 and the first leg 220 is the second limit angle 241. In these embodiments, before power is cut off and the legs are retracted, the first power mechanism 211 is controlled to rotate, thereby driving the second power mechanism 212, the first leg 220, the third power mechanism 230, and the second leg 240 to have an angle of approximately 0 degrees relative to the sagittal plane and an angle of approximately 90 degrees relative to the cross-section. This allows the leg assembly 202 to be more stably supported on the support surface 6000. It also ensures that when the second power mechanism 212 and the third power mechanism 230 output pitch force, the range of motion of the leg assembly 202 is controlled within a certain range. The first leg 220 is less likely to interfere with or collide with the first power mechanism 211. Furthermore, the movement of the second power mechanism 212 can quickly adjust the angle between the first leg 220 and the reference surface 214 to the first limit angle 221, and the movement of the third power mechanism 230 can quickly adjust the angle between the second leg 240 and the first leg 220 to the second limit angle 241.

[0079] In some embodiments, reference Figure 10 , Figure 11 and Figure 16 The retracted state includes a second retracted state. In the second retracted state, the robot 1000 is suspended and the second leg 240 is separated from the support surface 6000. The second leg 240 is configured to swing under the influence of gravity, and the angle formed by the second leg 240 relative to the first leg 220 is a third limiting angle 242. (Reference) Figure 8 and Figure 10The third limiting angle 242 is greater than the second limiting angle 241. In these embodiments, the second retracted state enables the first leg 220 to be at the first limiting angle 221 relative to the reference surface 214, and the angle between the second leg 240 and the first leg 220 to be the third limiting angle 242. That is to say, the angle formed between the second leg 240 and the first leg 220 is different in the second retracted state and the first retracted state, but the second leg 240 can maintain its position relative to the first power mechanism 211 in both cases. In the second retracted state, since the robot 1000 is no longer supported by the supporting force, but is lifted by the user's hand or transport device, the leg assembly 202 is separated from the supporting surface 6000. Therefore, in the second retracted state, the second leg 240 is no longer squeezed by the supporting surface 6000.

[0080] In a specific embodiment, the second holding member 420 is disposed at the input end of the third power mechanism 230. In the second retracted state, the second leg 240 can rotate relative to the input end of the third power mechanism 230 under its own gravity, causing the second leg 240 to droop under gravity. By adjusting the suspension posture of the robot 1000, the second leg 240 swings down to the maximum angle of the holding state relative to the first leg 220, and then stops swinging down further; or in the robot 1 If the robot 1000 is only suspended and the second leg 240 has not swung down to the maximum angle of the holding state, then the second leg 240 will swing within a certain range. Regardless of the suspension posture of the robot 1000, the first leg 220 can be kept at the first limit angle 221 relative to the reference surface 214 by the locking action of the holding component 400. The degree of freedom of movement of at least one of the first power mechanism 211 and the second power mechanism 212 that controls the rotation of the first leg 220 is locked, and the second leg 240 can also not swing or swing slightly and is not likely to collide with the first leg 220.

[0081] In another specific embodiment, the second holding member 420 is disposed at the output end of the third power mechanism 230. In the second retracted state, even if the second leg 240 is deflected to a certain extent by gravity, it can still swing relative to the first leg 220 to the angle of the minimum angle deflection from the holding state through the holding cooperation of the second holding member 420 and the first holding member 410. This causes the angle between the first leg 220 and the second leg 240 to deflect from the second limiting angle 241 to the third limiting angle 242 and be further limited by the holding component 400. In other words, the second leg 240 is kept at the third limiting angle 242 relative to the first leg 220. This ensures that the positions of the first leg 220 and the second leg 240 relative to the body 100 remain unchanged in the second retracted state. The third limiting angle 242 in these embodiments is determined by the holding position and / or holding form of the holding component 400.

[0082] In some embodiments, reference Figure 9 , Figure 11 , Figure 15 and Figure 17 In the first retracted state and the second retracted state, the first retaining member 410 and the second retaining member 420 have different retaining positions; and / or, the degree of retaining engagement of the first retaining member 410 and the second retaining member 420 is different. For example, different retaining positions may mean that the second retaining member 420 retains the first retaining member 410 by different retaining engagement sites. Different degrees of retaining engagement may mean that the size of the retaining contact surface of the second retaining member 420 retains the first retaining member 410 is different, or that the number of components engaged in the retaining engagement of the second retaining member 420 retains the first retaining member 410 is different.

[0083] In some embodiments, reference Figure 3 , Figure 6 , Figure 7 , Figure 8 and Figure 14 In its first retracted state, robot 1000 responds to the unfolding command. Figure 18 The control unit 300 shown controls the movement of the first power mechanism 211 to cause the leg assembly 202 to swing laterally relative to the body 100, disengaging the first retaining member 410 and the second retaining member 420. (Reference) Figure 10 , Figure 11 , Figure 16 and Figure 17 In the second retracted state, robot 1000 responds to the unfolding command. Figure 18The control unit 300, as shown, controls the third power mechanism 230 to drive the second leg 240 to rotate and switch to the first retracted state. Then, the control unit 300 controls the first power mechanism 211 to move, causing the leg assembly 202 to swing horizontally relative to the body 100, disengaging the first clamping member 410 and the second clamping member 420. In other words, when the robot 1000 is in a suspended state, the control unit 300 can control the angle between the second leg 240 and the first leg 220 to decrease until the angle becomes the second limiting angle 241. Since the degree of freedom of the second power mechanism 212 is locked by the clamping member 400 under its own weight, the first power mechanism 211 drives the limb assembly 200 to swing horizontally, thereby disengaging the clamping member 400 and allowing the robot 1000 to return to its extended state. In other embodiments, the robot 1000 in the second retracted state can be placed back on the support surface 6000. The second leg 240 of the robot 1000 is squeezed by the support surface 6000 and subjected to the gravity of the upper component. The angle between the second leg 240 and the first leg 220 changes back to the second limiting angle 241. That is, the second leg 240 is closest to the first power mechanism 211 at this time. Then, the first power mechanism 211 swings laterally to drive the limb component 200 to expand outward or retract inward to achieve disengagement. By placing the robot 1000 in the second retracted state on the support surface 6000 to switch to the first retracted state, the power required for the movement of the third power mechanism 230 can be saved.

[0084] The following describes how the output ends of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 achieve limit angles relative to their input ends.

[0085] In some embodiments, the second power mechanism 212 includes a first fixed part, a first movable part, and a first limiting part. The first movable part is rotatable relative to the first fixed part, and the first limiting part is connected to the first fixed part or the first movable part to limit the rotation angle of the first movable part relative to the first fixed part. Thus, by stopping the first movable part between two relatively rotating components, the first movable part can reach its limit angle relative to the first fixed part. For example, the first limiting part is a protrusion, located on the first fixed part, and the first movable part is provided with a limiting groove 423 that mates with the first limiting part. The limiting groove 423 extends along the movement trajectory of the protrusion. When the protrusion moves to both ends of the limiting groove 423, it limits the rotation angle range of the first fixed part and the first movable part, as well as the maximum and minimum angles of the first leg 220 relative to the reference surface 214; or the first limiting part is a protrusion, the first limiting part is provided in the first fixed part, and the first movable part is provided with another protrusion. When the protrusion abuts against the protrusion, it limits the extreme angles of the first fixed part and the first movable part. When two first limiting parts are provided, the range of angles that can move between the first fixed part and the first movable part can be limited, which also limits the range of movement of the first leg 220 in the pitch direction; and / or, such as Figure 12 As shown, the third power mechanism 230 includes a second fixed part 231, a second movable part 232, and a second limiting part 233. The second movable part 232 is rotatable relative to the second fixed part 231. The second limiting part 233 is connected to either the second fixed part 231 or the second movable part 232 to limit the rotation angle of the second movable part 232 relative to the second fixed part 231. Here, the second limiting part 233 abuts between the two relatively rotating components, allowing the second movable part 232 to reach its limit angle relative to the second fixed part 231, thereby further limiting the range of motion of the second leg 240 in the pitch direction. Provided the solutions do not contradict each other, the specific structural form of the second limiting part 233 can refer to the solution of the first limiting part, and will not be elaborated here. In a specific embodiment, the second limiting part 233 includes two spaced apart, and the two second limiting parts 233 are respectively connected to the second fixed part 231. The second movable part 232 is provided with an arc-shaped limiting groove 423. The second fixed part 231 abuts against the end of the limiting groove 423, thereby reaching the limit position that the second leg 240 can reach.

[0086] In other embodiments, the first power mechanism 211 includes a third fixed part, a third movable part, and a third limiting part. The third movable part is rotatable relative to the third fixed part, and the third limiting part is connected to the third fixed part or the third movable part to limit the rotation angle of the third movable part relative to the third fixed part. By providing the third limiting part, a rotation limiting angle between two relatively moving components can be achieved, which also limits the yaw angle of the first leg 220 and the second leg 240 relative to the sagittal plane driven by the first power mechanism 211.

[0087] The following describes the degrees of freedom of Robot 1000 in its folded and unfolded states.

[0088] In some embodiments, the robot 1000 has a retracted state and an extended state, as shown in the reference. Figure 8 , Figure 10 , Figure 14 , Figure 16 In the retracted state, the first card holder 410 and the second card holder 420 engage in a locking mechanism; (Reference) Figure 6 and Figure 7 In the unfolded state, the first clamping member 410 and the second clamping member 420 disengage; the robot 1000 has a greater degree of freedom of movement in the unfolded state than in the retracted state. Therefore, in these embodiments, by switching the engagement form of the clamping components 400, the robot 1000 can switch between the unfolded and retracted states. In the unfolded state, the robot 1000 has a higher degree of freedom, facilitating flexible movement of the limb components 200; in the retracted state, the robot 1000 has a lower degree of freedom, ensuring that at least a portion of the leg components 202 retains its pre-power-off state after power loss, facilitating retraction; or reducing the large-scale swinging of the limb components 200 during handling, making the robot 1000 easier to transport.

[0089] In some exemplary embodiments, such as Figure 8 and Figure 10 As shown, the retracted state includes a first retracted state and a second retracted state. The degrees of freedom of robot 1000 in the first retracted state are different from those in the second retracted state. For example, the degrees of freedom of robot 1000 in the first retracted state are greater than those in the second retracted state. Therefore, when robot 1000 switches to the second retracted state, more degrees of freedom can be restricted, allowing more parts of the limb component 200 to maintain their original posture after power failure, facilitating retraction, or making more parts of the limb component 200 less prone to large-scale swinging after power failure, facilitating handling or transportation.

[0090] In some specific embodiments, reference is made to Figure 8 and Figure 14 In the first retracted state, robot 1000's degree of freedom along the pitch direction is restricted; Reference Figure 10 , Figure 16In the second retracted state, the robot 1000's degrees of freedom in the pitch direction and its degrees of freedom in the roll direction are restricted. Therefore, in these embodiments, in the first retracted state, after power failure, the limb assembly 200 of the robot 1000 cannot move in the pitch direction due to gravity and the clamping component 400. In the second retracted state, after power failure, the limb assembly 200 of the robot 1000 cannot move in the pitch direction or the roll direction due to gravity and the clamping component 400, making it difficult for the limb assembly 200 to swing back and forth during transport.

[0091] The specific structural forms of the first retaining member 410 and the second retaining member 420, as well as the implementation methods of retaining and disengaging, are described below by way of example.

[0092] In some embodiments, combined with Figure 2 , Figure 3 , Figure 7 , Figure 9 , Figure 11 , Figure 13 As shown, the first holding member 410 includes a first buckle body 411, and the second holding member 420 includes a second buckle body 421 and an elastic member 422. The second buckle body 421 is rotatably connected to the third power mechanism 230, and the elastic member 422 connects the second buckle body 421 and the third power mechanism 230. The robot 1000 has a retracted state and an extended state. In the retracted state, the second buckle body 421 is engaged with the first buckle body 411, and the force generated by the elastic member 422 can be used to drive the second buckle body 421 to remain attached to the first buckle body 411. In the extended state, the second buckle body 421 is separated from the first buckle body 411. In these embodiments, by providing the elastic element 422, the second buckle body 421 can form a certain elastic retaining force when fastened to the first buckle body 411, making the second buckle body 421 and the first buckle body 411 fit more tightly, or making the second buckle body 421 less likely to detach from the first buckle body 411; by providing the elastic element 422, the second buckle body 421 and the first buckle body 411 can also have a certain amount of fit redundancy during the engagement process, forming a more flexible contact fit, effectively preventing the second buckle body 421 and / or the first buckle body 411 from colliding and breaking. For example, refer to... Figure 13The elastic element 422 is a torsion spring. The second buckle body 421 is rotatably connected to the third power mechanism 230 via a rotating shaft 424. The torsion spring is sleeved on the rotating shaft 424. One end of the torsion spring is connected to the third power mechanism 230, and the other end of the torsion spring is connected to the second buckle body 421. When the torsion spring is not subjected to torsional force, it can keep the second buckle body 421 in a specific posture relative to the third power mechanism 230. For example, by setting the torsion spring, the second buckle body 421 can be set in a direction that facilitates fastening with the first buckle body 411. When the torsion spring is subjected to torque, the torsion spring can generate a certain elastic restoring force, thereby driving the second buckle body 421 to move towards the initial position. For example, the elastic element 422 is a spring, with one end connected to the second buckle body 421 and the other end connected to the third power mechanism 230. When the spring is at its free extension length, the second buckle body 421 is in a specific posture and position relative to the third power mechanism 230. When the spring is stretched, it generates a certain elastic restoring force, which can drive the second buckle body 421 to move towards the initial position. In a specific embodiment, when the first buckle body 411 abuts against the second buckle body 421, the elastic element 422 deforms, giving it an elastic restoring force. This force can drive the second buckle body 421 to move towards the initial position. When the first buckle body 411 is on one side of the initial position, the elastic element 422 can make the second buckle body 421 fasten tightly towards the first buckle body 411.

[0093] In some embodiments, reference Figure 7The first buckle body 411 has a first guide surface 4111, and the second buckle body 421 has a second guide surface 4211. During the movement of the third power mechanism 230 close to the first power mechanism 211, the first guide surface 4111 and the second guide surface 4211 slide into each other, so that the second buckle body 421 slides to the first buckle body 411. In these embodiments, the sliding guide engagement of the first guide surface 4111 and the second guide surface 4211 allows the second buckle body 421 to move more smoothly relative to the first buckle body 411 and to enter the engagement part of the first buckle body 411 at the end of the guide engagement. For example, in a specific embodiment, when the first guide surface 4111 and the second guide surface 4211 are in contact, the second buckle body 421 can be pushed to rotate counterclockwise, making it easier for the buckling end 4212 of the second buckle body 421 to face the engagement part with the first buckle body 411. For example, both the first guide surface 4111 and the second guide surface 4211 are inclined surfaces, which form an acute angle with the sagittal plane. The inclined surface formed by the first guide surface 4111 extends upward at an angle away from the first power mechanism 211. The second guide surface 4211 is arranged parallel to the first guide surface 4111, which is conducive to the first guide surface 4111 and the second guide surface 4211 fitting together and forming a stable guide. It also enables the first buckle body 411 to guide the second buckle body 421 upward, so that the second buckle body 421 can rotate counterclockwise.

[0094] In some embodiments, reference Figure 7 , Figure 9 , Figure 11 , Figures 13 to 17 The second retaining member 420 also includes a limiting groove 423, which is located at the output end of the third power mechanism 230. The second buckle body 421 is rotatably connected to the limiting groove 423. The limiting groove 423 is used to limit the maximum angle of swing of the second buckle body 421, and the buckling end 4212 of the second buckle body 421 extends outward from the limiting groove 423. By setting the limiting groove 423, the second buckle body 421 can swing within a limited angle under the action of external force, such as the action of the second buckle body 421 abutting against the first buckle body 411, without swinging at a large angle, thereby improving the efficiency of the locking and engagement of the first buckle body 411 and the second buckle body 421. It also makes it less likely for the second buckle body 421 to detach from the first buckle body 411 under small-amplitude swing after the second buckle body 421 and the first buckle body 411 reach the abutting limiting engagement, thereby improving the stability of the locking and engagement of the second buckle body 421 and the first buckle body 411. For example, in the first retracted state, the second buckle 421 abuts against the groove wall of the limiting groove 423 near the first buckle 411, or the second buckle 421 and the limiting groove 423 are in clearance fit; in the second retracted state, the buckling end 4212 of the second buckle 421 abuts against the groove wall of the limiting groove 423 away from the first buckle 411.

[0095] To achieve the first retracted state and the second retracted state, the first retaining member 410 and the second retaining member 420 form different degrees of engagement and / or different engagement positions. In an exemplary embodiment, refer to... Figure 13 , Figure 15 and Figure 17The limiting groove 423 includes a first limiting wall 4231 and a second limiting wall 4232 arranged opposite to each other. The second limiting wall 4232 has a mating opening 4233 in the direction toward the first holding member 410. The elastic member 422 is used to drive the second buckle body 421 to rotate toward the direction close to the second limiting wall 4232. The retracted state includes a first retracted state and a second retracted state. In the first retracted state, the buckling end 4212 of the second buckle body 421 is spaced apart from the first limiting wall 4231, and the second buckle body 421 is engaged with the first buckle body 411. In the second retracted state, the buckling end 4212 of the second buckle body 421 abuts against the first limiting wall 4231, the second buckle body 421 is engaged with the first buckle body 411, and the first buckle body 411 is limited to the mating opening 4233. In these embodiments, by engaging the second buckle 421 and the first buckle 411, and not engaging the first buckle 411 with the mating opening 4233, some degrees of freedom of the robot 1000 in the first retracted state are locked. For example, under the action of gravity and the clamping component 400, the pitch direction degree of freedom of the robot 1000 is locked. By engaging the second buckle 421 and the first buckle 411, the limiting groove 423 abuts against the second buckle 421, and the first buckle 411 engages with the mating opening 4233, thus forming a multiple clamping engagement between the first clamping member 410 and the second clamping member 420. In a specific embodiment, the mating port 4233 has an opening facing the coronal plane or a first opening facing the coronal plane and a second opening facing the cross section, which facilitates the insertion of the first buckle body 411 into the mating port 4233 in a direction approximately perpendicular to the coronal plane and / or in a direction approximately perpendicular to the cross section. The mating port 4233 is not open in a direction parallel to the sagittal plane. After the first buckle body 411 and the mating port 4233 are mated, the first power mechanism 211 does not move left or right relative to the third power mechanism 230 in a direction approximately perpendicular to the sagittal plane. This means that when the user is handling the robot 1000, under the action of the robot 1000's gravity, the limb component 200 is kept in a specific position relative to the body 100 in both the pitch and roll directions. The limb component 200 will not sway back and forth, so that the posture of the limb component 200, such as the leg component 202, is fixed during the handling process of the robot 1000. When the robot 1000 in its second retracted state is placed on the support surface 6000, and the limb components 200, such as the leg components 202, contact the support surface 6000, the first buckle 411 can disengage from the mating port 4233 under its own weight. When the robot is in the second retracted state and the third power mechanism 230 is powered on, the output end of the third power mechanism 230 can move, causing the first buckle 411 in the mating port 4233 to disengage.

[0096] In some embodiments, reference Figure 2 The robot 1000 includes two sets of limb components 200 symmetrically arranged relative to the body 100, combined with Figure 3 , Figure 6 , Figures 14 to 16 As shown, each limb component 200's first power mechanism 211 is provided with a first holding member 410, and each third power mechanism 230 is provided with a second holding member 420, for reference. Figure 14 and Figure 15 The first buckle bodies 411 of the two first retaining members 410 are provided with a stop member 412 on the side facing away from each other, or the first buckle bodies 411 of the two first retaining members 410 are provided with a stop member 412 on the side facing each other; in response to the unfolding command, the third power mechanism 230 moves in a direction away from the first power mechanism 211, so that the second buckle bodies 421 slide away from the first buckle bodies 411 respectively. In these embodiments, by providing stop members 412 on the first buckle bodies 411 of the two limb components 200, when the robot 1000 is in the first retracted state, when the robot 1000 has a tilting posture that is approximately perpendicular to the stop member 412 under the action of gravity, such as a tendency to tilt to the left or to the right, the stop member 412 can stop the second buckle body 421, preventing the robot 1000 from continuing to tilt in a direction approximately perpendicular to the stop member 412. For example, when the robot 1000 is closed or in hibernation, the power of each power mechanism is cut off, and the robot 1000... When robot 1000 tends to tilt to the left, the stop member 412 located on the left side of the first buckle body 411 can abut against the second buckle body 421, thereby effectively preventing robot 1000 from tilting to the left and preventing robot 1000 from continuously tilting to the left and falling over; for example, when robot 1000 tends to tilt to the right, the stop member 412 located on the right side of the first buckle body 411 can abut against the second buckle body 421, thereby effectively preventing robot 1000 from tilting to the right and preventing robot 1000 from continuously tilting to the right and falling over, so that the entire robot 1000 can stand stably on the support surface 6000 in a certain posture. In an exemplary embodiment, the first power mechanism 211 is a rolling power mechanism, used to drive the first leg 220 to swing along the rolling axis; the second power mechanism 212 and the third power mechanism 230 are pitch power mechanisms, the second power mechanism 212 is used to drive the first leg 220 to swing along the pitch axis, and the third power mechanism 230 is used to drive the second leg 240 to swing along the pitch axis. When the robot 1000 is in the retracted state, the two first power mechanisms 211 respectively drive the first leg 220 to adjust the yaw angle to 0 degrees along the rolling direction, and the limb assembly 200 is approximately parallel to the sagittal plane of the robot 1000. At this time, the second holding members 420 of the two leg assemblies 202 are approximately symmetrical with respect to the sagittal plane, and the first holding member 410 and the second holding member 420 on the same side are aligned along the direction of the sagittal plane of the robot 1000; in response to the unfolding command, the two first power mechanisms 211 respectively drive the other parts of the leg assembly 202 to move simultaneously away from their respective stop members 412, for example, referring to Figure 14The first buckle body 411 of the two first retaining members 410 has a stop member 412 on the side facing each other. At this time, the two first power mechanisms 211 respectively control the leg assembly 202 on the same side to swing outward. The third power mechanism 230 moves relative to the first power mechanism 211 in a direction away from the sagittal plane, and causes the second retaining member 420 to slide away from the stop member 412 until it slides off the first retaining member 410 and disengages.

[0097] In some embodiments, the holding directions of the first latching body 411 and the second latching body 421 are different from the sliding direction of the second latching body 421 relative to the stop member 412, so that the holding and disengaging of the holding assembly 400 can be achieved in different ways, improving the stability of the robot 1000 in the holding direction and improving the flexibility of the robot 1000 when disengaging in the sliding direction. For example, the holding direction and the sliding direction form an angle; for instance, the holding direction is approximately along a direction perpendicular to the cross-section of the robot 1000, and the sliding direction is approximately along a direction perpendicular to the sagittal plane of the robot 1000. For example, the holding direction is approximately along the yaw axis direction of the robot 1000, and the sliding direction is approximately along the pitch axis direction of the robot 1000.

[0098] In order to improve the intelligence level of robot 1000, the control method of robot 1000 is stored in the memory of robot 1000. When responding to the unfolding command or the retracting command, the processor calls the control method of robot 1000 stored in the memory and generates the corresponding control command to make at least one of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 perform an action.

[0099] It is understood that the robot 1000 of this application embodiment does not require an additional electric braking mechanism. By utilizing the structural characteristics of the limb assembly 200, especially the leg assembly 202, and through the single clamping of the first clamping member 410 and the second clamping member 420, that is, the clamping of the first buckle 411 and the second buckle 421 of the first clamping member 410, the degree of freedom of at least one power mechanism of the limb assembly 200 is reduced. The structure is simple and the cost is low.

[0100] In some embodiments of this application, the robot 1000 is lifted away from the support surface 6000, and the gravity of the robot 1000 can be used to achieve secondary locking of the first locking member 410 and the second locking member 420 in the power-off state. That is, the first buckle 411 of the first locking member 410 and the second buckle 421 are locked together, and the first buckle 411 of the first locking member 410 and the mating port 4233 of the second locking member 420 are locked together.

[0101] In some embodiments of this application, the switch from secondary clamping to primary clamping of the clamping component 400 can be achieved by gravity when placed on the support surface 6000, or by the movement of the third power mechanism 230 to change the angle between the first leg 220 and the second leg 240 to the second limiting angle 241. In some embodiments, the switch from the first retracted state to the extended state can be completed automatically under the control of the control unit 300 without manual intervention.

[0102] The control method of robot 1000 is described below as an example.

[0103] A control method for a robot 1000, wherein the robot 1000 is any of the robot 1000 described in the foregoing embodiments, that is, the robot 1000 includes at least a body 100, a limb assembly 200, a gripping assembly 400, and a control unit 300. It also includes at least the following technical solutions with the following structures: [Refer to...] Figure 1 and Figure 2 The limb assembly 200 is connected to the fuselage 100. The limb assembly 200 includes a first power mechanism 211, a second power mechanism 212, and a third power mechanism 230. The first power mechanism 211 is connected to the fuselage 100; the second power mechanism 212 is mechanically coupled to the output end of the first power mechanism 211 to move under the drive of the first power mechanism 211; the third power mechanism 230 is connected to the output end of the second power mechanism 212 to change position relative to the first power mechanism 211 under the drive of the second power mechanism 212 and / or the first power mechanism 211. (Reference) Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the locking assembly 400 includes a first locking member 410 and a second locking member 420. The first locking member 410 is disposed on the first power mechanism 211. The second locking member 420 is disposed on the third power mechanism 230, and the second locking member 420 is capable of locking with the first locking member 410. (Reference) Figure 18 The control unit 300 is electrically connected to the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 to output a control signal to at least one of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230. The control signal is used to control the position of the second holding member 420 provided in the third power mechanism 230 relative to the first holding member 410 provided in the first power mechanism 211, so that the first holding member 410 engages or disengages from the second holding member 420.

[0104] refer to Figure 19 and Figure 20 The control method for the robot 1000 mentioned above includes the following steps: step S100 and / or step S200.

[0105] refer to Figure 19 Step S100 includes steps S110, S120, and S130.

[0106] Step 110: Control the movement of at least one of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 to drive the second holding member 420 of the third power mechanism 230 to move closer to the first holding member 410 of the first power mechanism 211.

[0107] For example, step S110 can be triggered by pressing a button to trigger a collapse command, and / or by triggering a collapse command due to low battery.

[0108] For example, the limb assembly 200 of robot 1000 has a first robotic arm, a second robotic arm, a first power mechanism 211, a second power mechanism 212, and a third power mechanism 230. One end of the first robotic arm is connected to the output end of the second power mechanism 212, and the other end of the first robotic arm is connected to the third power mechanism 230. The output end of the third power mechanism 230 is connected to the second robotic arm. One of the first power mechanism 211 and the second power mechanism 212 is a roll mechanism, and the other is a pitch mechanism. The third power mechanism 230 is a pitch mechanism. The retracted state includes a first retracted state and a second retracted state. The angle between the first robotic arm and the second robotic arm is different in the first retracted state and the second retracted state. The control method of robot 1000 includes the following steps: steps S111, S112, and S113. It should be noted that the first robotic arm here can be the first leg 220 and / or the first arm 2011 of the aforementioned embodiment; the second robotic arm can be the second leg 240 and / or the second arm 2012 of the aforementioned embodiment.

[0109] Step S111: Control the lateral rolling force mechanism to move so that the limb assembly 200 swings at a preset angle along the lateral rolling axis. This preset angle aligns the first retaining member 410 and the second retaining member 420 along the sagittal plane of the robot 1000. In an exemplary embodiment, the lateral rolling force mechanism drives and moves the connected components to adjust the lateral rolling angle to 0 degrees, enabling the first fastener 411 and the second fastener 421 to achieve large-area contact and fastening.

[0110] For example, step S111 further includes detecting that the robot 1000 is in an extended state and implementing the control program by triggering a retract command.

[0111] Step S112: Control the movement of the two pitch power mechanisms, and move the third power mechanism 230 closer to the first power mechanism 211 so that the angle between the first robotic arm and the second robotic arm is the second limit angle 241. The first buckle 411 of the first clamping member 410 and the second buckle 421 of the second clamping member 420 are clamped together, and the robot 1000 is in the first retracted state.

[0112] For example, the collapse instruction includes a first collapse instruction, and the triggering of step S112 is achieved by triggering the first collapse instruction.

[0113] For example, in step S112, the second leg 240 of the robot 1000 is first detected to be located on the support surface 6000, and then the first retraction command is triggered so that the robot 1000 can be stably supported on the support surface 6000 after the first retraction command is executed.

[0114] For example, in the first retracted state, the angle between the first leg 220 and the reference surface 214 or the cross-section of the robot 1000 in the aforementioned embodiment is the first limiting angle 221. The reference surface 214 is the plane formed by the intersection of the output axis of the first power mechanism 211 and the output axis of the second power mechanism 212, and the reference surface 214 is parallel to the cross-section. The angle formed between the second leg 240 and the first leg 220 is the second limiting angle 241. At least a portion of the second leg 240 is supported on the support surface 6000, so that the robot 1000 is in the first retracted state.

[0115] For example, refer to Figure 7 , Figure 13 , Figure 14 and Figure 15 The robot 1000 includes a limiting groove 423, which includes a first limiting wall 4231 and a second limiting wall 4232 facing each other. The second limiting wall 4232 has a mating opening 4233 in the direction toward the first holding member 410. The elastic member 422 is used to drive the second buckle body 421 to rotate toward the direction close to the second limiting wall 4232. The first holding member 410 and the second holding member 420 are engaged in the first holding member 410 in step S112, including the following steps: in response to the first... Upon receiving the command to retract, the pitching power mechanism in the first power mechanism 211 and the second power mechanism 212 drives the first leg 220 and the third power mechanism 230 to rotate counterclockwise, causing the second buckle 421 to contact the first buckle 411. After the second buckle 421 deflects counterclockwise, it abuts against the first buckle 411 under the action of the elastic element 422. The buckling end 4212 of the second buckle 421 is spaced apart from the first limiting wall 4231, and the first buckle 411 is spaced apart from the mating opening 4233.

[0116] Step S113: Control the third power mechanism 230 to drive the second robotic arm to rotate away from the first robotic arm, so that the angle between the first robotic arm and the second robotic arm is the third limit angle 242. The first buckle 411 of the first clamping member 410 is clamped and engaged with the second buckle 421 and the mating port 4233 of the second clamping member 420 respectively, and the robot 1000 is in the second retracted state.

[0117] For example, step S113 is triggered by triggering a second collapse instruction.

[0118] For example, refer to Figure 13 , Figure 15 and Figure 17 The robot 1000 includes a limiting groove 423, which includes a first limiting wall 4231 and a second limiting wall 4232 facing each other. The second limiting wall 4232 has a mating opening 4233 in the direction toward the first holding member 410. The elastic member 422 is used to drive the second buckle 421 to rotate toward the direction close to the second limiting wall 4232. The first holding member 410 and the second holding member 420 in step S113 are engaged and mated, including the following steps: In response to the second retraction command, the third power mechanism 230 drives the limiting groove 423 located at the output end to rotate, so that the first limiting wall 4231 abuts against the buckling end 4212 of the second buckle 421, and the first buckle 411 is inserted into the mating opening 4233.

[0119] Step S120: Control the first holding member 410 and the second holding member 420 to engage in holding and cooperating.

[0120] For example, in step S120, the relative position of the first retaining member 410 and the second retaining member 420 can be detected by setting a sensor; the first retaining member 410 and the second retaining member 420 can also be detected by setting a sensor to detect whether they are engaged. For example, the sensor includes, but is not limited to, Hall effect sensors, photoelectric sensors, micro switches, and visual sensors. This is beneficial because while the first power mechanism 211 and the third power mechanism 230 are moving closer together, they also control the first retaining member 410 and the second retaining member 420 to achieve engagement at a specific position. In a specific embodiment, the engaging end 4212 of the second buckle body 421 is controlled to form a buckle with the first buckle body 411, and the engaging end 4212 of the second buckle body 421 is spaced apart from the first limiting wall 4231 of the limiting groove 423.

[0121] Step S130: Control the limb component 200 to stop moving, and the robot 1000 is in a retracted state.

[0122] refer to Figure 20 Step S200 includes steps S210 and S220.

[0123] Step S210: Control at least one of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 to move, so as to drive the second holding member 420 provided in the third power mechanism 230 away from the first holding member 410 provided in the first power mechanism 211.

[0124] For example, step S210 is triggered by pressing a button to trigger the unfolding command, and / or by using voice control to trigger the unfolding command of the robot 1000.

[0125] Step S220: Control the first holding member 410 and the second holding member 420 to disengage, and the robot 1000 is in the unfolded state.

[0126] For example, step S220 further includes step S221: detecting that the robot 1000 is in the second retracted state, controlling the third power mechanism 230 to drive the second robotic arm to rotate close to the first robotic arm, so that the angle between the second leg 240 and the first leg 220 is the first limiting angle 221, so that the first buckle 411 is disengaged from the mating port 4233, and the buckling end 4212 of the second buckle 421 is separated from the first limiting wall 4231, so that the robot 1000 switches from the second retracted state to the first retracted state.

[0127] For example, step S220 also includes step S222, detecting that the robot 1000 is in the first retracted state, controlling the lateral rolling force mechanism in the first power mechanism 211 and the second power mechanism 212 to move, so that the first buckle 411 and the second buckle 421 slide off and disengage in a direction approximately perpendicular to the sagittal plane, and the robot 1000 is in the unfolded state.

[0128] For example, the robot 1000 can detect and determine its own state by setting one or more of a vision sensor, an angular velocity sensor, and an attitude sensor.

[0129] It should be noted that, provided the solutions are not contradictory, the steps in the above control method can be combined with each other, and the order of steps S100 and S200 is not important.

[0130] As can be seen from the above, the control method for the robot 1000 proposed in this invention utilizes a built-in control unit 300. The control unit 300 outputs control signals and controls the movement of the output ends of one or more of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230. After the first holding member 410 and the second holding member 420 engage, under the action of the robot's own weight, the output ends of one or more of the first power mechanism 211, the second power mechanism 212, and the third power mechanism 230 cannot continue to move relative to the input ends. This ensures that at least a portion of the limb component 200 remains unchanged relative to the body 100, and at least one degree of freedom of the limb component 200 is locked. When the robot 1000 is in the retracted state, it is convenient for the user to retract or move the robot 1000. By adjusting the posture of the limb component 200 of the robot 1000 through this control method, the robot 1000 can be retracted or moved in a short time, making operation convenient.

[0131] In this invention, the terms "first," "second," "third," "fourth," "fifth," and "sixth" 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. Therefore, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of the stated features.

[0132] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0133] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot, characterized in that, include: body; Limb components, connected to the fuselage; The limb components include: The first power mechanism is connected to the fuselage; The second power mechanism is mechanically coupled to the output end of the first power mechanism so as to move under the drive of the first power mechanism; The third power mechanism is connected to the output end of the second power mechanism to change its position relative to the first power mechanism under the drive of the second power mechanism and / or the first power mechanism. Card holding components, including: The first card holder is located on the first power mechanism; A second holding member is provided on the third power mechanism, and the second holding member can hold the first holding member; A control unit is electrically connected to the first power mechanism, the second power mechanism, and the third power mechanism to output a control signal to at least one of the first power mechanism, the second power mechanism, and the third power mechanism. The control signal is used to control the position of the second holding member of the third power mechanism relative to the first holding member of the first power mechanism to change, so that the first holding member engages or disengages with the second holding member; or, under the action of an external force, the control unit controls the position of the second holding member of the third power mechanism relative to the first holding member of the first power mechanism to change, so that the first holding member engages or disengages with the second holding member.

2. The robot as described in claim 1, characterized in that, The limb assembly includes an arm assembly, which includes a first arm, a second arm, a first power mechanism, a second power mechanism, and a third power mechanism. The output end of the second power mechanism is connected to the first arm, and the end of the first arm away from the second power mechanism is connected to the third power mechanism. The output end of the third power mechanism is connected to the second arm; and / or, The limb assembly includes a leg assembly, which includes a first leg, a second leg, a first power mechanism, a second power mechanism, and a third power mechanism. The output end of the second power mechanism is connected to the first leg, and the end of the first leg away from the second power mechanism is connected to the third power mechanism. The output end of the third power mechanism is connected to the second leg.

3. The robot as described in claim 1, characterized in that, One of the first power mechanism, the second power mechanism, and the third power mechanism is a lateral rolling force mechanism, used to drive at least a portion of the limb assembly to swing in the lateral rolling direction, and the other two are pitching force mechanisms, used to drive at least a portion of the limb assembly to swing in the pitching direction.

4. The robot as described in claim 3, characterized in that, The robot has a retracted state, in which the limb assembly has a roll angle of 0 degrees along the roll axis, and the first and second holding members engage in a locking relationship; and / or, In the retracted state, the third power mechanism is closest to the first power mechanism; and / or, In the retracted state, the angle formed by the line connecting the axis center of the third power mechanism of the limb assembly and the axis center of the second power mechanism, and the line connecting the axis center of the second power mechanism and the axis center of the first power mechanism, is a fixed angle.

5. The robot as described in claim 4, characterized in that, The limb assembly includes a leg assembly, which further includes a first leg and a second leg. The output end of the first power mechanism is connected to the second power mechanism, and the output end of the second power mechanism is connected to the first leg. The end of the first leg away from the second power mechanism is connected to the third power mechanism, and the output end of the third power mechanism is connected to the second leg. The retracted state includes a first retracted state. In the first retracted state, the plane formed by the intersection of the output axis of the first power mechanism and the output axis of the second power mechanism is used as a reference plane. The angle formed between the extension direction of the first leg and the reference plane is a first limiting angle. The angle formed by the second leg relative to the first leg is a second limiting angle. At least a portion of the second leg contacts the support surface to support the robot.

6. The robot as described in claim 5, characterized in that, The first power mechanism is a rolling power mechanism, which is used to drive the first leg to swing along the rolling axis; the second power mechanism and the third power mechanism are pitch power mechanisms, which are used to drive the first leg to swing along the pitch axis and the third power mechanism to drive the second leg to swing along the pitch axis. In response to a retraction command, the control unit controls the lateral rolling force mechanism to rotate so that the lateral rolling angle of the leg assembly along the lateral rolling axis is 0 degrees; the control unit is also used to control the second power mechanism to rotate so that the angle between the first leg and the reference surface is the first limit angle, and to control the third power mechanism to rotate so that the angle between the second leg and the first leg is the second limit angle.

7. The robot as described in claim 6, characterized in that, The retracted state includes a second retracted state, in which the robot is suspended and the second leg is separated from the support surface. The second leg is configured to swing under the action of gravity, and the angle formed by the second leg relative to the first leg is a third limiting angle, which is greater than the second limiting angle.

8. The robot as described in claim 7, characterized in that, In the first retracted state and the second retracted state, the locking positions of the first locking member and the second locking member are different; and / or, the degree of locking engagement of the first locking member and the second locking member is different.

9. The robot as described in claim 7, characterized in that, In the first retracted state, in response to an unfolding command, the control unit controls the first power mechanism to move so that the leg assembly swings horizontally relative to the body, and the first and second clamping members disengage. In the second retracted state, in response to an unfolding command, the control unit controls the third power mechanism to drive the second leg to rotate and switch to the first retracted state. Then, the control unit controls the first power mechanism to move so that the leg assembly swings horizontally relative to the body, and the first and second clamping members disengage.

10. The robot as described in claim 6, characterized in that, The second power mechanism includes a first fixed part, a first movable part, and a first limiting part. The first movable part is rotatable relative to the first fixed part, and the first limiting part is connected to the first fixed part or the first movable part to limit the rotation angle of the first movable part relative to the first fixed part. And / or, The third power mechanism includes a second fixed part, a second movable part, and a second limiting part. The second movable part is rotatable relative to the second fixed part, and the second limiting part is connected to the second fixed part or the second movable part to limit the rotation angle of the second movable part relative to the second fixed part.

11. The robot as claimed in claim 1, characterized in that, The robot has a retracted state and an extended state. In the retracted state, the first clamping member and the second clamping member are engaged. In the extended state, the first clamping member and the second clamping member are disengaged. The robot has more degrees of freedom of movement in its unfolded state than it does in its retracted state.

12. The robot as claimed in claim 11, characterized in that, The retracted state includes a first retracted state and a second retracted state, and the degrees of freedom of the robot in the first retracted state are different from those in the second retracted state.

13. The robot as described in claim 12, characterized in that, The robot's degrees of freedom in the first retracted state are greater than those in the second retracted state.

14. The robot as described in claim 13, characterized in that, In the first retracted state, the robot's degree of freedom along the pitch direction is restricted; in the second retracted state, the robot's degree of freedom along the pitch direction is restricted, and the robot's degree of freedom along the roll axis direction is also restricted.

15. The robot as claimed in any one of claims 1 to 14, characterized in that, The first retaining member includes a first buckle body, the second retaining member includes a second buckle body and an elastic member, the second buckle body is rotatably connected to the third power mechanism, and the elastic member connects the second buckle body and the third power mechanism; The robot has a retracted state and an extended state. In the retracted state, the second fastener is engaged with the first fastener, and the force generated by the elastic element can be used to drive the second fastener to remain attached to the first fastener. In the unfolded state, the second fastener is separated from the first fastener.

16. The robot as described in claim 15, characterized in that, The first buckle has a first guide surface, and the second buckle has a second guide surface. During the movement of the third power mechanism toward the first power mechanism, the first guide surface and the second guide surface slide together so that the second buckle slides toward the first buckle.

17. The robot as claimed in claim 16, characterized in that, The second retaining member further includes a limiting groove, which is located at the output end of the third power mechanism. The second buckle body is rotatably connected to the limiting groove. The limiting groove is used to limit the maximum angle of swing of the second buckle body, and the buckling end of the second buckle body extends outward from the limiting groove.

18. The robot as claimed in claim 17, characterized in that, The limiting groove includes a first limiting wall and a second limiting wall arranged facing each other. The second limiting wall has a mating opening in the direction towards the first holding member. The elastic member is used to drive the second buckle body to rotate in the direction closer to the second limiting wall. The retracted state includes a first retracted state and a second retracted state. In the first retracted state, the fastening end of the second buckle is spaced apart from the first limiting wall, and the second buckle is engaged with the first buckle. In the second retracted state, the snapping end of the second buckle abuts against the first limiting wall, the second buckle engages with the first buckle, and the first buckle is limited to the engagement opening.

19. The robot as described in claim 15, characterized in that, The robot includes two sets of limb components symmetrically arranged relative to the body. Each limb component has a first power mechanism with a first holding member and a third power mechanism with a second holding member. The first buckles of the two first holding members have a stop member on the side facing away from each other or the first buckles of the two first holding members have a stop member on the side facing each other. In response to the unfolding command, the third power mechanism moves away from the first power mechanism, so that the second fastener slides away from the first fastener in a direction away from the stop member.

20. The robot as claimed in claim 19, characterized in that, The holding directions of the first buckle and the second buckle are different from the sliding direction of the second buckle relative to the stop member.

21. A control method for a robot as described in claim 1, characterized in that, The control method includes the following steps: Control the movement of at least one of the first power mechanism, the second power mechanism, and the third power mechanism to drive the second holding member of the third power mechanism to move closer to the first holding member of the first power mechanism; Controlling the first and second clamping components to engage and engage, controlling the limb assembly to stop moving, and placing the robot in a retracted state; and / or, Control the movement of at least one of the first power mechanism, the second power mechanism, and the third power mechanism to drive the second holding member of the third power mechanism to move away from the first holding member of the first power mechanism; When the first and second clamping components are disengaged, the robot is in the deployed state.

22. The robot control method as described in claim 21, characterized in that, The robot's individual limb assembly includes a first robotic arm, a second robotic arm, a first power mechanism, a second power mechanism, and a third power mechanism. One end of the first robotic arm is connected to the output end of the second power mechanism, and the other end of the first robotic arm is connected to the third power mechanism. The output end of the third power mechanism is connected to the second robotic arm. One of the first power mechanism and the second power mechanism is a roll mechanism, and the other is a pitch mechanism. The third power mechanism is a pitch mechanism. The retracted state includes a first retracted state and a second retracted state, wherein the angle between the first robotic arm and the second robotic arm is different in the first retracted state and the second retracted state; the control method includes the following steps: Controlling the movement of the lateral rolling force mechanism causes the limb assembly to swing at a preset angle along the lateral rolling axis, which causes the first and second clamping members to align along the direction of the robot's sagittal plane. Control the movement of the two pitch power mechanisms, and move the third power mechanism closer to the first power mechanism so that the angle between the first robotic arm and the second robotic arm is the second limit angle. The first buckle of the first clamping member and the second buckle of the second clamping member are engaged and locked together, and the robot is in the first retracted state. The third power mechanism is controlled to drive the second robotic arm to rotate away from the first robotic arm, so that the angle between the first and second robotic arms is a third limiting angle. The first latch of the first clamping member is engaged with the second latch and the mating port of the second clamping member, and the robot is in a second retracted state; and / or, The third power mechanism is controlled to drive the second robotic arm to rotate close to the first robotic arm, so that the robot switches from the second retracted state to the first retracted state.

Images